From 49d8ca037be430dddebdd4d249c0309aded0ebc9 Mon Sep 17 00:00:00 2001
From: jakeg00dwin <jakegoodwin@gorge.works>
Date: Thu, 20 Feb 2025 15:45:29 -0800
Subject: [PATCH] Adjusted file to use F_CPU after DIV8 and allow speed control
 during movement.

---
 src/main.c | 26 +++++++++++++++-----------
 1 file changed, 15 insertions(+), 11 deletions(-)

diff --git a/src/main.c b/src/main.c
index d2413a5..ddaf568 100644
--- a/src/main.c
+++ b/src/main.c
@@ -1,8 +1,10 @@
 #ifndef F_CPU
-#define F_CPU 4800000UL
+#error "F_CPU not defined: defaulting to 9.6MHz"
+#define F_CPU 1200000UL
 #endif
 
 #include "main.h"
+//#include "ADC.h"
 #include <avr/eeprom.h>
 #include <avr/interrupt.h>
 #include <util/delay.h>
@@ -49,6 +51,7 @@ int main() {
   while (1) {
     UpdateButtonOutput(&btn1);
     UpdateButtonInput(&btn1);
+    //MotorMoveTo(0);
   }
 
   return 0;
@@ -85,6 +88,7 @@ void InitProg(void) {
 
 uint8_t ReadSpeed(void) {
   // Initialize ADC
+
   ADMUX = (0 << MUX1) | (1 << MUX0);                  // Select ADC1 (PB2)
   ADCSRA = (1 << ADEN) | (1 << ADPS1) | (1 << ADPS0); // Enable ADC, prescaler 8
 
@@ -94,10 +98,8 @@ uint8_t ReadSpeed(void) {
 
   uint8_t val = (uint8_t)(ADC >> 2);
 
-  // We want to set a minimum acceptable speed.
-  if (val < 32) {
-    val = 32;
-  }
+    //Map the speed value to the 100%-50% duty cycle range.
+    //val = (uint8_t)( (float)val / 255.0 ) * 100;
 
   return val;
 }
@@ -139,11 +141,12 @@ uint8_t MotorGetSavedPos(void) {
 
 void MotorMoveTo(uint8_t target) {
 
-  uint8_t on_delay = ReadFader();
-  uint8_t off_delay = 255 - on_delay;
+  uint8_t on_delay = ReadSpeed();
   uint8_t pos = (uint8_t)(ReadFader() >> 2);
+  uint8_t idx =0;
 
   while (diff(target, pos) > 8) {
+    on_delay = ReadSpeed();
     pos = (uint8_t)(ReadFader() >> 2);
     if (target > pos) {
       MotorMove(1);
@@ -152,12 +155,12 @@ void MotorMoveTo(uint8_t target) {
     }
 
     // The delay ratio controlls the PWM waveforms.
-    for(uint8_t i = 0; i < on_delay; i++){
-        _delay_us(MOTOR_PULSE);
+    for (idx = 0; idx < on_delay; idx++) {
+      _delay_us(MOTOR_PULSE);
     }
     MotorCoast();
-    for(uint8_t i = 0; i < off_delay; i++){
-        _delay_us(MOTOR_PULSE);
+    for (;idx < 255; idx++) {
+      _delay_us(MOTOR_PULSE);
     }
   }
 
@@ -165,6 +168,7 @@ void MotorMoveTo(uint8_t target) {
 }
 
 // Using the compatable bool type.
+// The motor being used seems to stop working below a 50% duty cycle.
 void MotorMove(uint8_t fwd) {
   if (fwd) {
     PORTB |= (1 << PWM_PIN1);