   if(!useSimulation)
   { //pull the input in from the real world
     //input = analogRead(0);
-    measure_motor1();
-    //measure_motor2();
-    input = m1_measured;
+    //measure_motor1();
+    //input = m1_measured;
+    measure_motor2();
+    input = m2_measured;
   }
   
   if(tuning)


byte ATuneModeRemember=2;
double input=80, output=50, setpoint=180;
double kp=0.025,ki=0.005,kd=0.025;

double kpmodel=1.5, taup=100, theta[50];
double outputStart=5;

  else
  {
     //analogWrite(0,output); 
     //setSpeeds(output,0);
     setSpeeds(0,output);
  }
  
  //send-receive with processing if it's time
