Diff: main.cpp

Revision:

15:7c26b01dcefd

Parent:

14:81f09ab5ed23

Child:

16:04f42eeb9561

diff -r 81f09ab5ed23 -r 7c26b01dcefd main.cpp
--- a/main.cpp	Sat Jan 22 15:05:22 2022 +0000
+++ b/main.cpp	Tue Jan 25 23:56:51 2022 +0000
@@ -57,7 +57,7 @@
                 printf("backing\n");
             }
             
-            wait(0.1);
+            wait(0.01);
         }
     }
 }
@@ -89,6 +89,9 @@
                 motor_shoot.output(load_pwm);
                 printf("loading\n");
                 wait(0.1);
+                if(limit_2.read() == 1){
+                    break;
+                }
             } 
             motor_shoot.output(0);
             shoot_phase = 2;
@@ -110,6 +113,9 @@
             count ++;
             wait(5);
             servo.pulsewidth_us(theta_0);
+            motor_shoot.output(load_pwm);
+            wait(0.1);
+            motor_shoot.output(0);
             shoot_phase = 0;
             printf("finished init\n");  
             break;