From b079e488804de029a92f1fcf5b122d50b603932f Mon Sep 17 00:00:00 2001
From: Stepan Usatiuk <stepanusatiuk@gmail.com>
Date: Wed, 29 May 2019 15:57:13 +0300
Subject: [PATCH] fix an annoying bug

Signed-off-by: Stepan Usatyuk <usaatyuk@ustk.me>
---
 Firmware/EggbotWireless/src/main.cpp    | 2 +-
 Firmware/MotorControl/include/Globals.h | 4 ++--
 Firmware/MotorControl/src/main.cpp      | 3 ---
 3 files changed, 3 insertions(+), 6 deletions(-)

diff --git a/Firmware/EggbotWireless/src/main.cpp b/Firmware/EggbotWireless/src/main.cpp
index 6380b62..db346e1 100644
--- a/Firmware/EggbotWireless/src/main.cpp
+++ b/Firmware/EggbotWireless/src/main.cpp
@@ -71,7 +71,7 @@ void loop() {
             unsigned long reqTime = millis();
             while (waitingForNext) {
                 while (!Wire.available()) {
-                    if (millis() - reqTime > 500) {
+                    if (millis() - reqTime > 100) {
                         Wire.requestFrom(8, 1);
                         reqTime = millis();
                     }
diff --git a/Firmware/MotorControl/include/Globals.h b/Firmware/MotorControl/include/Globals.h
index 45d321d..4a1e8f9 100644
--- a/Firmware/MotorControl/include/Globals.h
+++ b/Firmware/MotorControl/include/Globals.h
@@ -8,7 +8,7 @@
 #define EGG_DIA 45.0
 #define Y_DEGREES_PER_MM (360 / (PI * EGG_DIA))
 
-#define X_LIMIT 90.0
+#define X_LIMIT 85.0
 #define EGG_LENGTH 60.0
 #define X_DEGREES_PER_MM (X_LIMIT / EGG_LENGTH)
 
@@ -19,7 +19,7 @@ Stepper eggStepper(24, 25, STEPS_PER_REVOLUTION, 0, Y_DEGREES_PER_MM);
 Stepper servoStepper(28, 29, -STEPS_PER_REVOLUTION, X_LIMIT,
                      X_DEGREES_PER_MM);
 
-Pen pen(23, 100, 180);
+Pen pen(23, 120, 180);
 
 unsigned int eggStepperDelay;
 unsigned int servoStepperDelay;
diff --git a/Firmware/MotorControl/src/main.cpp b/Firmware/MotorControl/src/main.cpp
index 6fe0215..1150be2 100644
--- a/Firmware/MotorControl/src/main.cpp
+++ b/Firmware/MotorControl/src/main.cpp
@@ -81,7 +81,6 @@ void requestEvent() {
 
 void execCommand() {
     executing = true;
-    cli();
     if (command[0] == G01 || command[0] == G00) {
         if (command[0] == G01) {
             needAdjust = true;
@@ -108,10 +107,8 @@ void execCommand() {
 
         adjustRPM();
 
-        sei();
         return;
     }
-    sei();
 }
 
 void setup() {