     Serial.print(", ");
     Serial.print((power2+127)*4);
     Serial.print(", ");
-    Serial.print((Input1+1)/2*1023);
+    Serial.print((Input1+1)/2.*1023);
     Serial.print(", ");
-    Serial.print((Input2/127+1)/2*1023);
+    Serial.print((Input2/127.+1)/2.*1023);
     Serial.print(", ");
-    Serial.print((Input3+1)/2*1023);
+    Serial.print((Input3+1)/2.*1023);
     Serial.println("");
     isFeedbackRequested = false;
   }

  // Saturate the output to the maximum range (values are normalized between -1 and 1)
  myPID1.SetOutputLimits(-1, 1);
  myPID2.SetOutputLimits(-1, 1);
}

/*

  }
}

void computeFeedback()
{
  
  // Feedbacks are normalized between -1 and 1
  
  // Potentiometer angle
  float rawAngle_deg = (data[0]-127)/255.0*POT_RANGE_DEG;
  Input1 = (rawAngle_deg - NEUTRAL_ANGLE_DEG)*1.0/POT_USED_RANGE_DEG;
  
  // Linear encoder position
  Input2 = (data[1]-127);//*LINEAR_RESOLUTION/2./LINEAR_USED_RANGE;
