trajectory_d_rel(&mainboard.traj, dist);
pid_set_maximums(&mainboard.distance.pid, max_in, max_i, 4095);
pid_set_gains(&mainboard.angle.pid, 1, 0, 0);
trajectory_d_rel(&mainboard.traj, dist);
pid_set_maximums(&mainboard.distance.pid, max_in, max_i, 4095);
pid_set_gains(&mainboard.angle.pid, 1, 0, 0);