 	hallA2 = digitalRead(ha2);
 	hallA3 = digitalRead(ha3);
 	time = millis();
-	curSpeedA = 1/(3 * (time - timeoldA));
+	curSpeedA = 1/(3 * (time - timeoldA)); // just remove the 3
+        // 3 digital rotations per single mechanical rotation
+        curSpeedA *= 3;
 	timeoldA = time;
 	oldSpeedA = curSpeedA;
 

int C1bot = A1;
int C2bot = A2;
int C3bot = A3;

//Hall effect sensors
int ha1 = 2;


#include <PID_v1.h>

//#include "motor_struct.h"



//Pin definitions
