void loop() {
  valor = analogRead(potenciometro);
  valor = map(valor,0,1023,1050,1400);
  valor = valor*0.01;
  yP = 1.8627*saida[0] - 0.8630*saida[1] + 5.8870*entrada[0] - 5.8842*entrada[1];
  Serial.println(yP);
  delay(500);