From e938862cde3c4fcec0de5dad6cef8a44725ab36b Mon Sep 17 00:00:00 2001
From: Eggert Jung <eggert.s.jung@wischhof13.de>
Date: Thu, 28 Jul 2022 18:31:55 +0200
Subject: [PATCH] fix bug where regulator locks on overflown integer

---
 taenzer.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/taenzer.c b/taenzer.c
index c21d964..5c36adb 100644
--- a/taenzer.c
+++ b/taenzer.c
@@ -81,7 +81,7 @@ void do_taenzer(){
 
     /* Force regualtion */
     if(kraftsensor_valid && taenzer_state.active && taenzer_state.homed && taenzer_state.pos >= 0){
-        int16_t err = (kraftsensor_value - taenzer_state.force_setpoint);
+        int32_t err = (kraftsensor_value - taenzer_state.force_setpoint);
 
         double pid_out = pid(&regler, err);
         int16_t out = (int16_t)pid_out;