   setSpeed(leftMotorCmd, rightMotorCmd);
 
   if (leftSpeedTarget > 0 || leftSpeed > 0 || rightSpeedTarget > 0 || rightSpeed > 0) {
-    Serial.print(loopTime, 3);
-    Serial.print("\t");
+//    Serial.print(loopTime, 3);
+//    Serial.print("\t");
     Serial.print(leftSpeedTarget);
     Serial.print("\t");
     Serial.print(leftSpeed);
     Serial.print("\t");
-    Serial.print(leftController.getCumulativeError());
-    Serial.print("\t");
-    Serial.print(leftMotorCmd);
-    Serial.print("\t");
+//    Serial.print(leftController.getCumulativeError());
+//    Serial.print("\t");
+//    Serial.print(leftMotorCmd);
+//    Serial.print("\t");
   
     Serial.print(rightSpeedTarget);
     Serial.print("\t");
     Serial.print(rightSpeed);
     Serial.print("\t");
-    Serial.print(rightController.getCumulativeError());
-    Serial.print("\t");
-    Serial.print(rightMotorCmd);
-    Serial.print("\t");
+//    Serial.print(rightController.getCumulativeError());
+//    Serial.print("\t");
+//    Serial.print(rightMotorCmd);
+//    Serial.print("\t");
   
     Serial.println();
 

const float Ku = .15;
const float Tu = .1142857143;

#define LESS_AGGRESSIVE 0

#if !LESS_AGGRESSIVE
const float Kp = 0.6*Ku;
const float Ki = 2*Kp/Tu;
const float Kd = Kp*Tu/8;

  enableInterrupt(M2_A, rightAChange, CHANGE);
  enableInterrupt(M2_B, rightBChange, CHANGE);

//  Serial.print("Time (s)\t");
  Serial.print("Left Target\tLeft Speed");
//  Serial.print("\tLeft Cum Error\tLeft Motor\t");
  Serial.print("\tRight Target\tRight Speed");
//  Serial.print("\tRight Cum Error\tRight Motor");
  Serial.println();

  lastLoopTime = micros();
