PID Programming Help

(deleted)

     Serial.println("                         right motor forward (spin)");
...
     Serial.println("                         right motor forward (spin)");
...
     Serial.println("                         left  motor forward (spin)");
...

     Serial.println("                         left  motor forward (spin)");
...
     Serial.println("                         left  motor forward (spin)");
..


    Serial.println("                         forward ");

Why are you wasting so much time and RAM?

What are all the :o scattered throughout code?