 void loop()
 {
   SerialEvent();
+  myPID.Compute();
   int power;
   sensorValue = analogRead(analogInPin);
   setMode();
+  //alphaSigned=Output/127.0;
   computeAlphaSigned();
   power = alphaSigned*127;
   ST.motor(1, power);

      while (*gpsStream)
        if (nmea.encode(*gpsStream++))
      { 
        alphaSigned = StrToFloat(pwm.value()); 
        lastSerialInputTime = millis();
      }
    }

  SWSerial.begin(9600);
  // Initialize serial communications at 9600 bps:
  Serial.begin(19200);
  Input = 0;
  Setpoint = 0;
  //turn the PID on
  myPID.SetMode(AUTOMATIC);
  myPID.SetOutputLimits(-128, 128);
}

void SerialEvent() {
