Control code works over USB at any given baud rate.  

Only baud rate of 9600 works over Bluetooth when connected to phone app or computer.  There is probably a setting to change the baud rate of the module but that is not priority right now.  

At a baud rate of 9600 there were sustained oscillations in both motor when making large downwards steps like say going from 100 rpm to 10 rpm when the Arduino is connected to the computer over USB.  I lowered Kp from 8 to 6 and Ki from 5 to 3.  Takes a while to reach desired value, but no oscillations. 

Will address above issues once phone app is working.