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


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

  }
  if (myPID2.GetMode() ==AUTOMATIC)
  {
    double offset_m = -0.02;
    Setpoint2 = StrToFloat(setpos2.value()) + offset_m/linearRange;
    myPID2.Compute();
    alphaSigned2 = Output2;
  }
