From 3817d9338df7ecf09f1fea226eca333b62226305 Mon Sep 17 00:00:00 2001
From: Max <Hunt>
Date: Tue, 21 Sep 2021 12:41:06 +0100
Subject: [PATCH] Update

---
 Control/Pi/dronekit_class.py             |  1 +
 Embedded/pallet_sensor/pallet_sensor.ino | 13 +++++++------
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/Control/Pi/dronekit_class.py b/Control/Pi/dronekit_class.py
index aa97967..6c251ae 100644
--- a/Control/Pi/dronekit_class.py
+++ b/Control/Pi/dronekit_class.py
@@ -409,6 +409,7 @@ class DroneInterface:
             if distance_to_pallet < self.pallet_min_distance:
                 self.log.info(f"We are close enough to pallet ({distance_to_pallet} m)")
                 pallet_approached = True
+                self.override_stop()
                 self.clear_override_channels()
             else:
                 self.log.info(f"Distance to pallet ({distance_to_pallet} m), moving forward...")
diff --git a/Embedded/pallet_sensor/pallet_sensor.ino b/Embedded/pallet_sensor/pallet_sensor.ino
index 8f3b0dd..4308149 100644
--- a/Embedded/pallet_sensor/pallet_sensor.ino
+++ b/Embedded/pallet_sensor/pallet_sensor.ino
@@ -23,16 +23,17 @@ void pulse_pin(int trig_pin) {
 
 int get_distance(int trig_pin, int echo_pin){
   pulse_pin(trig_pin);
-  int duration = pulseIn(echo_pin, HIGH);
-  int distance = duration*0.034/2;
-  return duration;
+  long duration = pulseIn(echo_pin, HIGH, 50000);
+  if (duration == 0) duration = 50000;
+//  Serial.println(duration);
+  long distance = duration*0.034/2;
+  return distance;
 }
 
 void loop() {
-  
-
+  distance_1 = get_distance(trig_pin, echo_pin);
   Serial.print(" | ");
   Serial.print(distance_1);
   Serial.println(" | ");
-  delay(100);
+  delay(1);
 }