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Originally Posted by Eldarion
I am basing my code off of last year's camera code; were there improvements made for this year?
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It's quite different this year. Whether or not you would consider it to be an "improvement" probably depends on how clever you are with programming your own camera communication routines.
If your limit switches are taking that long to respond, I suspect you have significant delays built in to your code. Even with buffered and interrupt-driven serial communication, you will slow things down a lot if you're sending commands and waiting for an ACK to come back before continuing.