       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);
  double relative_position_m = (halfSteps)*linearResolution/2;
  double absolute_position_m = (halfSteps-halfStepsCorrection)*linearResolution/2;
  

  
  int power1, power2;
  sensorValue = analogRead(analogInPin);
  alphaSigned1 = StrToFloat(pwm1.value());
  alphaSigned2 = StrToFloat(pwm2.value());
  setMode();
  computeSetpoint();
  computeFeedback();
  //computePIDTuning();
  computePID();
  alphaSigned1 = Output1;
  alphaSigned2 = Output2;
  //computeAlphaSigned();
  power1 = alphaSigned1*127;
  power2 = alphaSigned2*127;
  ST.motor(1, power1);
