   {
     //lastWriteTime = millis();
     
-    Serial.print(alphaSigned1);
+    Serial.print((alphaSigned1+1)*512);
     Serial.print(", ");
-    Serial.print(alphaSigned2);
+    Serial.print((alphaSigned2+1)*512);
     Serial.print(", ");
-    Serial.print(Input1);
+    Serial.print((Input1+1)*512);
     Serial.print(", ");
-    Serial.print(Input2);
+    Serial.print((Input2+1)*512);
+    Serial.print(", ");
+    Serial.print(Input3);
     Serial.print(", ");
     Serial.println(Input3);
+    
     //isConnectionAlive = false;
     isFeedbackRequested = false;
     digitalWrite(ledPin, LOW);


  process();
  
  power1 = -alphaSigned1*127;
  power2 = -alphaSigned2*127;
  ST.motor(1, power1);
  ST.motor(2, power2);

  
  // read the analog in value:
  double raw_angle = analogRead(potPin)/1024.0*potentiometerMaxRange;
  double neutralAngle = 0.75*potentiometerMaxRange;
  double angle = raw_angle - neutralAngle;
  double correction_m = angle*potentiometerDistance;
  Input1 = angle/potentiometerUsedRange;
  Input2 = relative_position_m/linearRange;
  Input3 = analogRead(tensionPin);
  //Serial.print("P");
  //Serial.println(Input1);
