Make a delay before testing home sensors

diff --git a/ROM2/motors.c b/ROM2/motors.c
index 725c93e..e7cb6b5 100644 (file)
--- a/ROM2/motors.c
+++ b/ROM2/motors.c
@@ -93,16 +93,19 @@ bool is_motor(u8 slot) {
        return motor_here(slot);
 }
 
-bool left_home(u8 slot) {
+bool start_motor(u8 slot) {
        u16 i;
        u8 r = slot%10;
        if (r >= 5) r--; 
        r = 1 << (r-1);
+       motor_on(slot);
+       delay(100);
        for (i = 0; i < 1000; i++) {
                if ((home_sensors & r) != 0) return 1;
                delay(1);
        }
        /* it never left */
+       motors_off();
        return 0;
 }
 
@@ -113,6 +116,7 @@ bool back_home(u8 slot) {
 
        for (i = 0; i < 5; i++) {
                if ((home_sensors & r) == 0) return 1;
+               delay(1);
        }
 
        /* it never arrived */
@@ -134,13 +138,7 @@ bool motor_overcurrent() {
 
 u8 dispense_motor(u8 slot) {
        if (!is_motor(slot)) return MOTOR_NOSLOT;
-
-       motor_on(slot);
-
-       if (!left_home(slot)) {
-               motors_off();
-               return MOTOR_HOME_FAIL;
-       }
+       if (!start_motor(slot)) return MOTOR_HOME_FAIL;
 
        while (1) {
                if (motor_overcurrent()) {