 */
 bool dir;
 uint32_t nextcall = 1000;
-uint32_t nextcall2 = 2000;
+const uint16_t intervalperiod = 50*64; // 100 milliseconds
+uint32_t nextcall2 = 1000;
 bool on_off = true;
 void loop() {
   // read the position in count

  if(millis()>nextcall)
    on_off = false;
  forceRendering();
  
  on_off ? set_position = xh + sin(10.0f*2.0f*M_PI*millis()/64000.0f) : force = 0;
  motorControl();
  

void calPosMeter()
{
  double rh = 65.659;   //[mm]
  double ts = -.0107 * updatedPos + 7.9513; // Compute the angle of the sector pulley (ts) in degrees based on updatedPos
  xh = rh * (ts * 3.14159 / 180); // Compute the position of the handle based on ts
  vh = -(.95 * .95) * lastLastVh + 2 * .95 * lastVh + (1 - .95) * (1 - .95) * (xh - lastXh) / .0001; // filtered velocity (2nd-order filter)
  lastXh = xh;
