adjusted motor speed

[svn42.git] / avr-projects / r3cam-steppermotor / r3cam-steppermotor.c

diff --git a/avr-projects/r3cam-steppermotor/r3cam-steppermotor.c b/avr-projects/r3cam-steppermotor/r3cam-steppermotor.c
index fcebc65..1bcad56 100644 (file)
--- a/avr-projects/r3cam-steppermotor/r3cam-steppermotor.c
+++ b/avr-projects/r3cam-steppermotor/r3cam-steppermotor.c
@@ -79,7 +79,7 @@ void EVENT_USB_Device_ControlRequest(void)
 #define M_CLK 1\r
 #define M_ENABLE 2\r
 #define M_RESET 3\r
-#define M_HALFSTEPS 4\r
+#define M_FULLSTEPS 4\r
 \r
 static uint8_t m_clk_divisor_ = 0;\r
 static uint8_t m_clk_divisor_counter_ = 0;\r
@@ -119,6 +119,7 @@ ISR(TIMER0_OVF_vect)
 void motor_set_speed(uint8_t speed)\r
 {\r
     m_clk_divisor_ = 0xFF - speed;\r
+    CDC_Device_SendString(&VirtualSerial_CDC_Interface, "m_clk_divisor_ = %d\n",m_clk_divisor_);\r
 }\r
 \r
 void motor_run(uint16_t steps, uint8_t direction)\r
@@ -144,7 +145,7 @@ void motor_run(uint16_t steps, uint8_t direction)
 void init_pins()\r
 {\r
     M_DDR = 0x0F;\r
-    M_PORT = 0 | (1 << M_RESET);\r
+    M_PORT = (1 << M_RESET) | (1 << M_FULLSTEPS);\r
     \r
     // Configure timer 0 to generate a timer overflow interrupt every\r
     // 560us (NEC Protocol)\r
@@ -165,10 +166,10 @@ void handle_cmd(uint8_t cmd)
   case 't': led_toggle(); break;\r
   case 'r': reset2bootloader(); break;\r
   case 's': motor_stop(); break;\r
-  case 'c': motor_run(300,0); break;\r
-  case 'w': motor_run(300,1); break;\r
-  case 'C': motor_run(1000,0); break;\r
-  case 'W': motor_run(1000,1); break;\r
+  case 'c': motor_run(50,0); break;\r
+  case 'w': motor_run(50,1); break;\r
+  case 'C': motor_run(300,0); break;\r
+  case 'W': motor_run(300,1); break;\r
   case '+': motor_set_speed(++cur_speed); break;\r
   case '-': motor_set_speed(--cur_speed); break;\r
   default: CDC_Device_SendString(&VirtualSerial_CDC_Interface, "error\n"); return;\r