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

  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 ------- //

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

