Bot can balance by itself again

motorControl.ino

@@ -13,13 +13,13 @@ const float DEADBAND_M2_NEG = 90.0;
 
 
 //Tuning
-const float gainScale = 0.75;
 const float K_SC = 18.5*gainScale;         //Speed controller gain
 const float K_TC = 90.0*gainScale;         //Turn controller gain
 const float K_OL = 13.0*gainScale;         //Outer loop balance controller gain
 const float K_IL = 72.0*gainScale;         //Inner loop balance controller gain
 const float I_IL = 80.0*gainScale;         //Inner loop balance controller Igain
 const float filter_gain = 16.0;  //Motor speed LPF gain
+const float gainScale = 1;
 
 //Help variables
 int M1_Speed_CMD, M2_Speed_CMD;