void mctrl_init(void) { SPIinit(); DACinit(); pid_init(K_P * PID_SCALING_FACTOR, K_I * PID_SCALING_FACTOR, K_D * PID_SCALING_FACTOR, 2097152, 1); }
void mctrl_init(void) { int const integral_limit = 1000; SPIinit(); DACinit(); pid_init(K_P * PID_SCALING_FACTOR, K_I * PID_SCALING_FACTOR, K_D * PID_SCALING_FACTOR, integral_limit, 0.25); }