diff --git a/Inc/config.h b/Inc/config.h
index ecd4218..57197b5 100644
--- a/Inc/config.h
+++ b/Inc/config.h
@@ -8,6 +8,8 @@
 
 // ############################### DO-NOT-TOUCH SETTINGS ###############################
 
+#define N_POLEPAIRS 15 //for wheel angle calculation
+
 #define PWM_FREQ            16000     // PWM frequency in Hz
 #define DEAD_TIME              32     // PWM deadtime
 #define DELAY_IN_MAIN_LOOP      5     // in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing.
diff --git a/Src/main.c b/Src/main.c
index 2525201..35e64b5 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -85,10 +85,10 @@ typedef struct{
   uint16_t  start;
   int16_t   cmd1;
   int16_t   cmd2;
-  int16_t   speedR;
   int16_t   speedL;
-  int16_t   speedR_meas;
+  int16_t   speedR;
   int16_t   speedL_meas;
+  int16_t   speedR_meas;
   int16_t   batVoltage;
   int16_t   boardTemp;
   int16_t   curL_DC;
@@ -483,10 +483,12 @@ int main(void) {
         Feedback.start	        = (uint16_t)START_FRAME;
         Feedback.cmd1           = (int16_t)cmd1;
         Feedback.cmd2           = (int16_t)cmd2;
-        Feedback.speedR	        = (int16_t)speedR;
         Feedback.speedL	        = (int16_t)speedL;
-        Feedback.speedR_meas	  = (int16_t)rtY_Left.n_mot;
-        Feedback.speedL_meas	  = (int16_t)rtY_Right.n_mot;
+        Feedback.speedR	        = (int16_t)speedR;
+        Feedback.speedL_meas	  = (int16_t)rtY_Left.n_mot;
+        Feedback.speedR_meas	  = (int16_t)rtY_Right.n_mot;
+        //Feedback.angleL_meas	  = (int16_t)rtY_Left.a_elecAngle/N_POLEPAIRS;
+        //Feedback.angleR_meas	  = (int16_t)rtY_Right.a_elecAngle/N_POLEPAIRS;
         Feedback.batVoltage	    = (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC);
         Feedback.boardTemp	    = (int16_t)board_temp_deg_c;
         Feedback.curL_DC        = (int16_t)curL_DC*10/A2BIT_CONV*100; //in milli Amperes, 100mA resolution