function [voltage, current, str_pot, encoder] = process_units(res)
  model_config;
  
  voltage = -2.15    * (res.v -0.0);      % rescale sensor reading to V.  NB: those factors aren't expected to change after the initial calibration %% CHANGED 0.1->0.0
  current = -0.1075  * (res.c - 0.015);    % ... to A %% CORRECTED 0.15->0.015
  str_pot = -6.8   * (res.s + 3.7);        % ... to mm %% CHANGED 3.8->3.7
  encoder = -0.01309 * res.e;             % ... to radians ( = 2*pi radians per 4*32 tks)
end
