#include <Encoder.h>

// PID parameters
#include "ArduPID.h"
ArduPID myController1;
ArduPID myController2;

double input1;
double output1;
double input2;
double output2;

// Arbitrary setpoint and gains - adjust these as fit for your project:
double setpoint = 20;
double p = 1;
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);
Encoder knobRight(3, 5);

void setup() {
  Serial.begin(9600);
  myController1.begin(&input1, &output1, &setpoint, p, i, d);
  myController1.setOutputLimits(-255, 255);
  myController1.start();
  myController2.begin(&input2, &output2, &setpoint, p, i, d);
  myController2.setOutputLimits(-255, 255);
  myController2.start();
}
void loop() {
  long newLeft, newRight;
  newLeft = knobLeft.read();
  newRight = knobRight.read();
  input1 = newLeft; // Replace with sensor feedback
  input2 = newRight; // Replace with sensor feedback
  myController1.compute();
  myController2.compute();
    Serial.print("Input1 ");
    Serial.print(input1);
    Serial.print(", Output1 ");
    Serial.print(output1);
    Serial.print("   Input12 ");
    Serial.print(input2);
    Serial.print(", Output2 ");
    Serial.print(output2);
    Serial.println();
  
  analogWrite(10, output1); // Replace with plant control signal
  analogWrite(11, output2); // Replace with plant control signal
  }