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-rw-r--r--digital/asserv/src/asserv/pos.c3
1 files changed, 2 insertions, 1 deletions
diff --git a/digital/asserv/src/asserv/pos.c b/digital/asserv/src/asserv/pos.c
index 2d8c1c18..d47694c2 100644
--- a/digital/asserv/src/asserv/pos.c
+++ b/digital/asserv/src/asserv/pos.c
@@ -149,7 +149,8 @@ pos_update (void)
pid = pos_compute_pid (diff, &pos_aux0);
/* Update PWM. */
pwm_aux0 = pid;
- UTILS_BOUND (pwm_aux0, -PWM_MAX, PWM_MAX);
+ /* WARNING: crude way to limit PWM for this 12V motor. */
+ UTILS_BOUND (pwm_aux0, -(PWM_MAX / 2), (PWM_MAX / 2));
}
}
}