     myPID2.Compute();
     power2 = Output2*127;
   }
-  
-  //Saturation based on posSat
   if (Input1>posSat1)
   {
     power1 = min(power1,0);

}
void updateSaturation()
{
  myPID1.SetOutputLimits(-atoi(speedlim1.value())/127., atoi(speedlim1.value())/127.);
  myPID2.SetOutputLimits(-atoi(speedlim2.value())/127., atoi(speedlim2.value())/127.);
  speedSat1 = atoi(speedlim1.value())/127.;
  //speedSat2 = atoi(speedlim2.value())/127.;
  posSat1 = atoi(poslim1.value())/127.;
  //posSat2 = atoi(poslim2.value())/127.;
}
static inline int8_t sgn(int val) {

    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);
  }
