   
   //initialize the variables we're linked to
   Input = 0;
-  Setpoint = 100;
+  Setpoint = 600;
 
   //turn the PID on
   myPID.SetMode(AUTOMATIC);
 
   //Serial.println("Begin");
+      
 }
 
 void loop()

int inputPin=0, outputPin=3;

//Specify the links and initial tuning parameters
PID myPID(&Input, &Output, &Setpoint,2,5,1, DIRECT);
unsigned long serialTime; //this will help us know when to talk with processing

int count =0;


void setup()
{
  Serial.begin(57600);
  pinMode(PIN_INT_LEFT, INPUT );

  
