- pid_set_gains(&cobboard.right_spickle.pid, 300, 10, 1500);
- pid_set_maximums(&cobboard.right_spickle.pid, 0, 10000, 2400); /* max is 12 V */
+ pid_set_gains(&cobboard.right_spickle.pid, 400, 10, 1500);
+ pid_set_maximums(&cobboard.right_spickle.pid, 0, 25000, 4095);