- bd_set_current_thresholds(&ballboard.forkrot.bd, 500, 8000, 1000000, 40);
+ bd_set_current_thresholds(&ballboard.forkrot.bd, 500, 8000, 1000000, 200);
+
+ /* BEACON */
+
+ /* PID */
+ pid_init(&ballboard.beacon.pid);
+ pid_set_gains(&ballboard.beacon.pid, 80, 80, 250);
+ pid_set_maximums(&ballboard.beacon.pid, 0, 10000, 1500);
+ pid_set_out_shift(&ballboard.beacon.pid, 6);
+ pid_set_derivate_filter(&ballboard.beacon.pid, 6);
+
+ /* CS */
+ cs_init(&ballboard.beacon.cs);
+ cs_set_correct_filter(&ballboard.beacon.cs, pid_do_filter, &ballboard.beacon.pid);
+ cs_set_process_in(&ballboard.beacon.cs, pwm_ng_set, BEACON_PWM);
+ cs_set_process_out(&ballboard.beacon.cs, encoders_spi_update_beacon_speed, BEACON_ENCODER);
+ cs_set_consign(&ballboard.beacon.cs, 0);