From 21099092c0d1646fc4799539567a1534c0cdd64b Mon Sep 17 00:00:00 2001
From: Eggert Jung <eggert.s.jung@wischhof13.de>
Date: Mon, 5 Sep 2022 15:58:33 +0200
Subject: [PATCH] increse control var to 32bit, decrease Hysteresis

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

diff --git a/taenzer.c b/taenzer.c
index 5c36adb..37875c3 100644
--- a/taenzer.c
+++ b/taenzer.c
@@ -12,7 +12,7 @@
 #include <stdlib.h>
 
 #define TAENZER_KRAFT_SETPOINT 12000
-#define TAENZER_KRAFT_HYST 1000
+#define TAENZER_KRAFT_HYST 500
 
 
 taenzer_state_t taenzer_state;
@@ -84,7 +84,7 @@ void do_taenzer(){
         int32_t err = (kraftsensor_value - taenzer_state.force_setpoint);
 
         double pid_out = pid(&regler, err);
-        int16_t out = (int16_t)pid_out;
+        int32_t out = (int32_t)pid_out;
 
         ICR4 = 400000/abs(out);
         OCR4A = ICR4/2;
@@ -98,12 +98,15 @@ void do_taenzer(){
                 set_Output(MOTOR_TAENZER_DIR, 1); // direction: up
                 TCCR4B |= _BV(CS41); //TURN ON
             }
-            else
+            else{
                 TCCR4B &= ~_BV(CS41); //TURN OFF
+            }
         }
         else
             TCCR4B &= ~_BV(CS41); //TURN OFF
     }
+    //else
+    //    TCCR4B &= ~_BV(CS41); //TURN OFF
 }
 
 void timer4_init()