diff --git a/src/action.c b/src/action.c
index a6e06989d829322b805c6359393269a6b1af3303..95ceb5d4cb76c4dbe282366089d6acb17f1bbacc 100644
--- a/src/action.c
+++ b/src/action.c
@@ -123,7 +123,7 @@ void action_load_next_step(void)
}
}
// compute trajectory
- action_pause_time=((action_current_page.steps[action_current_step_index].pause<<14)/action_current_page.header.speed);
+ action_pause_time=((action_current_page.steps[action_current_step_index].pause<<14)*action_current_page.header.speed);
action_step_time=((action_current_page.steps[action_current_step_index].time<<14)/action_current_page.header.speed);
if(action_step_time<action_period)
action_step_time=action_period;// 0.078 in 16|16 format
diff --git a/src/motion_pages.c b/src/motion_pages.c
index 147398dc9cf9164c40da4c0299da2c423a9bf616..4223450ada73255a3c237a77805d6af71f86676e 100644
--- a/src/motion_pages.c
+++ b/src/motion_pages.c
@@ -167,7 +167,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x05,
0x00,
- 0x30,
+ 0x15,
0x00,
0x20,
0x03,
@@ -224,7 +224,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x05,
0x00,
- 0x30,
+ 0x15,
0x00,
0x20,
0x04,
@@ -281,7 +281,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x30,
+ 0x15,
0x00,
0x20,
0x00,
@@ -338,7 +338,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x05,
0x00,
- 0x30,
+ 0x15,
0x00,
0x20,
0x06,
@@ -395,7 +395,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x05,
0x00,
- 0x30,
+ 0x15,
0x00,
0x20,
0x00,
@@ -452,7 +452,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x05,
0x00,
- 0x19,
+ 0x27,
0x00,
0x20,
0x00,
@@ -509,7 +509,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x06,
0x00,
- 0x30,
+ 0x15,
0x00,
0x20,
0x09,
@@ -566,7 +566,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x02,
0x00,
- 0x30,
+ 0x15,
0x00,
0x20,
0x0a,
@@ -623,7 +623,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x30,
+ 0x15,
0x00,
0x20,
0x00,
@@ -794,7 +794,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x05,
0x00,
- 0x30,
+ 0x15,
0x00,
0x20,
0x00,
@@ -851,7 +851,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x01,
0x00,
- 0x26,
+ 0x1a,
0x00,
0x04,
0x0e,
@@ -908,7 +908,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x02,
0x00,
- 0x30,
+ 0x15,
0x00,
0x04,
0x00,
@@ -965,7 +965,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x01,
0x00,
- 0x26,
+ 0x1a,
0x00,
0x04,
0x10,
@@ -1022,7 +1022,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x02,
0x00,
- 0x30,
+ 0x15,
0x00,
0x04,
0x00,
@@ -1079,7 +1079,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x06,
0x00,
- 0x30,
+ 0x15,
0x00,
0x04,
0x00,
@@ -1136,7 +1136,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x06,
0x00,
- 0x30,
+ 0x15,
0x00,
0x04,
0x00,
@@ -1193,7 +1193,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x04,
0x00,
- 0x30,
+ 0x15,
0x00,
0x20,
0x00,
@@ -1250,7 +1250,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x04,
0x00,
- 0x30,
+ 0x15,
0x00,
0x20,
0x00,
@@ -1307,7 +1307,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x30,
+ 0x15,
0x00,
0x20,
0x00,
@@ -1421,7 +1421,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x02,
0x00,
- 0x19,
+ 0x27,
0x00,
0x20,
0x00,
@@ -1535,7 +1535,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x02,
0x00,
- 0x19,
+ 0x27,
0x00,
0x20,
0x00,
@@ -1592,7 +1592,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x05,
0x00,
- 0x33,
+ 0x13,
0x00,
0x20,
0x00,
@@ -1706,7 +1706,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x01,
0x00,
- 0x10,
+ 0x40,
0x00,
0x20,
0x00,
@@ -1763,7 +1763,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x03,
0x00,
- 0x40,
+ 0x10,
0x00,
0x20,
0x00,
@@ -1877,7 +1877,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x21,
@@ -1934,7 +1934,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x26,
@@ -1991,7 +1991,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x23,
@@ -2048,7 +2048,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x24,
@@ -2105,7 +2105,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x56,
+ 0x0b,
0x00,
0x05,
0x25,
@@ -2162,7 +2162,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x56,
+ 0x0b,
0x00,
0x05,
0x26,
@@ -2219,7 +2219,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x56,
+ 0x0b,
0x00,
0x05,
0x27,
@@ -2276,7 +2276,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x56,
+ 0x0b,
0x00,
0x05,
0x24,
@@ -2333,7 +2333,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x29,
@@ -2390,7 +2390,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x00,
@@ -2447,7 +2447,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x2b,
@@ -2504,7 +2504,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x00,
@@ -2561,7 +2561,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x2d,
@@ -2618,7 +2618,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x32,
@@ -2675,7 +2675,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x2f,
@@ -2732,7 +2732,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x30,
@@ -2789,7 +2789,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x56,
+ 0x0b,
0x00,
0x05,
0x31,
@@ -2846,7 +2846,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x56,
+ 0x0b,
0x00,
0x05,
0x32,
@@ -2903,7 +2903,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x56,
+ 0x0b,
0x00,
0x05,
0x33,
@@ -2960,7 +2960,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x56,
+ 0x0b,
0x00,
0x05,
0x30,
@@ -3017,7 +3017,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x35,
@@ -3074,7 +3074,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x00,
@@ -3131,7 +3131,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x37,
@@ -3188,7 +3188,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x00,
@@ -3245,7 +3245,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x39,
@@ -3302,7 +3302,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x3e,
@@ -3359,7 +3359,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x3b,
@@ -3416,7 +3416,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x3c,
@@ -3473,7 +3473,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x56,
+ 0x0b,
0x00,
0x05,
0x3d,
@@ -3530,7 +3530,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x56,
+ 0x0b,
0x00,
0x05,
0x3e,
@@ -3587,7 +3587,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x56,
+ 0x0b,
0x00,
0x05,
0x3f,
@@ -3644,7 +3644,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x56,
+ 0x0b,
0x00,
0x05,
0x3c,
@@ -3701,7 +3701,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x41,
@@ -3758,7 +3758,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x00,
@@ -3815,7 +3815,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x43,
@@ -3872,7 +3872,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x00,
@@ -3929,7 +3929,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x45,
@@ -3986,7 +3986,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x4a,
@@ -4043,7 +4043,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x47,
@@ -4100,7 +4100,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x48,
@@ -4157,7 +4157,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x56,
+ 0x0b,
0x00,
0x05,
0x49,
@@ -4214,7 +4214,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x56,
+ 0x0b,
0x00,
0x05,
0x4a,
@@ -4271,7 +4271,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x56,
+ 0x0b,
0x00,
0x05,
0x4b,
@@ -4328,7 +4328,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x56,
+ 0x0b,
0x00,
0x05,
0x48,
@@ -4385,7 +4385,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x4d,
@@ -4442,7 +4442,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x00,
@@ -4499,7 +4499,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x4f,
@@ -4556,7 +4556,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x00,
@@ -4613,7 +4613,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x51,
@@ -4670,7 +4670,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x56,
@@ -4727,7 +4727,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x53,
@@ -4784,7 +4784,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x54,
@@ -4841,7 +4841,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x56,
+ 0x0b,
0x00,
0x05,
0x55,
@@ -4898,7 +4898,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x56,
+ 0x0b,
0x00,
0x05,
0x56,
@@ -4955,7 +4955,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x56,
+ 0x0b,
0x00,
0x05,
0x57,
@@ -5012,7 +5012,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x56,
+ 0x0b,
0x00,
0x05,
0x54,
@@ -5069,7 +5069,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x59,
@@ -5126,7 +5126,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
{0x00,0x00,0x00},
0x07,
0x00,
- 0x43,
+ 0x0f,
0x00,
0x05,
0x00,
@@ -5183,7 +5183,7 @@ TPage motion_pages[MAX_PAGES] __attribute__ ((section (".pages")))=
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{0x00,0x00,0x00},
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{0x00,0x00,0x00},
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{0x00,0x00,0x00},
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{0x00,0x00,0x00},
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{0x00,0x00,0x00},
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{0x00,0x00,0x00},
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{0x00,0x00,0x00},
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{0x00,0x00,0x00},
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{0x00,0x00,0x00},
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{0x00,0x00,0x00},
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{0x00,0x00,0x00},
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{0x00,0x00,0x00},
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{0x00,0x00,0x00},
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{0x00,0x00,0x00},
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