Fix motor off by one errors.

[uccvend-snackrom.git] / ROM2 / motors.c

diff --git a/ROM2/motors.c b/ROM2/motors.c
index ba91ec9..64158ae 100644 (file)
--- a/ROM2/motors.c
+++ b/ROM2/motors.c
@@ -97,7 +97,7 @@ bool is_motor(u8 slot) {
 bool left_home(u8 slot) {
        u8 i, r = slot%10;
        if (r >= 5) r--; 
-       r = 1 << r;
+       r = 1 << (r-1);
 
        for (i = 0; i < 5; i++)
                if ((home_sensors & r) == 0) return 1;
@@ -109,7 +109,7 @@ bool left_home(u8 slot) {
 bool back_home(u8 slot) {
        u8 i, r = slot%10;
        if (r >= 5) r--; 
-       r = 1 << r;
+       r = 1 << (r-1);
 
        for (i = 0; i < 5; i++) {
                if (home_sensors & r) return 1;
@@ -136,9 +136,7 @@ u8 dispense_motor(u8 slot) {
        //if (!is_motor(slot)) return MOTOR_NOSLOT;
 
        motor_on(slot);
-       delay(1000);
-       motors_off();
-       return MOTOR_SUCCESS;
+       delay(100);
        
        if (!left_home(slot)) {
                motors_off();