message: [docs] Fixed units and conversions in hoverboard.md
diff: @@ -39,9 +39,7 @@ odrv0.axis0.motor.config.current_control_bandwidth = 100
  odrv0.axis0.motor.config.torque_constant = 8.27 / <measured KV>
  ```
  -If you
  -
  -Set the encoder to hall mode (instead of incremental). See the [pinout](encoders.md#hall-effect-encoders) for instructions on how to plug in the hall feedback.
  +If you set the encoder to hall mode (instead of incremental). See the [pinout](encoders.md#hall-effect-encoders) for instructions on how to plug in the hall feedback.
  The hall feedback has 6 states for every pole pair in the motor. Since we have 15 pole pairs, we set the cpr to 15*6 = 90.
  ```txt
  odrv0.axis0.encoder.config.mode = ENCODER_MODE_HALL
  @@ -54,9 +52,9 @@ Lets also start in velocity control mode since that is probably what you want fo
  ```txt
  odrv0.axis0.encoder.config.bandwidth = 100
  odrv0.axis0.controller.config.pos_gain = 1
  -odrv0.axis0.controller.config.vel_gain = 0.02 * odrv0.axis0.motor.config.torque_constant * odrv0.axis0.motor.config.pole_pairs
  -odrv0.axis0.controller.config.vel_integrator_gain = 0.1 * odrv0.axis0.motor.config.torque_constant * odrv0.axis0.motor.config.pole_pairs
  -odrv0.axis0.controller.config.vel_limit = 100
  +odrv0.axis0.controller.config.vel_gain = 0.02 * odrv0.axis0.motor.config.torque_constant * odrv0.axis0.encoder.config.cpr
  +odrv0.axis0.controller.config.vel_integrator_gain = 0.1 * odrv0.axis0.motor.config.torque_constant * odrv0.axis0.encoder.config.cpr
  +odrv0.axis0.controller.config.vel_limit = 10
  odrv0.axis0.controller.config.control_mode = CONTROL_MODE_VELOCITY_CONTROL
  ```
  