modified polygon motor driver, increased duty cycle

Software/Firmware/MotorController/MotorController/MotorController.ino

@@ -1,52 +1,31 @@
-/*
-  Blink
-  Turns on an LED on for one second, then off for one second, repeatedly.
-
-  Most Arduinos have an on-board LED you can control. On the Uno and
-  Leonardo, it is attached to digital pin 13. If you're unsure what
-  pin the on-board LED is connected to on your Arduino model, check
-  the documentation at http://www.arduino.cc
-
-  This example code is in the public domain.
-
-  modified 8 May 2014
-  by Scott Fitzgerald
- */
-
 #define XTAL 8000000L
 #define CLOCK 333
+// depends on individual attiny 841 
+#define CLOCK_OFFSET 10
 #define PRESCALER 1
+#define DUTY_CYCLE 10000
 
+#define PWM_OUTPUT_PIN 8
 
-// the setup function runs once when you press reset or power the board
 void setup() {
-    pinMode(OUTPUT, PA1);
-    pinMode(OUTPUT, 11);
-    pinMode(OUTPUT, PB2);
-    digitalWrite(11, HIGH);
-//    digitalWrite(PB2, HIGH);
-    CCP=0xd8;
-    CLKPR=(0<<CLKPS3) | (0<<CLKPS2) | (0<<CLKPS1) | (0<<CLKPS0);
-//    DDRA = (1 << PA2);//PA2 pin as an output
-/* PA2
-    TOCPMSA1 = (1 << TOCC1S0);//TOCC1 linkage
-    TOCPMCOE = (1 << TOCC1OE);//Enable PWMs
-    ICR1 = (XTAL/PRESCALER/CLOCK) -1;
-    OCR1A = (XTAL/PRESCALER/CLOCK) -1;
-    TCCR1A = (1 << COM1A1) | (1 << COM1A0) | (0 << WGM13) | (1<< WGM12);
-    TCCR1B = (0 << CS12) | (0 << CS11) | (1 << CS10);*/
-
-// PB2
-    TOCPMSA1 = (1 << TOCC7S0);//TOCC1 linkage
-    TOCPMCOE = (1 << TOCC7OE);//Enable PWMs
-    ICR1 = (XTAL/PRESCALER/CLOCK) -1;
-    OCR1A = (XTAL/PRESCALER/CLOCK) -1;
-    TCCR1A = (1 << COM1A1) | (1 << COM1A0) | (0 << WGM13) | (1<< WGM12);
-    TCCR1B = (0 << CS12) | (0 << CS11) | (1 << CS10);
+
+  pinMode(PWM_OUTPUT_PIN, OUTPUT);
+
+  CCP = 0xd8;
+  CLKPR = (0 << CLKPS3) | (0 << CLKPS2) | (0 << CLKPS1) | (0 << CLKPS0);
+
+  TOCPMSA0 = (1 << TOCC1S0);//TOCC1 linkage
+  TOCPMCOE = (1 << TOCC1OE);//Enable PWMs
+
+  TCCR1A = (1 << COM1A1) | (0 << COM1A0) | (1 << WGM11) | (0 << WGM10);
+  TCCR1B = (1 << CS10) | (1 << WGM13) | (1 << WGM12);
+
+  ICR1 = (XTAL / PRESCALER / (CLOCK - CLOCK_OFFSET));
+  OCR1A = DUTY_CYCLE;
+
 
 }
 
-// the loop function runs over and over again forever
 void loop() {
 
 }