diff --git a/arduino/startracker.ino b/arduino/startracker.ino index e2c3f78..5f2ddd9 100644 --- a/arduino/startracker.ino +++ b/arduino/startracker.ino @@ -82,7 +82,7 @@ static const float earth_rot_speed_rad_msec = 7.272205e-8; //2*PI / (1440*60); static const float bolt_thread_mm = 1.25; //static const float coef = 2*PI*axis_hinge_dist_mm * nr_teeth_big / (bolt_thread_mm * nr_teeth_small); -static const unsigned int microstepping_div = 16; +static const unsigned int microstepping_div = 32; static const unsigned int nr_steps = 200 * microstepping_div; static const float stepper_gear_rad_per_step = (2*PI) / nr_steps; @@ -119,7 +119,7 @@ static struct { unsigned int expired; } active_timer; -static unsigned long global_period_msec = 10000;//(2*60+51)*1000; +static unsigned long global_period_msec = 100;//(2*60+51)*1000; static enum control_state_e { STARTUP = -1, @@ -403,7 +403,7 @@ void setup() { dwprint("Serial setup"); // Set target motor RPM to 1RPM - stepper.setRPM(200); + stepper.setRPM(30); // Set full speed mode (microstepping also works for smoother hand movement stepper.setMicrostep(microstepping_div); dwprint("Microstepping is");