From 41b71f5b292b1733800eb77128f9fd7a32c49794 Mon Sep 17 00:00:00 2001
From: joshua-8 <joshua_phelps@brown.edu>
Date: Wed, 25 Sep 2024 00:24:04 -0700
Subject: [PATCH] workign on start pulse for esp32

---
 gbg_program/_Save_Recall.ino | 4 +++-
 gbg_program/gbg_program.ino  | 1 +
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/gbg_program/_Save_Recall.ino b/gbg_program/_Save_Recall.ino
index d179e72..33e8662 100644
--- a/gbg_program/_Save_Recall.ino
+++ b/gbg_program/_Save_Recall.ino
@@ -163,6 +163,7 @@ void settingsSerial() {
         leftMotorController.writeMicroseconds(LEFT_MOTOR_CENTER);
         leftMotorController.detach();
         LEFT_MOTOR_CONTROLLER_PIN = atoi(v);
+        delay(10);
         leftMotorController.attach(LEFT_MOTOR_CONTROLLER_PIN);
         leftMotorController.writeMicroseconds(LEFT_MOTOR_CENTER);
         rightMotorController.attach(RIGHT_MOTOR_CONTROLLER_PIN);
@@ -174,6 +175,7 @@ void settingsSerial() {
         rightMotorController.writeMicroseconds(RIGHT_MOTOR_CENTER);
         rightMotorController.detach();
         RIGHT_MOTOR_CONTROLLER_PIN = atoi(v);
+        delay(10);
         rightMotorController.attach(RIGHT_MOTOR_CONTROLLER_PIN);
         rightMotorController.writeMicroseconds(RIGHT_MOTOR_CENTER);
         leftMotorController.attach(LEFT_MOTOR_CONTROLLER_PIN);
@@ -192,7 +194,7 @@ void settingsSerial() {
         RIGHT_MOTOR_PULSE = atoi(v);
         sprintf(resultBuf, "%d", RIGHT_MOTOR_PULSE);
       } else if (strcmp(k, "START_MOTOR_PULSE_TIME") == 0) {
-        START_MOTOR_PULSE_TIME = max(atoi(v), 0);
+        START_MOTOR_PULSE_TIME = constrain(atoi(v), 0, 1000);
         sprintf(resultBuf, "%d", START_MOTOR_PULSE_TIME);
       } else if (strcmp(k, "ENABLE_STARTUP_PULSE") == 0) {
         ENABLE_STARTUP_PULSE = atoi(v);
diff --git a/gbg_program/gbg_program.ino b/gbg_program/gbg_program.ino
index b4d6a36..4f9a367 100644
--- a/gbg_program/gbg_program.ino
+++ b/gbg_program/gbg_program.ino
@@ -453,6 +453,7 @@ void loop()
   if (startupPulse && joyOK && delayedStartDone) {
     startupPulse = false;
     if (movementAllowed) {  // don't pulse if the website says don't move
+      delay(10);
       leftMotorController.writeMicroseconds(LEFT_MOTOR_CENTER + LEFT_MOTOR_PULSE * (LEFT_MOTOR_SLOW > 0 ? 1 : -1));
       rightMotorController.writeMicroseconds(RIGHT_MOTOR_CENTER + RIGHT_MOTOR_PULSE * (RIGHT_MOTOR_SLOW > 0 ? 1 : -1));
     }