     
     previous_error=error;
     
-    Serial.print("pidval : ");
-      Serial.print(PID_value);
-    Serial.println("\t");
-/**
+   // Serial.print("pidval : ");
+     // Serial.print(PID_value);
+    //Serial.println("\t");
+    /**Serial.print("\n");
+    Serial.print("PIDVal : ");
+    Serial.print(PID_value);
+    Serial.print("\t");
+
     Serial.print("P : ");
     Serial.print(P);
     Serial.print("\t");


void setup() {
  // put your setup code here, to run once:

  motors.configure();
  sensors.configure();
  Serial.begin(9600);

}

void loop() {
  // put your main code here, to run repeatedly:

    sensors.updateError();
    calculate_pid();
    motors.drive(PID_value);

    Serial.print(D);
    Serial.print("\t");

    

    Serial.print("Prvs_error : ");
    Serial.print(previous_error);
