X-Git-Url: http://git.droids-corp.org/?p=protos%2Frc_servos.git;a=blobdiff_plain;f=main.c;fp=main.c;h=5849b8bfe4b73f5a952d35c22bb69a6f9d8535c3;hp=5d449de1b11efa5669f804e0c648bfff391b194c;hb=7113aed0018e08706cf5fbfeb58a96ba87a84ef4;hpb=7550fa78c8354d1551266bb15e280d4dd6cefb50

diff --git a/main.c b/main.c
index 5d449de..5849b8b 100644
--- a/main.c
+++ b/main.c
@@ -141,7 +141,7 @@ static void do_one_servo(struct servo *s)
 	//portval = PORTC | (1 << s->bit);
 	portval = (1 << s->bit);
 	t = TCNT1;
-	load_timer_at(t + 150);
+	load_timer_at(t + 20);
 	while (done == 0)
 		poll_spi();
 
@@ -149,7 +149,7 @@ static void do_one_servo(struct servo *s)
 	done = 0;
 	portval = 0;
 	//portval = PORTC & (~(1 << s->bit));
-	load_timer_at(t + 150 + 8000 + s->command * 8);
+	load_timer_at(t + 20 + 1000 + s->command);
 	while (done == 0)
 		poll_spi();
 }
@@ -175,9 +175,9 @@ int main(void)
 	/* servo outputs PD2-PD7 */
 	DDRD = 0xfc;
 
-	/* start timer1 at clk/1 (8Mhz) */
+	/* start timer1 at clk/8 (1Mhz) */
 	TCNT1 = 0;
-	TCCR1B = _BV(CS10);
+	TCCR1B = _BV(CS11);
 
 	/* start timer0 at clk/1024 (~8Khz) */
 	TCNT0 = 0;