   
   // read the analog in value:
   double raw_angle = analogRead(potPin)/1024.0*potentiometerMaxRange;
-  double neutralAngle = 0.8*potentiometerMaxRange;
+  double neutralAngle = 0.75*potentiometerMaxRange;
   double angle = raw_angle - neutralAngle;
   double correction_m = angle*potentiometerDistance;
   Input1 = angle/potentiometerUsedRange;
-  Input2 = absolute_position_m/linearRange;
+  Input2 = relative_position_m/linearRange;
   Input3 = analogRead(tensionPin);
   //Serial.print("P");
   //Serial.println(Input1);

  }
  if (myPID2.GetMode() ==AUTOMATIC)
  {
    double offset_m = -0.02;
    Setpoint2 = StrToFloat(setpos2.value()) + offset_m/linearRange;
    myPID2.Compute();
    alphaSigned2 = Output2;

  {
    //lastWriteTime = millis();
    
    Serial.print((alphaSigned1+1)*512);
    Serial.print(", ");
    Serial.print((alphaSigned2+1)*512);
    Serial.print(", ");
    Serial.print((Input1+1)*512);
    Serial.print(", ");
    Serial.print((Input2+1)*512);
    Serial.print(", ");
    Serial.print(Input3);
    Serial.print(", ");
    Serial.println(Input3);
    
    //isConnectionAlive = false;
    isFeedbackRequested = false;
    digitalWrite(ledPin, LOW);
