A Mississippi police officer has resigned, officials said Friday — just days after the state said the officer’s actions were justified in a June shooting that resulted in the death of a 1-year-old boy and led to widespread outrage.

The incident unfolded June 14 when Senatobia officers and Tate County deputies followed Kohen Wiley’s mother and her friend to their car. “Officers attempted to stop the vehicle, but the driver drove in the direction of the officers, almost striking one,” the Mississippi Department of Public Safety said in a statement at the time.

“Stop the car!” officers yell, body camera footage released by DPS Thursday shows, but the car continues forward appearing to move toward at least one of the officers before Foster, who’s standing in front of the vehicle towards the passenger’s side, shoots into the car.