 
   process();
   
-  power1 = alphaSigned1*127;
-  power2 = alphaSigned2*127;
+  power1 = -alphaSigned1*127;
+  power2 = -alphaSigned2*127;
   ST.motor(1, power1);
   ST.motor(2, power2);
   delay(10);

  double angle = raw_angle - neutralAngle;
  double correction_m = angle*potentiometerDistance;
  Input1 = angle/potentiometerUsedRange;
  Input2 = relative_position_m/linearRange;
  //Serial.print("P");
  //Serial.println(Input1);
  //Serial.print("A");

double pi = 3.1415;
double potentiometerRangeDeg = 300; 
double potentiometerMaxRange = potentiometerRangeDeg * pi/180;
double potentiometerUsedRange = pi/3;
double potentiometerDistance = 0.05; //Distance from rotation axis to lever arm
//*********************************************************************************************

