X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fballboard%2Fcs.c;h=bab700db0c1cc0a4bcefe78fab4d4d23cd2c75c2;hp=7e87fcab4b49f3c61f47ce31f9c99b393ddb203a;hb=fa8546ea39c7442ad3bf5a822a72a2b50a41045d;hpb=8d6a47e9e21a9a31f4bc12d32fb3d11091a4b305

diff --git a/projects/microb2010/ballboard/cs.c b/projects/microb2010/ballboard/cs.c
index 7e87fca..bab700d 100644
--- 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);
 }