diff --git a/gen_pitch_table.py b/gen_pitch_table.py
index ba9d3f4..b49963e 100644
--- a/gen_pitch_table.py
+++ b/gen_pitch_table.py
@@ -28,10 +28,11 @@ print("#pragma once")
 print("")
 print("constexpr unsigned int midi_pitch_offset = " + str(start_pitch) + ";")
 print("constexpr unsigned int midi_pitch_max = " + str(end_pitch) + ";")
+print("// period is in units of 0.5 us, instead of 1 us")
 print("constexpr unsigned long midi_pitch_period[" + str(end_pitch - start_pitch) + "] = {")
 
 for i in range(start_pitch, end_pitch):
-    period = int(pitch_to_period_micros(i))
+    period = int(2.0 * pitch_to_period_micros(i))
     name = pitch_to_name(i)
     if name == "D3" or name == "D#3" or name == "E3":
         period = int(period / 2)
diff --git a/main.cpp b/main.cpp
index 86fd304..514c851 100644
--- a/main.cpp
+++ b/main.cpp
@@ -78,11 +78,13 @@ int main() {
     MIDI.setHandleNoteOff(midi_note_off);
 
     unsigned long cur_micros;
+    unsigned long cur_half_micros;
     unsigned long last_read_micros = 0;
 
     while (true) {
-        cur_micros = timer2.get_count() / 2ul; // The unit of get_count is 0.5us
-        handle_tick(cur_micros);
+        cur_half_micros = timer2.get_count(); // The unit of get_count is 0.5us
+        cur_micros = cur_half_micros / 2ul;
+        handle_tick(cur_half_micros);
 
         if (cur_micros - last_read_micros >= MIDI_CMD_INTERVAL_MIN) {
             last_read_micros = cur_micros;
diff --git a/motor_control.cpp b/motor_control.cpp
index ac1a339..9b90d0b 100644
--- a/motor_control.cpp
+++ b/motor_control.cpp
@@ -4,7 +4,7 @@
 
 MotorControl::MotorControl(int pin_dir, int pin_step) :
     pin_dir(pin_dir), pin_step(pin_step),
-    last_tick_micros(0), tick_period_micros(0)
+    last_tick_half_micros(0), tick_period_half_micros(0)
 {
     // No actual constructor logic -- initialization is in Init()
 }
@@ -17,10 +17,10 @@ void MotorControl::Init() {
     digitalWrite(pin_step, LOW);
 }
 
-void MotorControl::TickOn(unsigned long period_micros) {
-    tick_period_micros = period_micros;
+void MotorControl::TickOn(unsigned long period_half_micros) {
+    tick_period_half_micros = period_half_micros;
     // Force the next tick to happen
-    last_tick_micros = 0;
+    last_tick_half_micros = 0;
 }
 
 void MotorControl::TickAtPitch(unsigned int midi_pitch) {
@@ -33,21 +33,21 @@ void MotorControl::TickAtPitch(unsigned int midi_pitch) {
 }
 
 void MotorControl::TickOff() {
-    tick_period_micros = 0;
+    tick_period_half_micros = 0;
 }
 
-void MotorControl::Tick(unsigned long cur_micros) {
-    if (cur_micros == 0) {
+void MotorControl::Tick(unsigned long cur_half_micros) {
+    if (cur_half_micros == 0) {
         return;
     }
 
-    if (tick_period_micros == 0) {
+    if (tick_period_half_micros == 0) {
         return;
     }
 
-    if (last_tick_micros == 0 || (cur_micros - last_tick_micros) >= tick_period_micros) {
+    if (last_tick_half_micros == 0 || (cur_half_micros - last_tick_half_micros) >= tick_period_half_micros) {
         DoTick();
-        last_tick_micros = cur_micros;
+        last_tick_half_micros = cur_half_micros;
     }
 }
 
diff --git a/motor_control.h b/motor_control.h
index 70b6964..f6826d0 100644
--- a/motor_control.h
+++ b/motor_control.h
@@ -5,9 +5,9 @@ class MotorControl {
         // Control pins of the stepper motor
         int pin_dir, pin_step;
         // Timestamp of the last motor tick
-        unsigned long last_tick_micros;
+        unsigned long last_tick_half_micros;
         // Interval of motor ticking; 0 to disable the motor
-        unsigned long tick_period_micros;
+        unsigned long tick_period_half_micros;
 
         void DoTick();
     public:
@@ -16,12 +16,12 @@ class MotorControl {
         // Must be called before using any other functionality (but after enabling the controllers)
         void Init();
         // Set the motor to tick at a given interval (inverse of frequency)
-        void TickOn(unsigned long period_micros);
+        void TickOn(unsigned long period_half_micros);
         // Set the motor to tick with a given MIDI pitch
         void TickAtPitch(unsigned int midi_pitch);
         // Turn off the motor
         void TickOff();
         // Perform a tick if necessary
         // This should be called from the main event loop
-        void Tick(unsigned long cur_micros);
+        void Tick(unsigned long cur_half_micros);
 };
\ No newline at end of file