       
       midPID.Compute();
       const double COEFFICIENT = 1; 
-      SetpointRight = PID_SETPOINT * isM2Forward + COEFFICIENT * isM2Forward * map(OutputMid,-PID_SETPOINT/2, PID_SETPOINT/2, -PID_SETPOINT, +PID_SETPOINT);
+      SetpointRight = PID_SETPOINT + COEFFICIENT * map(OutputMid,-PID_SETPOINT/2, PID_SETPOINT/2, -PID_SETPOINT, +PID_SETPOINT);
       rightPID.Compute();
       leftPID.Compute();
 

  resetPololuTicks(); theta = 0; // error theta
  const int isLeftForward = 1;
  const int isRightForward = -1;
  SetpointLeft *= isLeftForward;
  SetpointRight *= isRightForward;
  //float noOfTicksForAngle = turnAngleR(angle);
  float noOfTicksForAngle = (WHEELS_INTERVAL/2)*(PI/180)*(angle/DISTANCE_PER_TICK_CM);
  // ------ Angle to ticks formula ------- //

  retore motor configuration 
  */
  resetPololuTicks();
  /* 
  SetpointLeft *= isLeftForward;
  SetpointRight *= isRightForward;
  */
  /*
  In position turning, deltaY and deltaX suppposed to be 0 
  deltaY = 0;
