 #include "doom.h"
 
 #define MAINLOOP_PERIOD_TICKS   6249
-#define MISSION_TIMEOUT         3200
+#define MISSION_TIMEOUT         200
 
 statevars_t statevars;
 uint32_t iterations;

  }

  // Draw the PWM signals one by one before continuing the loop
  mobility_send_steering_pwm(1200);
  mobility_send_throttle_pwm(SPEED_FWD_CREEP);

  // Record the data from the previous iteration

  iterations++;

  // If the button switched to the OFF position, then stop the mission
  //if (!button_is_pressed()) {
  // Instead, stop the robot after a certain number of seconds
  if (iterations > MISSION_TIMEOUT) {
    Serial.println("Finished collecting data!");
    sdcard_finish();

