 
 volatile long leftCounter = 0;
 volatile long rightCounter = 0;
+
+#define switch1 22
+#define switch2 24
+#define switch3 26
 
 void setup()
 {

double centrePoint = 5.5;
double rightBias = 4;
double leftBias = 3;
boolean useSerial = false;

#define leftEncoder1 2 // White wire
#define leftEncoder2 4 // Yellow wire

boolean initd = false;

double positionOutput = 0;
int STD_LOOP_TIME  =  9;
int lastLoopTime = STD_LOOP_TIME;
int lastLoopUsefulTime = STD_LOOP_TIME;
unsigned long loopStartTime = 0;

unsigned long tick = 0;

void loop()
{
