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Fix min check // Restore brushed motor support
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5 changed files with 34 additions and 4 deletions
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@ -668,7 +668,7 @@ int main(void) {
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setTaskEnabled(TASK_GYROPID, true);
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setTaskEnabled(TASK_MOTOR, true);
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rescheduleTask(TASK_MOTOR, lrintf((1.0f / masterConfig.motor_pwm_rate) * 1000000));
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rescheduleTask(TASK_MOTOR, constrain(lrintf((1.0f / masterConfig.motor_pwm_rate) * 1000000), 250, 3500));
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if(sensors(SENSOR_ACC)) {
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setTaskEnabled(TASK_ACCEL, true);
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