From 31be067dea46b57f3f46fc3a7a38c85885c23481 Mon Sep 17 00:00:00 2001
From: Hakan Bastedt <hakan.bastedt@gmail.com>
Date: Fri, 8 Mar 2024 09:00:55 +0100
Subject: [PATCH] After test in lathe. Basically ok, always use real Tstartf,
 not 1/n

---
 Firmware/src/StepGen2.cpp | 5 ++---
 Firmware/src/main.cpp     | 2 +-
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/Firmware/src/StepGen2.cpp b/Firmware/src/StepGen2.cpp
index 30d4fa2..2904764 100755
--- a/Firmware/src/StepGen2.cpp
+++ b/Firmware/src/StepGen2.cpp
@@ -68,12 +68,11 @@ uint32_t StepGen2::handleStepper(uint64_t irqTime)
 }
 void StepGen2::startTimerCB()
 {
-
     startTimer->pause(); // Once is enough.
-    digitalWrite(dirPin, nSteps > 0 ? HIGH : LOW);
+    digitalWrite(dirPin, nSteps < 0 ? HIGH : LOW);
     // There will be a short break here for t2 usecs, in the future.
     timerPulseSteps = abs(nSteps);
-    pulseTimer->setMode(pulseTimerChan, TIMER_OUTPUT_COMPARE_PWM1, stepPin);
+    pulseTimer->setMode(pulseTimerChan, TIMER_OUTPUT_COMPARE_PWM2, stepPin);
     pulseTimer->setOverflow(timerFrequency, HERTZ_FORMAT);
     pulseTimer->setCaptureCompare(pulseTimerChan, 5, MICROSEC_COMPARE_FORMAT); // 5 usecs
     pulseTimer->resume();
diff --git a/Firmware/src/main.cpp b/Firmware/src/main.cpp
index 6ce6c6a..bbbe8d8 100755
--- a/Firmware/src/main.cpp
+++ b/Firmware/src/main.cpp
@@ -41,7 +41,7 @@ extend32to64 longTime;
 void cb_set_outputs(void) // Master outputs gets here, slave inputs, first operation
 {
    Encoder1.setLatch(Obj.IndexLatchEnable);
-   Encoder1.setScale(500);
+   Encoder1.setScale(2000);
 
    // Step2.reqPos(Obj.CommandedPosition2);
    // Step2.setScale(Obj.StepsPerMM2);