From 08f9838b19ae9151cab156a2a61d445343d2fc2d Mon Sep 17 00:00:00 2001
From: Eggert Jung <eggert.s.jung@wischhof13.de>
Date: Fri, 25 Feb 2022 16:27:50 +0100
Subject: [PATCH] add define for force values

---
 taenzer.c | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/taenzer.c b/taenzer.c
index d5603ee..88558f8 100644
--- a/taenzer.c
+++ b/taenzer.c
@@ -8,6 +8,9 @@
 
 taenzer_state_t taenzer_state;
 
+#define TAENZER KRAFT_SETPOINT 12000
+#define TAENZER_KRAFT_HYST 2000
+
 void do_taenzer(){
 
     /* Homing */
@@ -23,7 +26,7 @@ void do_taenzer(){
 
     /* Force regualtion */
     if(kraftsensor_valid && taenzer_state.homed){
-        int16_t err = abs(kraftsensor_value - 10000);
+        int16_t err = abs(kraftsensor_value - TAENZER KRAFT_SETPOINT);
 
         if(err > 8000)
             err=8000;
@@ -31,11 +34,11 @@ void do_taenzer(){
         ICR4 = 400000/err;
         OCR4A = ICR4/2;
 
-        if(kraftsensor_value < 19000){
+        if(kraftsensor_value < TAENZER KRAFT_SETPOINT - (TAENZER_KRAFT_HYST/2)){
             set_Output(MOTOR_TAENZER_DIR, 0); // direction: down
             TCCR4B |= _BV(CS41); //TURN ON
         }
-        else if(kraftsensor_value > 20000){
+        else if(kraftsensor_value > TAENZER KRAFT_SETPOINT + (TAENZER_KRAFT_HYST/2)){
             set_Output(MOTOR_TAENZER_DIR, 1); // direction: up
             TCCR4B |= _BV(CS41); //TURN ON
         }