work on trajectory, update cobboard and ballboard too

[aversive.git] / projects / microb2010 / ballboard / cs.c

diff --git a/projects/microb2010/ballboard/cs.c b/projects/microb2010/ballboard/cs.c
index 7e87fcab4b49f3c61f47ce31f9c99b393ddb203a..bab700db0c1cc0a4bcefe78fab4d4d23cd2c75c2 100644 (file)
--- a/projects/microb2010/ballboard/cs.c
+++ b/projects/microb2010/ballboard/cs.c
@@ -57,7 +57,7 @@ int32_t encoders_spi_update_roller_speed(void *number)
 }
 
 /* called every 5 ms */
-static void do_cs(void *dummy) 
+static void do_cs(void *dummy)
 {
        /* read encoders */
        if (ballboard.flags & DO_ENCODERS) {
@@ -108,7 +108,7 @@ void microb_cs_init(void)
        /* 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);
 
@@ -177,7 +177,7 @@ void microb_cs_init(void)
        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);
 }