#include <Encoder.h>

// PID parameters
#include "ArduPID.h"
ArduPID myController;

double input;
double output;

// Arbitrary setpoint and gains - adjust these as fit for your project:
double setpoint = 0;
double p = 5;
double i = 0;
double d = 0;

//  Change these pin numbers to the pins connected.
//   Best Performance: both pins have interrupt capability
//   Good Performance: only the first pin has interrupt capability
//   Low Performance:  neither pin has interrupt capability
//   avoid using pins with LEDs attached

// Encoder library parameters, pin numbers
Encoder knobLeft(2, 4);

void setup() {
  Serial.begin(9600);
  myController.begin(&input, &output, &setpoint, p, i, d);
  myController.reverse();
  myController.setOutputLimits(-100, 100);
  myController.setSampleTime(10);      // OPTIONAL - will ensure at least 10ms have past between successful compute() calls
  //myController.setBias(100 / 1.0);
  //myController.setWindUpLimits(-10, 10); // Groth bounds for the integral term to prevent integral wind-up
  myController.start();
}
void loop() {
  long newLeft, newRight;
  newLeft = knobLeft.read();
  input = newLeft; // Replace with sensor feedback
  myController.compute();
    Serial.print("Input ");
    Serial.print(input);
    Serial.print(", Output ");
    Serial.print(output);
    Serial.println();
  
  analogWrite(3, output); // Replace with plant control signal
  }