From 28cd7f1b4fe2bd55c872fa609534aa0228dfbb76 Mon Sep 17 00:00:00 2001
From: Stepan Usatiuk <stepanusatiuk@gmail.com>
Date: Wed, 29 May 2019 17:14:01 +0300
Subject: [PATCH] move calling adjustRPM out of the loop

Signed-off-by: Stepan Usatyuk <usaatyuk@ustk.me>
---
 Firmware/MotorControl/src/main.cpp | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/Firmware/MotorControl/src/main.cpp b/Firmware/MotorControl/src/main.cpp
index 1150be2..5afa19d 100644
--- a/Firmware/MotorControl/src/main.cpp
+++ b/Firmware/MotorControl/src/main.cpp
@@ -131,6 +131,9 @@ unsigned int ms = 0;
 
 ISR(TIMER2_COMP_vect) {
     ms++;
+    if (ms % adjustDelay  == 0) {
+        adjustRPM();
+    }
     if (ms % eggStepperDelay == 0) {
         eggStepper.doStep();
     }
@@ -147,10 +150,6 @@ void updateExecution() {
 }
 
 void loop() {
-    unsigned long ms = millis();
-    if (ms % adjustDelay < 2) {
-        adjustRPM();
-    }
     if (newCommand) {
         newCommand = false;
         execCommand();