funktioniert ganz ok

Inc/stepper.h

@@ -11,12 +11,14 @@ typedef struct {
     uint8_t home_pin;
     uint8_t homed:1;
     uint8_t trigger_step:1;
-    int16_t pos;
-    int16_t speed;
-    int16_t ramp_to_speed;
+    int32_t pos;
+    int32_t speed;
+    int32_t ramp_to_speed;
     uint32_t next_step;
 } stepper_T;
   
+#define STEPPERS_MAX_SPEED 300
+
 void Timer1_Init(void);
 void stepper_gpio_init();
 void do_steps();