 void calculate_pid()
 {
 
-    error = (sensors.error);
-    //Serial.print(error);
- 
+    error = (sensors.error)
     P = error;
     I = I + error*0.001;
     D = (error - previous_error)/.001;

float error=0;
float previous_error=0, previous_I=0;
char c;
//float speedmlp = 0.0;

void setup() {
  

      
      
    if(startDrive){ 
      sensors.updateError();
      calculate_pid();

