+ bd_manage_from_speed_cmd(&ballboard.roller.bd,
+ cs_get_filtered_feedback(&ballboard.roller.cs),
+ cs_get_out(&ballboard.roller.cs));
+
+ /* urgent case: stop power on blocking */
+ if (ballboard.flags & DO_ERRBLOCKING) {
+ if (bd_get(&ballboard.forktrans.bd) ||
+ bd_get(&ballboard.forkrot.bd)) {
+ printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
+ ballboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
+ }
+ }