         avgtmp += measured[i];
         counts++;
     }
-    m1_measured = (avgtmp / counts) * corr;
+    m1_measured = ((avgtmp / counts) >> 2) * corr;
     
     /*
     Serial.println(F("M1 measurements"));


byte ATuneModeRemember=2;
double input=80, output=50, setpoint=180;
// okish for M1, and M2 it's similar enough
//double kp=0.025,ki=0.5,kd=0.005;

double kp=0.025,ki=0.5,kd=0.005;


double kpmodel=1.5, taup=100, theta[50];

    pinMode(M2_ENABLE_PIN, OUTPUT);
    pinMode(M2_PWM_PIN, OUTPUT);

  setpoint = 100;
  myPID.SetOutputLimits(-127, 127);

}
