AMiRo-OS

void MotorControl::resetGains()

{

  // reset factors

  chSysLock();

  this->motorCalibrationFactor = 1.0f;

  this->pGain = 1000;

  this->iGain = 0.08f;

  this->dGain = 0.01f;

  chSysUnlock();

  // write reset factors to memory

  this->memory->setwheelfactor(this->motorCalibrationFactor);

  this->memory->setpGain(this->pGain);

  this->memory->setiGain(this->iGain);

  this->memory->setdGain(this->dGain);

  return;

}