Fixed timing issue & re-enabled 'setPWMFreq()'

- setPWMFreq() is used to remove the audible PWM hum

Author: OllyMcBrideOB

src/FingerLib.cpp

@@ -1,3 +1,5 @@
+
+
 /*
  * FingerLib.cpp
  *
@@ -58,12 +60,8 @@ uint8_t Finger::attach(uint8_t dir0, uint8_t dir1, uint8_t sense, bool inv)
 
 
 		// if using the Atmega2560, set the PWM freq to > 20kHz to prevent humming
-		// the PWM freq on the Zero is > 20kHz by default
-#if defined(ARDUINO_AVR_MEGA2560)
-		//setPWMFreq(dir0, 0x01);		// set PWM frequency to max freq					DISABLED DUE TO POTENTIAL CSV MODE TIMING BUG
-		//setPWMFreq(dir1, 0x01);		// set PWM frequency to max freq					DISABLED DUE TO POTENTIAL CSV MODE TIMING BUG
-#endif
-
+		setPWMFreq(dir0, 0x01);		// set PWM frequency to max freq
+		setPWMFreq(dir1, 0x01);		// set PWM frequency to max freq					
 
 		// initialise the timer
 		if(_timerSetupFlag == false)
@@ -387,9 +385,8 @@ void fingerPosCtrl(void)
 	signed int motorSpeed = 0;			// used to calculate the motor speed as a vector (±255)
 	float m;							// the proportional gradient 
 	signed int vectorise = 1;			// changes the sign '±' of the value
-	
-	int proportionalOffset  = 150;         
-	signed int motorStopOffset = 20;      
+	int proportionalOffset = 150;
+	signed int motorStopOffset = 20;
 
 
 	if(_TotalFingerCount > 0)			// if _fingers are attached

src/FingerLib.h

@@ -37,13 +37,13 @@
 
 #define MAX_FINGERS			6			// maximum number of _fingers
 #define MAX_FINGER_SPEED	255			// maximum motor speed
-#define MIN_FINGER_SPEED	99			// minimum motor speed
+#define MIN_FINGER_SPEED	99			//99 // minimum motor speed
 #define MAX_FINGER_POS		973			// maximum motor position
 #define MIN_FINGER_POS		50			// minimum motor position
-// #define MAX_FINGER_POS		923			// maximum motor position
-// #define MIN_FINGER_POS		100			// minimum motor position
+
 #define POS_REACHED_TOLERANCE	50		// tolerance for posReached()
 
+
 typedef struct  {
 	uint8_t dir[2];
 	uint8_t sns;
@@ -115,10 +115,9 @@ class Finger
 
 	private:    
  		uint8_t fingerIndex;			// index into the channel data for this finger
-#if defined(ARDUINO_AVR_MEGA2560)
+
 		void setPWMFreq(uint8_t pin, uint8_t value);
-#endif
-		
+	
 };
 
 void motorControl(int fNum, signed int motorSpeed);