 volatile uint8_t int1history = 0;
 
 uint8_t latest_interrupted_pin;
-uint8_t interrupt_count[20]={0}; // 20 possible arduino pins
+uint8_t interrupt_count[20] = {0}; // 20 possible arduino pins
 
 int pinA = 2;
 int pinB = 3;


void loop()
{
  myPID.Compute();
  int power1, power2;
  sensorValue = analogRead(analogInPin);
  setMode();
  computePID();
  alphaSigned1=Output/127.0;
  computeAlphaSigned();
  power1 = alphaSigned1*127;
  power2 = alphaSigned2*127;
  ST.motor(1, power1);
  //ST.motor(2, power2);
  delay(10);
  if (millis()-lastWriteTime>100)
  {

#include <TinyGPS++.h>
#include <PID_v1.h>
#include <PinChangeInt.h>

mySoftwareSerial SWSerial(NOT_A_PIN, 8); // RX on no pin (unused), TX on pin 11 (to S1).
SabertoothSimplified ST(SWSerial); // Use SWSerial as the serial port.
