add prints

still needs some tuning

abzug.c

@@ -1,5 +1,7 @@
 #include <avr/io.h>
+#include <stdint.h>
 #include "avrIOhelper/io-helper.h"
+#include "common.h"
 
 uint16_t abzug_speed = 100;
 
@@ -14,15 +16,18 @@ void timer3_init()
     DDRE |= 1 << 4;
 }
 
+uint8_t get_abzug_state(){
+    return TCCR3B & _BV(CS31);
+}
 
-void send_info(void);
+extern void send_settings(void);
 void do_abzug(){
 
     if (read_Input(BTN_ABZUG_EIN, RISING)) {
         TCCR3B |= _BV(CS31);
         set_Output(LED_ABZUG, ON);
 #if PLC_MQTT_ENABLED
-        send_info();
+        send_settings();
 #endif
     }
 
@@ -30,47 +35,47 @@ void do_abzug(){
         TCCR3B &= ~(_BV(CS31));
         set_Output(LED_ABZUG, OFF);
 #if PLC_MQTT_ENABLED
-        send_info();
+        send_settings();
 #endif
     }
 
     if (read_Input(BTN_ABZUG_PLUS, RISING)) {
-        if(abzug_speed <= 900)
-            abzug_speed += 100;
-        else
-            abzug_speed = 1000;
-#if PLC_MQTT_ENABLED
-        send_info();
-#endif
-    }
-
-    if (read_Input(BTN_ABZUG_MINUS, RISING)) {
-        if(abzug_speed >= 110)
-            abzug_speed -= 100;
-        else
-            abzug_speed = 10;
-#if PLC_MQTT_ENABLED
-        send_info();
-#endif
-    }
-
-    if (read_Input(BTN_ABZUG_PLUS_FEIN, RISING)) {
         if(abzug_speed <= 990)
             abzug_speed += 10;
         else
             abzug_speed = 1000;
 #if PLC_MQTT_ENABLED
-        send_info();
+        send_settings();
 #endif
     }
 
-    if (read_Input(BTN_ABZUG_MINUS_FEIN, RISING)) {
+    if (read_Input(BTN_ABZUG_MINUS, RISING)) {
         if(abzug_speed >= 20)
             abzug_speed -= 10;
         else
             abzug_speed = 10;
 #if PLC_MQTT_ENABLED
-        send_info();
+        send_settings();
+#endif
+    }
+
+    if (read_Input(BTN_ABZUG_PLUS_FEIN, RISING)) {
+        if(abzug_speed <= 999)
+            abzug_speed += 1;
+        else
+            abzug_speed = 1000;
+#if PLC_MQTT_ENABLED
+        send_settings();
+#endif
+    }
+
+    if (read_Input(BTN_ABZUG_MINUS_FEIN, RISING)) {
+        if(abzug_speed >= 11)
+            abzug_speed -= 1;
+        else
+            abzug_speed = 10;
+#if PLC_MQTT_ENABLED
+        send_settings();
 #endif
     }
 

abzug.h

@@ -7,5 +7,6 @@ extern uint16_t abzug_speed;
 
 void do_abzug(void);
 void timer3_init(void);
+uint8_t get_abzug_state(void);
 
 #endif

avrIOhelper/io-helper.h

@@ -152,6 +152,8 @@ void ioHelperEdgeDetector(void);
 #define BTN_KRAFT_MINUS         BitPinG2
 
 #define IN_TAENZER_HOME         BitPinF0
-#define IN_SPULE_HOME         BitPinF1
+#define IN_SPULE_HOME           BitPinF1
+
+#define IN_BREMSE_STATE         BitPinF2
 
 #endif

kraftsensor.c

@@ -12,6 +12,8 @@
 int32_t kraftsensor_value;
 uint8_t kraftsensor_valid;
 
+int32_t kraftsensor_zero_offset = 0/*197700*/;
+
 void timer2_init()
 {
     TCCR2A = (1<<WGM21); //TIMER0 SET-UP: CTC MODE
@@ -27,14 +29,11 @@ void kraftsensor_init(){
 }
 
 void do_kraftsensor(){
-    static int32_t last_read;
-    static int32_t old_value;
     uint16_t m_data[4];
-    int32_t kraftsensor_read;
 
     /* read 2 16bit values and merge to 32bit signed integer */
     readReg(1,0,2);
-    if(wait_receive(2, m_data, 100)){
+    if(wait_receive(2, m_data, 10)){
         kraftsensor_valid = 0;
         printf("modbus error\n\r");
     }
@@ -43,31 +42,12 @@ void do_kraftsensor(){
         int32_t tmp = (uint32_t)m_data[1]<<16;
         tmp |= m_data[0];
 
-        //kraftsensor_value = tmp;
         /* conversion magic to milliNewton */
-        kraftsensor_read = ((tmp + 197700 /*539363*/)*9.81)/177.380;
-
-        if(abs(kraftsensor_read - old_value) > 10000){
-            if(abs(last_read - kraftsensor_read) > 10000){
-                kraftsensor_value = old_value;
-                printf("delta: %d\tvalue:%ld\n", kraftsensor_read - old_value, kraftsensor_read);
-                printf("spike\n");
-            }
-            else{
-                kraftsensor_value = kraftsensor_read;
-                printf("jump\n");
-            }
-        }
-        else{
-            kraftsensor_value = kraftsensor_read;
-        }
-        last_read = kraftsensor_read;
-        old_value = kraftsensor_value;
+        kraftsensor_value = (((tmp /* + 539363*/)*9.81)/177.380)+kraftsensor_zero_offset;
     }
-
 }
 
-uint8_t wait_receive(uint8_t len, uint16_t dest[], uint8_t timeout){
+int8_t wait_receive(uint8_t len, uint16_t dest[], uint8_t timeout){
 
     uint8_t breaker = timeout;
     while(!receiveOkay && breaker) { //wait for client response, time out after 1s
@@ -92,6 +72,23 @@ uint8_t wait_receive(uint8_t len, uint16_t dest[], uint8_t timeout){
     return 0;
 }
 
+int8_t wait_write(uint8_t timeout){
+    uint8_t breaker = timeout;
+    while(!receiveOkay && breaker) { //wait for client response, time out after 1s
+        breaker--;
+        _delay_ms(1);
+        if(breaker==0)
+            return -1;
+    }
+
+    if(receiveOkay) { //if this fails, there was either no response or a crc error
+        if(rxbuffer[1]&0x80) { //client responded with an error code
+            return rxbuffer[1]&0x80;
+        }
+    }
+    return 0;
+}
+
 void readReg(uint8_t slaveid, uint16_t address, uint8_t amount) {
     _delay_ms(2);
     rxbuffer[0]=slaveid;
@@ -117,5 +114,7 @@ void writeReg(uint8_t slaveid, uint16_t address, uint16_t value) {
 }
 
 ISR(TIMER2_COMPA_vect) { //this ISR is called 9765.625 times per second
+    //PORTH &= ~(1<<5);
 	modbusTickTimer();
+    //PORTH |= (1<<5);
 }

kraftsensor.h

@@ -8,10 +8,12 @@
 extern int32_t kraftsensor_value;
 extern uint8_t kraftsensor_valid;
 
+extern int32_t kraftsensor_zero_offset;
+
 void timer2_init();
 void kraftsensor_init();
 void do_kraftsensor(void);
-uint8_t wait_receive(uint8_t len, uint16_t dest[], uint8_t timeout);
+int8_t wait_receive(uint8_t len, uint16_t dest[], uint8_t timeout);
 void readReg(uint8_t slaveid, uint16_t address, uint8_t amount);
 void writeReg(uint8_t slaveid, uint16_t address, uint16_t value);
 

main.c

@@ -1,6 +1,8 @@
 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include <avr/wdt.h>
+#include <stdint.h>
+#include <stdio.h>
 #include <string.h>
 #include <stdlib.h>
 
@@ -71,7 +73,34 @@ static void avr_init()
     return;
 }
 
-void send_info(void){
+// send processvalues that are constantly changing
+void send_values(void){
+    char msg[10];
+
+    /* Taenzer */
+    if(kraftsensor_valid)
+        ltoa(kraftsensor_value, msg, 10);
+    else
+        msg[0] = '0';
+    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/taenzer/pv_kraft", msg, strlen(msg));
+
+    int8_t temp = taenzer_state.pos / 10000;
+    ltoa(temp, msg, 10);
+    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/taenzer/pos", msg, strlen(msg));
+
+    itoa((250*60)/ICR5, msg, 10);
+    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/spule/speed", msg, strlen(msg));
+
+    sprintf(msg, "%d", windings);
+    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/spule/windings", msg, strlen(msg));
+
+    sprintf(msg, "%ld", spule_trans_pos);
+    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/spule/trans_pos", msg, strlen(msg));
+}
+
+// send settings wich only change on buttion press
+void send_settings(void){
+    //TODO only send on change or improve performance otherwise
     char msg[10];
 
     /* Abzug */
@@ -85,33 +114,19 @@ void send_info(void){
     mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/abzug/onoff", msg, strlen(msg));
 
     /* Taenzer */
-    if(kraftsensor_valid)
-        ltoa(kraftsensor_value, msg, 10);
-    else
-        msg[0] = '0';
-    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/taenzer/pv_kraft", msg, strlen(msg));
-
-    int8_t temp = taenzer_state.pos / 10000;
-    ltoa(temp, msg, 10);
-    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/taenzer/pos", msg, strlen(msg));
-
     itoa(taenzer_state.force_setpoint, msg, 10);
     mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/taenzer/sp_kraft", msg, strlen(msg));
 
-
     /* Spule */
-    itoa((250*60)/ICR5, msg, 10);
-    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/spule/speed", msg, strlen(msg));
-
     if(TCCR5B & (1<<CS31))
         sprintf(msg, "True");
     else
         sprintf(msg, "False");
     mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/spule/onoff", msg, strlen(msg));
 
-    /* Uptime */
-    sprintf(msg, "%ld", millis()/1000);
-    mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/uptime", msg, strlen(msg));
+    ///* Uptime */
+    //sprintf(msg, "%ld", millis()/1000);
+    //mqtt_pub(&mqtt_client, "/Filamentanlage/05_Abzug/state/uptime", msg, strlen(msg));
 }
 
 
@@ -186,15 +201,15 @@ int main()
 
     set_Output(LED_FEHLER, OFF);
 
-    while(1)
-    {
-        wdt_reset(); // WDT reset at least every sec
+    set_Output(BitPH5, ON); //DEBUG
     
 #if PLC_MQTT_ENABLED
-        if(millis() < 10)
-            send_info();
+    send_settings();
 #endif
 
+    while(1){
+        wdt_reset(); // WDT reset at least every sec
+
         ioHelperReadPins();
         ioHelperDebounce();
         ioHelperEdgeDetector();
@@ -206,10 +221,11 @@ int main()
             outStates[2] ^= outStatesBlinking[2];
             outStates[3] ^= outStatesBlinking[3];
             timer_blink_outs = millis();
+            //printf("icr5: %u\n", ICR5);
         }
 
         if(millis() - timer_modbus_poll > 20){
-            do_kraftsensor();
+            do_kraftsensor();   // 8ms !!!
             timer_modbus_poll += 20;
         }
 
@@ -217,7 +233,8 @@ int main()
         // send misc info
         if(millis() - timer_send_info > 200){
             timer_send_info += 200;
-            send_info();
+            send_values(); // 10ms
+            //send_info(); // 27ms every 200ms
         }
 #endif
 
@@ -229,10 +246,10 @@ int main()
 #if PLC_MQTT_ENABLED
         ioHelperSetBit(outStates, LED_BUS_OK, 1);
         ioHelperSetOuts();
-        MQTTYield(&mqtt_client, 10); //blocking call
+        MQTTYield(&mqtt_client, 1); //blocking call
         ioHelperSetBit(outStates, LED_BUS_OK, 0);
 #endif
-        ioHelperSetOuts();
+        ioHelperSetOuts(); //40us
     }
     return 0;
 }

modbus.h

@@ -52,7 +52,7 @@ THE POSSIBILITY OF SUCH DAMAGE.
 
 /* define baudrate of modbus */
 #ifndef BAUD
-#define BAUD 38400L
+#define BAUD 115200L
 #endif
 
 /*

pid_controller.h

@@ -25,8 +25,8 @@ typedef struct {
 } PID_vars;
 
 
-#define PID_VARS_INIT(x) PID_vars x = {.Kp=1.3,.Ki=0.00,.Kd=0.0,.output_max=20000.0, \
-                       .output_min=-20000.0,._integral_sum=0.0,._prev_err=0.0,._dt=1.0}
+#define PID_VARS_INIT(x) PID_vars x = {.Kp=1.3,.Ki=0.00,.Kd=0.00,.output_max=25000.0, \
+                       .output_min=-25000.0,._integral_sum=0.0,._prev_err=0.0,._dt=1.0}
 
 /* Function Prototypes */
 double pid(PID_vars *vars, double current_err);

spule.c

@@ -10,9 +10,13 @@
 volatile uint16_t windings = 0;
 volatile uint16_t windings_wakeup = 0;
 
+volatile uint8_t trans_state = 0;
+
 int32_t spule_trans_pos = 0;
 uint8_t spule_trans_homed = 0;
 
+#define TRANS_ROT_FACTOR 0.14
+
 void timer1_init()
 {
     TCCR1A |= (1<<COM1A1);
@@ -22,7 +26,6 @@ void timer1_init()
     OCR1A = 50;
 
     DDRB |= 1 << 5;
-
     TIMSK1 |= 1<<TOIE1;
 }
 
@@ -38,8 +41,27 @@ void timer5_init()
     TIMSK5 |= 1<<TOIE5;
 }
 
-void do_spule(){
+static void spule_onoff(uint8_t state){
+    if(state){
+        TCCR5B |= _BV(CS51); // ROTATION
+        TCCR1B |= _BV(CS11); // TRANSLATION
+    }
+    else{
+        TCCR5B &= ~(_BV(CS51));
+        TCCR1B &= ~(_BV(CS11));
+    }
+}
 
+void set_spooling_speed(uint16_t speed){
+    ICR5=speed;
+    OCR5C = ICR5/2;
+
+    ICR1 = ICR5/TRANS_ROT_FACTOR;
+    OCR1A = ICR1/2;
+}
+
+void do_spule(){
+    // Translatoric axis homeing code
     if(read_Input(IN_SPULE_HOME, LEVEL) && spule_trans_homed == 0){
         spule_trans_homed = 1;
         spule_trans_pos = 0;
@@ -47,88 +69,147 @@ void do_spule(){
         TCCR1B &= ~(_BV(CS11));
         set_Output(MOTOR_TRANS_DIR, 0); // direction: back
 
-        ICR1 = ICR5/0.7;
+        ICR1 = ICR5/TRANS_ROT_FACTOR;
         OCR1A = ICR1/2;
     }
 
+    // if not homed goto home
     if(!spule_trans_homed){
         ICR1 = 100;
         OCR1A = 50;
         set_Output(MOTOR_TRANS_DIR, 1); // direction: front
         TCCR1B |= _BV(CS11); //TURN ON
     }
+
+    // manual forwarding if button is held
+    else if(!get_abzug_state() || (get_abzug_state() && read_Input(IN_BREMSE_STATE, LEVEL)) ){
+        if(read_Input(BTN_WICKELN_EIN, LEVEL)){
+            set_spooling_speed(300);
+            spule_onoff(1);
+        }
+        else
+            spule_onoff(0);
+    }
+
+    // normal operation
     else{
         /* speed regulation - keep taenzer at 10% */
-        int32_t tmp = (100 - (int32_t)taenzer_state.pos/1000)*10;
+        float p = 100.0/(int32_t)(taenzer_state.pos/1000);
+        p-=1;
+        p/=2;
+        p+=1;
+        //tmp = (int32_t)(taenzer_state.pos/10000);
+        //printf("%ld\n", tmp);
 
-        if(tmp < -75000/abzug_speed/2)
-            tmp = -75000/abzug_speed/2;
+        //printf("temp1: %d\n", tmp);
+        //TODO fix bounds
+        //if(tmp < -7500/abzug_speed/2)
+        //    tmp = -7500/abzug_speed/2;
+        //printf("temp2: %d\n", tmp);
+        if(p < 0.5)
+            p = 0.5;
+        if(p > 2)
+            p = 2;
 
-        ICR5=75000/abzug_speed + tmp;
+        uint16_t base_speed = (14000/abzug_speed);
+        uint16_t ctrl_speed = base_speed * p;
+
+        if(ctrl_speed <= 70)
+            ctrl_speed = 70;
+
+        ICR5 = ctrl_speed;
         OCR5C = ICR5/2;
 
-        ICR1 = ICR5/0.7;
+        if(trans_state != 4)
+            ICR1 = ICR5/TRANS_ROT_FACTOR;
+        else
+            ICR1 = 0.5*(ICR5/TRANS_ROT_FACTOR);
         OCR1A = ICR1/2;
 
-        if (read_Input(BTN_WICKELN_EIN, RISING)) {
-            TCCR5B |= _BV(CS51); //TURN ON
-            TCCR1B |= _BV(CS11); //TURN ON
+        if (read_Input(BTN_WICKELN_EIN, RISING) && !read_Input(IN_BREMSE_STATE, LEVEL)) {
+            spule_onoff(1);
         }
         if (read_Input(BTN_WICKELN_AUS, RISING)) {
-            TCCR5B &= ~(_BV(CS51));
-            TCCR1B &= ~(_BV(CS11));
-        }
-
-        if (read_Input(BTN_INIT, RISING)) {
-            spule_trans_homed = 0;
-            taenzer_state.homed = 0;
-            taenzer_state.active = 0;
-            windings = 0;
-            windings_wakeup = 0;
+            spule_onoff(0);
         }
     }
+    if (read_Input(BTN_INIT, RISING)) {
+        spule_trans_homed = 0;
+        taenzer_state.homed = 0;
+        taenzer_state.active = 0;
+        windings = 0;
+        windings_wakeup = 0;
+    }
+
+    if (read_Input(IN_BREMSE_STATE, FALLING)) {
+        printf("draußen\n");
+        spule_onoff(1);
+    }
+
+    if (read_Input(IN_BREMSE_STATE, RISING)) {
+        printf("drinne\n");
+        spule_onoff(0);
+    }
+
+    //PORTH |= (1<<5);
 }
 
 ISR(TIMER1_OVF_vect) {
-    if(ioHelperReadBit(outStates, MOTOR_TRANS_DIR)){
+    //PORTH &= ~(1<<5);
+    //if(ioHelperReadBit(outStates, MOTOR_TRANS_DIR)){
+    if(PORTB & (1<<6)){
         spule_trans_pos -= 1;
     }
     else{
         spule_trans_pos += 1;
     }
     //TODO keep track if position stays in bounds
+    //PORTH |= (1<<5);
 }
 
 ISR(TIMER5_OVF_vect) {
+    //PORTH &= ~(1<<5);
     static uint16_t steps = 0;
     steps++;
-    if(steps == 5000){
+    if(steps == 25000){
         windings++;
         steps=0;
-        printf("windungen: %d\n", windings);
+        printf("windungen: %d\t", windings);
+        printf("trans pos: %ld\n", spule_trans_pos);
+        printf("speed %d\n", ICR1);
     }
 
     if(windings == windings_wakeup){
         TIMSK1 |= 1<<TOIE1;
     }
 
-    if(windings % 25 == 0 && steps == 0){
-        ICR1 = ICR5/0.7;
+    uint8_t windings_on_layer = windings % 25;
+
+    if(windings_on_layer == 0 && steps == 0){
+        trans_state = 1;
+        ICR1 = ICR5/TRANS_ROT_FACTOR;
         OCR1A = ICR1/2;
         set_Output(MOTOR_TRANS_DIR, TOGGLE);
-        printf("toggle\n");
+        printf("toggle at pos: %ld\n", spule_trans_pos);
+        printf("speed %d\n", ICR1);
     }
-    if(windings % 25 == 1 && steps == 0){
-        printf("nachlauf aufbauen ---");
+    if(windings_on_layer == 1 && steps == 0){
+        trans_state = 2;
+        printf("nachlauf aufbauen\n");
         TCCR1B &= ~(_BV(CS11));
     }
-    if(windings % 25 == 3 && steps == 0){
+    if(windings_on_layer == 3 && steps == 0){
+        trans_state = 3;
         TCCR1B |= _BV(CS11);
         printf("done\n");
+        printf("speed %d\n", ICR1);
     }
-    if(windings % 25 == 21 && steps == 0){
-        ICR1 = 0.5*(ICR5/0.7);
+    if(windings_on_layer == 21 && steps == 0){
+        trans_state = 4;
+        ICR1 = 0.5*(ICR5/TRANS_ROT_FACTOR);
         OCR1A = ICR1/2;
         printf("nachlauf abbauen\n");
+        printf("speed %d\n", ICR1);
     }
+    //;PORTH |= (1<<5);
 }

spule.h

@@ -1,8 +1,13 @@
 #ifndef _SPULE_H_
 #define _SPULE_H_
 
+#include <stdint.h>
+
 void timer1_init(void);
 void timer5_init(void);
 void do_spule(void);
 
+extern volatile uint16_t windings;
+extern int32_t spule_trans_pos;
+
 #endif

taenzer.c

@@ -5,13 +5,14 @@
 #include "kraftsensor.h"
 #include "notaus.h"
 #include "pid_controller.h"
+#include "common.h"
 
 #include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>
 
 #define TAENZER_KRAFT_SETPOINT 12000
-#define TAENZER_KRAFT_HYST 1000
+#define TAENZER_KRAFT_HYST 500
 
 
 taenzer_state_t taenzer_state;
@@ -46,7 +47,7 @@ double pid(PID_vars *vars, double current_err) {
   return output;
 }
 
-void send_info(void);
+extern void send_settings(void);
 void do_taenzer(){
 
     /* Homing */
@@ -65,31 +66,39 @@ void do_taenzer(){
     if (read_Input(BTN_KRAFT_PLUS, RISING)) {
         taenzer_state.force_setpoint += 1000;
 #if PLC_MQTT_ENABLED
-        send_info();
+        send_settings();
 #endif
+        if(taenzer_state.homed == 1 && read_Input(BTN_KRAFT_MINUS, LEVEL))
+        {
+            kraftsensor_zero_offset = -(kraftsensor_value-kraftsensor_zero_offset);
+        }
     }
     if (read_Input(BTN_KRAFT_MINUS, RISING)) {
         taenzer_state.force_setpoint -= 1000;
 #if PLC_MQTT_ENABLED
-        send_info();
+        send_settings();
 #endif
+        if(taenzer_state.homed == 1 && read_Input(BTN_KRAFT_PLUS, LEVEL))
+        {
+            kraftsensor_zero_offset = -(kraftsensor_value-kraftsensor_zero_offset);
+        }
     }
     if (read_Input(BTN_TAENZER_START, RISING)) {
         taenzer_state.active = 1;
     }
 
     /* Force regualtion */
-    if(kraftsensor_valid && taenzer_state.active && taenzer_state.homed && taenzer_state.pos >= 0 && taenzer_state.pos < 500000){
-        int16_t err = (kraftsensor_value - taenzer_state.force_setpoint);
+    if(kraftsensor_valid && taenzer_state.active && taenzer_state.homed && taenzer_state.pos >= 0){
+        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;
 
         if(kraftsensor_valid && notaus_state == POWER_ON){
-            if(out < -TAENZER_KRAFT_HYST/2 && taenzer_state.pos < 300000UL){
+            if(out < -TAENZER_KRAFT_HYST/2  && taenzer_state.pos < 970000UL){
                 set_Output(MOTOR_TAENZER_DIR, 0); // direction: down
                 TCCR4B |= _BV(CS41); //TURN ON
             }
@@ -97,12 +106,15 @@ 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()