adjusted movement commands

diff --git a/avr-projects/r3cam-steppermotor/r3cam-steppermotor.c b/avr-projects/r3cam-steppermotor/r3cam-steppermotor.c
index bd67374..c0ce5f9 100644 (file)
--- a/avr-projects/r3cam-steppermotor/r3cam-steppermotor.c
+++ b/avr-projects/r3cam-steppermotor/r3cam-steppermotor.c
@@ -87,6 +87,7 @@ static uint8_t cur_speed = 0xFF - M_START_DIVISOR;
 static uint8_t m_clk_divisor_ = M_START_DIVISOR;\r
 static uint8_t m_clk_divisor_counter_ = 0;\r
 static uint16_t m_steps_to_go_ = 0;\r
+static uint16_t m_steps_to_go_back_ = 0;\r
 \r
 inline void m_timer_enable(void)\r
 {\r
@@ -103,12 +104,21 @@ void motor_stop(void)
     m_timer_disable();\r
     M_PORT &= ~(1 << M_ENABLE);\r
     m_steps_to_go_ = 0;\r
+    m_steps_to_go_back_ = 0;\r
 }\r
 \r
 ISR(TIMER0_OVF_vect)\r
 {\r
     if (m_steps_to_go_ == 0)\r
-        motor_stop();\r
+    {\r
+        if(m_steps_to_go_back_)\r
+        {  \r
+          M_PORT ^= (1 << M_DIRECTION);\r
+          m_steps_to_go_=m_steps_to_go_back_;\r
+          m_steps_to_go_back_=0;\r
+        } else   \r
+          motor_stop();\r
+    }    \r
     if (m_clk_divisor_counter_ == 0)\r
     {\r
         m_clk_divisor_counter_ = m_clk_divisor_;\r
@@ -129,7 +139,7 @@ void motor_set_speed(uint8_t speed)
     CDC_Device_SendString(&VirtualSerial_CDC_Interface, tmp);\r
 }\r
 \r
-void motor_run(uint16_t steps, uint8_t direction)\r
+void motor_run(uint16_t steps, uint8_t direction,uint16_t steps_back)\r
 {\r
     //reset by pulling reset low for 100ms\r
     M_PORT &= ~(1 << M_RESET);\r
@@ -138,6 +148,7 @@ void motor_run(uint16_t steps, uint8_t direction)
     \r
     m_clk_divisor_counter_ = 0;\r
     m_steps_to_go_ = steps;\r
+    m_steps_to_go_back_ = steps_back;\r
     \r
     if (direction)\r
         M_PORT |= (1 << M_DIRECTION);\r
@@ -172,10 +183,15 @@ 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(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 'y': motor_run(30,0,20); break;\r
+  case 'x': motor_run(140,0,40); break;\r
+  case 'c': motor_run(60,0,20); break;\r
+  case 'v': motor_run(40,0,20); break;\r
+  case 'q': motor_run(140,1,40); break;\r
+  case 'w': motor_run(60,1,20); break;\r
+  case 'e': motor_run(40,1,20); break;\r
+  case 'C': motor_run(330,0,40); break;\r
+  case 'W': motor_run(330,1,40); 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\r"); return;\r