 double pi = 3.1415;
 double potentiometerRangeDeg = 300; 
 double potentiometerMaxRange = potentiometerRangeDeg * pi/180;
-double potentiometerUsedRange = pi/8;
+double potentiometerUsedRange = pi/3;
 double potentiometerDistance = 0.05; //Distance from rotation axis to lever arm
 //*********************************************************************************************
 


  process();
  
  power1 = alphaSigned1*127;
  power2 = alphaSigned2*127;
  ST.motor(1, power1);
  ST.motor(2, power2);
  delay(10);

  double angle = raw_angle - neutralAngle;
  double correction_m = angle*potentiometerDistance;
  Input1 = angle/potentiometerUsedRange;
  Input2 = absolute_position_m/linearRange;
  //Serial.print("P");
  //Serial.println(Input1);
  //Serial.print("A");
