 
 byte ATuneModeRemember=2;
 double input=80, output=50, setpoint=180;
-// okish for M1, and M2 it's similar enough
-//double kp=0.025,ki=0.5,kd=0.005;
-
-double kp=0.025,ki=0.5,kd=0.005;
+double kp=1.3,ki=0.75,kd=0.0;
 
 
 double kpmodel=1.5, taup=100, theta[50];

        avgtmp += measured[i];
        counts++;
    }
    m1_measured = (avgtmp / counts) * corr;
    
    /*
    Serial.println(F("M1 measurements"));

        avgtmp += measured[i];
        counts++;
    }
    m2_measured = ((avgtmp / counts) >> 2) * corr;
    
    /*
    Serial.println(F("M2 measurements"));
