change crystal to 16MHz

Firmware/MotorControl/platformio.ini

@@ -16,19 +16,19 @@ framework = arduino
 ; PlatformIO requires the board parameter. Must match your actual hardware
 board = ATmega328P
 ; Clock frequency in [Hz]
-board_build.f_cpu = 12000000L
+board_build.f_cpu = 16000000L
 board_hardware.oscillator = external
 ; Hardware UART for serial upload
 board_hardware.uart = no_bootloader
 ; Brown-out detection
-board_hardware.bod = 1.8v
+board_hardware.bod = 2.7v
 
 board_upload.speed = 115200
 
 monitor_speed = 9600
 
 upload_protocol = stk500
+upload_port = COM3
 upload_flags =
-    -PCOM8
 
 lib_deps = 883 #Servo

Firmware/MotorControl/src/Pen.cpp

@@ -1,14 +1,14 @@
+#include "Pen.h"
+
 #include <Arduino.h>
 #include <Servo.h>
 
-#include "Pen.h"
-
 Pen::Pen(int pin, int posEngaged, int posDisengaged)
     : posEngaged(posEngaged), posDisengaged(posDisengaged), pin(pin) {}
 
 void Pen::engage() {
     if (!engaged) {
-        for(int i = posDisengaged; i > posEngaged; i--) {
+        for (int i = posDisengaged; i > posEngaged; i--) {
             servo.write(i);
             delay(5);
         }

Firmware/MotorControl/src/Stepper.cpp

@@ -1,4 +1,5 @@
 #include "Stepper.h"
+
 #include <Arduino.h>
 #include <util/atomic.h>
 

Firmware/MotorControl/src/main.cpp

@@ -3,6 +3,7 @@
 #include <Wire.h>
 #include <avr/wdt.h>
 #include <util/atomic.h>
+
 #include "Config.h"
 #include "Globals.h"
 #include "common/Commands.h"
@@ -12,9 +13,10 @@ int curRPM = defRPM;
 bool needAdjust;
 
 int calculateDelay(float rpm, int stepsPerRevolution) {
-    //Delay between steps in a timer routine
+    // Delay between steps in a timer routine
     // Delay = (ticks/sec)/(rpm/60 * steps/rev)
-    return ((float)ticksPerSecond * (float)60) / (rpm * (float)stepsPerRevolution);
+    return ((float)ticksPerSecond * (float)60) /
+           (rpm * (float)stepsPerRevolution);
 }
 
 void adjustRPM() {
@@ -118,7 +120,7 @@ void execCommand(Command cmd) {
 
 void setup() {
     Serial.begin(9600);
-    servoStepper.setPos(xLimit);    
+    servoStepper.setPos(xLimit);
     pen.init();
     Wire.begin(8);
     Wire.onReceive(receiveEvent);