X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fballboard%2Fcs.c;h=bab700db0c1cc0a4bcefe78fab4d4d23cd2c75c2;hp=a82f3f491c7f7bb2ececd1e3a3fe321ac8f82ed1;hb=fa8546ea39c7442ad3bf5a822a72a2b50a41045d;hpb=a33ceba76b3770d48c68a321b5d259893ddc613c

diff --git a/projects/microb2010/ballboard/cs.c b/projects/microb2010/ballboard/cs.c
index a82f3f4..bab700d 100644
--- 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);