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Mr Radley knows nothing about the intruders in his garden. Had he known they were children he wouldn't have shot at them.
Miss Stephanie and the neighbors believe a black man was trespassing at the Radley's, citing that no ome else would be caught about in someone's yard at that time of night. Unfortunate;y, this only cements the prejudice we as the reader see within the community and foreshadows what the opinions and beliefs of the community will be at Tom's trial.
I believe he did know about the intruders that's why he shot in the air.