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

      while (*gpsStream)
        if (nmea.encode(*gpsStream++))
      { 
        alphaSigned1 = StrToFloat(pwm1.value());
        alphaSigned2 = StrToFloat(pwm2.value());
        //Input1 = StrToFloat(elevation.value()); 
        lastSerialInputTime = millis();
      }

void computeFeedback()
{
  long steps = (halfSteps / 2);
  //Serial.print("T");
  //Serial.println(steps);
  double relative_position_m = (halfSteps)*linearResolution/2;
  double absolute_position_m = (halfSteps-halfStepsCorrection)*linearResolution/2;
  
