     last_order_ms = millis();
   // Order in the range -127/127
     //SWSerial.println(127);
+      //Saturation based on posSat
    ST.motor(1, power1);
    ST.motor(2, power2);
   }

        }
        if (speedlim1.isUpdated()||speedlim2.isUpdated()||poslim1.isUpdated()||poslim2.isUpdated())
        {
          speedlim1.value();
          speedlim2.value();
          poslim1.value();
          poslim2.value();
          updateSaturation();
        }  
      }
    }

    myPID2.Compute();
    power2 = Output2*127;
  }
  if (Input1>posSat1)
  {
    power1 = min(power1,0);
