Trying to get my rover to turn but it won't.

i trying code rover using pid meant go straight distance input , supposed turn. got rover go straight, can't turn reason. know in part:

code: [select]

motor1drive((long)-pidval3*slope);
  motor2drive((long)pidval4*slope);
 this how motor goes forward. know make turn need change sign of 1 of motor drives such

code: [select]

motor1drive((long)-pidval3*slope);
  motor2drive((long)-pidval4*slope);
i set 2 different function: 1 go forward , other turn. however, reason code doesn't read turn function.  please help.

code: [select]



/* vriable decleration*/
//counters output pins
int counterinputs1[8] = {53,51,49,47,45,43,41,39}; // standard can connected differently depending on rover.
int counterinputs2[8] = {37,35,33,31,29,27,25,23};
//counter select pins
int countersel1 = 52;
int countersel2 = 32;
//counter enable pins
int counteroe1 = 50;
int counteroe2 = 30;
//counter reset pins
int counterrst1 = 48; 
int counterrst2 = 28;


// motor pins
int motor1pwm = 3;
int motor1dir = 12;
int motor2pwm = 11;
int motor2dir = 13;

/* counterinit() method initalizes pin outputs encoders
 * paramters:
 * counterinputs is pointer array of input pin numbers 1 of hctl2016 encoder
 * countersel pin number encoder "select" pin
 * counteroe pin number encoder "output enable" pin
 * counterrst pin number encoder "reset" pin
 */
void counter1init(int *counterinputs1, int countersel1, int counteroe1, int counterrst1)
{
pinmode(countersel1,output);
pinmode(counteroe1,output);
pinmode(counterrst1,output);
       
for(int = 0; < 8; i++)
{
pinmode(counterinputs1[i],input);
}

// reset counter
        digitalwrite(counterrst1,low);
        digitalwrite(counterrst1,high);
}
void counter2init(int *counterinputs2, int countersel2, int counteroe2, int counterrst2)
{
pinmode(countersel2,output);
pinmode(counteroe2,output);
pinmode(counterrst2,output);
       
for(int = 0; < 8; i++)
{
pinmode(counterinputs2[i],input);
}

// reset counter
        digitalwrite(counterrst2,low);
        digitalwrite(counterrst2,high);
}


/* counterread() method reads counts hctl2016 ic connected
 * quadrature encoder , returns counter reading can transformed
 * distance or angle.
 * parameters:
 *      - counterinput[]: array of outputs of counter. first element represents
 *        least significant bit (lsb).
 *      - counteroe number of pin connected counter's enable pin.
 *      - countersel number of pin connected counter's select pin.
 *
 * return: number of counts of counter.
 */
void counterread(int inputs[8], int _oe, int _sel, int counterrst, long *counter_value)
{     
long value = 0;
        int readback[16];
        bool signbit = 0;
        long countervalue;
       
        countervalue = *counter_value;
       
//enable counter
digitalwrite(_oe, low);
//select high byte
digitalwrite(_sel,low);

        //read high byte counter
for (int = 8; < 15; i++)
{
                value = value + (digitalread(inputs[i-8])<<i);
                readback[i] = digitalread(inputs[i-8]);
}
        readback[15] = digitalread(inputs[7]);
        signbit = digitalread(inputs[7]);

        //select low byte
digitalwrite(_sel,high);

        //read low byte
for (int = 0; < 8; i++)
{
                value = value + (digitalread(inputs[i])<<i);
                readback[i] = digitalread(inputs[i]);
}
       
        if(signbit)
        {
          value = value-32768;//why?
        }
       
countervalue += value;
       
        digitalwrite(_oe, high);
        digitalwrite(counterrst,low);
        digitalwrite(counterrst,high);
       
        *counter_value = countervalue;
}


/* these methods drive motor
 * usage instruction:
 *      - make sure 12v power source connected rover because less
 *        power sources may burn motor drive.
 *      - use putmotorvalue method copy , paste sketch
 *        , provide values want.
 * paramters:
 * val signed 9 bit number (-256, 255) indicates magnitude
 * and direction of motor
 */
void motor1drive(long val)
{
val = constrain(val, -255,255);
//serial.print("motor val ");
//serial.print(val);
if (val >= 0 )
{
digitalwrite(motor1dir,high);
analogwrite(motor1pwm, val);
}
else
{
val = -val;
analogwrite(motor1dir,low);
analogwrite(motor1pwm,val);
}
}

void motor2drive(long val)
{
val = constrain(val, -255,255);
if (val >= 0 )
{
digitalwrite(motor2dir,high);
analogwrite(motor2pwm, val);
}
else
{
val = -val;
analogwrite(motor2dir,low);
analogwrite(motor2pwm,val);
}
}

/* motorinit() method initalizes pin outputs motors
 * paramters:
 * counterinputs is pointer array of input pin numbers 1 of hctl2016 encoder
 * countersel pin number encoder "select" pin
 * counteroe pin number encoder "output enable" pin
 * counterrst pin number encoder "reset" pin
 */
void motor1init(int motor1pwm, int motor1dir)
{
        pinmode(motor1pwm,output);
        pinmode(motor1dir,output);
}
void motor2init(int motor2pwm, int motor2dir)
{
        pinmode(motor2pwm,output);
        pinmode(motor2dir,output);
}


/* differentiate() method
*/
float dt = 0;
float adelay = 0;
float differentiate(float input)
{
  float t1 = 0;
float t2 = 0;
  float diff_out = 0;
 diff_out = input - adelay;
 adelay = input;
 dt = t1 - t2;
  return diff_out;
}

/* integrate() method
*/
float sum = 0;
float previouserror;
float error;

float integrate(float input)
{
float t1 = 0;
float t2 = 0;
sum = input + sum;
    dt = t2 - t1;
    error = error - previouserror;
        return sum;
}

/* pid() method
*/
float pid(float input, float kp, float ki, float kd)
{
return (kp*input + ki*integrate(input) + kd*differentiate(input));
}


/* setup() method
*/
void setup(){
       
    //initializing arduino's pins
counter1init(counterinputs1, countersel1, counteroe1, counterrst1);
counter2init(counterinputs2, countersel2, counteroe2, counterrst2);
motor1init(motor1pwm,motor1dir);
motor2init(motor2pwm,motor2dir);

//start serial output       
serial.begin(9600);       
}

long countervalue1 = 0;
long countervalue2 = 0;
float readvalue1 = 0;
float readvalue2 = 0;
long pidval1 = 0;
long pidval2 = 0;
long pidval3 = 0;
long pidval4 = 0;
float u_t = 0; // u(t) = 5ft;
//float motorslope = .5;
float u_t2 = 0;
float t1 = 0;
float t2 = 0;
long dist[4] = {27000,194616,20000,276624};
+long distr[4] = {27000,194616,20000,276624};
int index = 3;
float slope = 0.1;
 float kp1 =.64029;
  float ki1 = 0;//.062678;
  float kd1 = .069619;
  float kp2 = 1.3568;
  float ki2 = 0;//2.683;
  float kd2 = .16614 ;

void firstline()
{
  t1 = micros();
  u_t = dist[index];
  u_t2 = distr[index];
 
  counterread(counterinputs1, counteroe1, countersel1, counterrst1, &countervalue1);
  counterread(counterinputs2, counteroe2, countersel2, counterrst2, &countervalue2); 
 //void firstline(){
  pidval1 = (long)(pid(u_t + countervalue1, kp1, ki1, kd1));
  pidval2 = (long)-(pid(u_t - countervalue2, kp2, ki2, kd2));
 
  motor1drive((long)-pidval1*slope);
  motor2drive((long)pidval2*slope);


 

 t2 = micros();
 
  //serial.print("time ");
  serial.print(t2);
  serial.print("\t");
  //serial.print("pid val ");
  serial.print(countervalue1);
  serial.print("\t");
  serial.println(-
  countervalue2);
 
//  readvalue1 = 0;
//  readvalue2 = 0;
//  pidval = 0;
//  pidval2 = 0;
//  countervalue1 = 0;
//  countervalue2 = 0;
       
}

  void turn(){ //add delay? part
 pidval3 = (long)(pid(u_t2 + countervalue1, kp1, ki1, kd1));
  pidval4 = (long)-(pid(u_t2 - countervalue2, kp2, ki2, kd2));
  // add delay? part
  motor1drive((long)-pidval3*slope);
  motor2drive((long)-pidval4*slope);
  }
 
  void loop() {           
  firstline();       
  //delay(4000);           
turn();
//delay(4000);
}




snippets in isolation don't provide enough information.  last code section entire sketch?

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