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 a82f3f4..bab700d 100644 (file)
--- a/projects/microb2010/ballboard/cs.c
+++ b/projects/microb2010/ballboard/cs.c
@@ -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);