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changes.mady.by.user Gumerlock, Karl L.

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New Version 66

changes.mady.by.user Gumerlock, Karl L.

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  • Reduced call depth by moving code from subroutines into their respective ISRs/functions. This was done for speed, as we gain a significant fraction of a millisecond for each CL/RT pair eliminated.
  • Eliminated a few Sd states that are no longer being used (for speed purposes).
  • Burst mode now drift checks the open position, to allow it to be used ad infinitum without risk of it drifting in the positive direction.
  • Drift limit violation counters are now reset upon homing as well as upon power cycle.
  • Eliminated no-longer-used subroutines.
  • Removed all unneeded spaces from conditional branch/call statements.
  • Wishlist for next revision:
    • Test realignment subroutine (X7) and add it to every mode change (especially fast open/close modes)
    • Further velocity tuning? We could possibly go faster.