Final friday night commit -- get ready for some trash code tomorrow morn

team-pororo · Dec 15, 2018 · bfff84a · bfff84a
1 parent f3d60e8
commit bfff84a
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Showing 6 changed files with 3 additions and 1 deletion.
diff --git a/bin/_pros_ld_timestamp.o b/bin/_pros_ld_timestamp.o
diff --git a/bin/functions.cpp.o b/bin/functions.cpp.o
diff --git a/bin/output.bin b/bin/output.bin
diff --git a/bin/output.elf b/bin/output.elf
diff --git a/include/ports.h b/include/ports.h
@@ -45,6 +45,8 @@
 #define ARM_MANUAL_SPEED_UP 96
 #define ARM_MANUAL_SPEED_DOWN 127
 
+#define ARM_CORRECTION_TIMEOUT 1000 // Time out after failure to correct arm
+
 #define ARM_P1 0
 #define ARM_P2 160
 #define ARM_P3 330

diff --git a/src/functions.cpp b/src/functions.cpp
@@ -63,7 +63,7 @@ void Arm::drop() {
 			motor.move(ARM_CORRECTION_SPEED);
 		}
 		delay(1);
-	} while (abs(pot - ARM_DROPPED) > 50 && millis() < 2000);
+	} while (abs(pot - ARM_DROPPED) > 50 && millis() < ARM_CORRECTION_TIMEOUT);
 	motor.move(0); // stop
 	motor.tare_position();
 	motor.move_absolute(0, 127); // brake