diff --git a/src/main.rs b/src/main.rs
index f5dde94..c96a3b3 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -3,7 +3,7 @@
 #![feature(abi_avr_interrupt, cell_update)]
 
 
-use arduino_hal::{delay_ms, hal::port::PD5, pac::tc1::OCR1A, port::{mode::{Input, PullUp}, Pin}};
+use arduino_hal::{delay_ms, hal::port::PD5, pac::tc1::{OCR1A, OCR1B}, port::{mode::{Input, PullUp}, Pin}};
 use avr_device::interrupt;
 use encoder::{rotations, setup_encoder, COUNTS};
 use panic_halt as _;
@@ -44,38 +44,58 @@ fn main() -> ! {
 
     let switch = pins.d5.into_pull_up_input();
 
+    const CONVEYOR: f32 = 0.37;
+    const SPINNER: f32 = 0.75;
+    const LIDS: f32 = 0.05;
+    const OUT: f32 = 0.89;
+
+    piston.set_high();
     uwriteln!(serial, "homing").unwrap();
     home(carriage, &switch);
     uwriteln!(serial, "homed").unwrap();
-    move_to(&carriage, 0.125);
     uwriteln!(serial, "start").unwrap();
 
     loop {
-        claw.set_speed(-0.2); // close
-        uwriteln!(serial, "close").unwrap();
-        delay_ms(1000);
-        claw.set_speed(0.0);
+        // get jar
+        move_to(&carriage, CONVEYOR);
+        open(&claw);
+        piston.set_low();
         delay_ms(1000);
+        close(&claw);
         
         piston.set_high(); // up 
-        delay_ms(1000);
-
-        move_to(&carriage, 0.5); // go
+        delay_ms(1000); // rise
 
+        // drop jar
+        move_to(&carriage, SPINNER);
         piston.set_low(); // down 
         delay_ms(1000);
+        open(&claw);
+        piston.set_high(); // up 
+        delay_ms(1000); // rise
 
-        claw.set_speed(0.2); // open
+        // get cap
+        piston.set_high(); // up 
+        delay_ms(1000); // rise
+        move_to(&carriage, LIDS);
+        piston.set_low(); // down 
         delay_ms(1000);
-        claw.set_speed(0.0);
+        close(&claw);
+        piston.set_high(); // up 
+        delay_ms(1000); // rise
+
+        move_to(&carriage, SPINNER);
+        piston.set_low(); // down 
+        delay_ms(1_000); // TODO: spin caps
+
+        //piston.set_high(); // up 
+        //delay_ms(1000); // rise
+
+        //move_to(&carriage, OUT);
+        open(&claw);
 
         piston.set_high(); // up 
-        delay_ms(1000);
-
-        move_to(&carriage, 0.125); // initial
-
-        piston.set_low(); //down
-        delay_ms(1000);
+        delay_ms(10_000);
     }
 }
 
@@ -146,3 +166,17 @@ fn home(carriage: &OCR1A, switch: &Pin<Input<PullUp>, PD5>) {
 
     interrupt::free(|cs| COUNTS.borrow(cs).set(0));
 }
+
+fn close(claw: &OCR1B) {
+    claw.set_speed(-0.2); // close
+    delay_ms(1000);
+    claw.set_speed(0.0);
+    delay_ms(1000);
+}
+
+fn open(claw: &OCR1B) {
+    claw.set_speed(0.2); // close
+    delay_ms(1000);
+    claw.set_speed(0.0);
+    delay_ms(1000);
+}