function    [factorLat, factorLon] = calibra(H, scuId) 

    factorLat = 1.6920;
    factorLon = 1.6920;
    return

    offSet1 = readjoint(H,scuId,0);
    offSet2 = readjoint(H,1,0);
    
    % calibração longitudinal
        applyjoint(H,scuId,0,([70 0 0]-offSet1));
        pause(3)
        s = readspecial(H,scuId);
        s=s(3);
        factor(1) = sin(80/2.5*pi/180)*180/(pi*(s-128));


        applyjoint(H,scuId,0,([-70 0 0]-offSet1));
        pause(3)
        s = readspecial(H,scuId);
        s=s(3);
        factor(2) = sin(-80/2.5*pi/180)*180/(pi*(s-128));

        applyjoint(H,scuId,0,offSet1);
        pause(3)
    
    factorLon = mean(factor);
    
    
    % calibração lateral
        applyjoint(H,1,0,([70 0 -70]-offSet2));
        pause(3)
        s = readspecial(H,scuId);
        s=s(4);
        factor(1) = sin(80/2.5*pi/180)*180/(pi*(s-128));


        applyjoint(H,1,0,([-70 0 -70]-offSet2));
        pause(3)
        s = readspecial(H,scuId);
        s=s(4);
        factor(2) = sin(-80/2.5*pi/180)*180/(pi*(s-128));

        applyjoint(H,1,0,offSet2);
        pause(3)
    
    factorLat = mean(factor);
    