}
/* called every 5 ms */
-static void do_cs(void *dummy)
+static void do_cs(void *dummy)
{
/* read encoders */
if (ballboard.flags & DO_ENCODERS) {
/* PID */
pid_init(&ballboard.roller.pid);
pid_set_gains(&ballboard.roller.pid, 80, 80, 250);
- pid_set_maximums(&ballboard.roller.pid, 0, 10000, 2000);
+ pid_set_maximums(&ballboard.roller.pid, 0, 10000, 4095);
pid_set_out_shift(&ballboard.roller.pid, 6);
pid_set_derivate_filter(&ballboard.roller.pid, 6);
ballboard.forkrot.on = 1;
- scheduler_add_periodical_event_priority(do_cs, NULL,
+ scheduler_add_periodical_event_priority(do_cs, NULL,
5000L / SCHEDULER_UNIT,
CS_PRIO);
}