Added define for the saved position margin, loosened up it's value and increased the rampdown distance.

inc/main.h

@@ -49,8 +49,11 @@
 #define SPEED_PIN PB2 // Pin 7/ADC1
 #define BUTTON_PIN PB4 // Pin 3 - Button input
 
+#define MOTOR_RAMPDOWN_DIST 32
 #define MOTOR_PULSE 6 //uS motor base pulse
 
+#define SAVED_POS_MARGIN 4
+
 
 /*The timing of "ticks" is dependent on the AVR timer's counter register
  * so for an 8bit register the maximum value is 256. Given we stick with

src/main.c

@@ -142,11 +142,23 @@ void MotorMoveTo(uint8_t target) {
 
   uint8_t on_delay = ReadSpeed();
   uint8_t pos = ReadFader();
+  uint8_t delta = diff(target, pos);
   uint8_t idx = 0;
 
-  while (diff(target, pos) > 4) {
-    on_delay = ReadSpeed();
+  while (delta > 0) {
     pos = ReadFader();
+    delta = diff(target, pos);
+
+    //Impliment a ramp down when near target position.
+    if(delta <= MOTOR_RAMPDOWN_DIST){
+        //Ignore speed value and set for 50% speed.
+        on_delay = 127;
+    }
+    //Otherwise use the speed input.
+    else{
+        on_delay = ReadSpeed();
+    }
+
     if (target > pos) {
       MotorMove(1);
     } else {
@@ -161,6 +173,7 @@ void MotorMoveTo(uint8_t target) {
     for (; idx < 255; idx++) {
       _delay_us(MOTOR_PULSE);
     }
+
   }
 
   return;
@@ -271,7 +284,7 @@ static void UpdateButtonOutput(btn_state *b) {
       if (b->is_active) {
 
             /*If already in saved position then go back to original pos.*/
-          if(diff(MotorGetSavedPos((uint8_t *)POSITION1_ADR), ReadFader()) < 4){
+          if(diff(MotorGetSavedPos((uint8_t *)POSITION1_ADR), ReadFader()) <= SAVED_POS_MARGIN){
                 MotorMoveTo(MotorGetSavedPos((uint8_t *)POSITION2_ADR));
           }
           else{