 const int pinLb=8;
 const int pinRa=12;
 const int pinRb=13;
-
-double SetpointL, SetpointR;
+const int trigpin=4;
+const int echopin=5;
+
+double SetpointL=10, SetpointR=10;
 double Kp=0.6, Ki=5, Kd=0;
 double outputL, outputR;
 double inputL, inputR, speedvalueL, speedvalueR;

  DirectionlastR=DirectionR;
}

void forward()
{
  digitalWrite(pinLa,HIGH);

#include <PID_v1.h>

const int EA=9;
const int EB=10;
