make spooling speed controled instead of manual

spule.c

@@ -1,8 +1,12 @@
 #include <avr/io.h>
 #include <avr/interrupt.h>
+#include <stdint.h>
 #include <stdio.h>
 #include "avrIOhelper/io-helper.h"
 
+#include "taenzer.h"
+#include "abzug.h"
+
 
 int32_t spule_trans_pos = 0;
 uint8_t spule_trans_homed = 0;
@@ -50,6 +54,14 @@ void do_spule(){
         TCCR1B |= _BV(CS11); //TURN ON
     }
     else{
+        /* speed regulation - keep taenzer at 10% */
+        int32_t tmp = (100 - (int32_t)taenzer_state.pos/1000)*10;
+        ICR5=75000/abzug_speed + tmp;
+        OCR5C = ICR5/2;
+
+        ICR1 = ICR5/0.7;
+        OCR1A = ICR1/2;
+
         if (read_Input(BTN_WICKELN_EIN, RISING)) {
             TCCR5B |= _BV(CS51); //TURN ON
             TCCR1B |= _BV(CS11); //TURN ON
@@ -58,20 +70,6 @@ void do_spule(){
             TCCR5B &= ~(_BV(CS51));
             TCCR1B &= ~(_BV(CS11));
         }
-        if (read_Input(BTN_TAENZER_START, RISING)) {
-            ICR5-=15;
-            OCR5C = ICR5/2;
-
-            ICR1 = ICR5/0.7;
-            OCR1A = ICR1/2;
-        }
-        if (read_Input(BTN_SPULENWECHSEL, RISING)) {
-            ICR5+=15;
-            OCR5C = ICR5/2;
-
-            ICR1 = ICR5/0.7;
-            OCR1A = ICR1/2;
-        }
 
         if (read_Input(BTN_INIT, RISING)) {
             spule_trans_homed = 0;