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authorNicolas Schodet2012-05-15 21:55:12 +0200
committerNicolas Schodet2012-05-15 23:13:57 +0200
commit007c131f6ee3cf5309be95241e915c29d8b85476 (patch)
tree08ccd3999ed2fe446a8fd3b3f7a235b5ef2cb26f
parent639ff8c10f577ab71080e7af15f5a23dbd2fb387 (diff)
digital/io-hub/src/guybrush: release door closing pressure to save power
-rw-r--r--digital/io-hub/src/guybrush/top.c6
1 files changed, 6 insertions, 0 deletions
diff --git a/digital/io-hub/src/guybrush/top.c b/digital/io-hub/src/guybrush/top.c
index 869721b3..9ff8b18b 100644
--- a/digital/io-hub/src/guybrush/top.c
+++ b/digital/io-hub/src/guybrush/top.c
@@ -118,6 +118,7 @@ struct top_t top;
void
top_update (void)
{
+ /* Close door when out of unloading zone. */
if (top.close_door)
{
position_t robot_pos;
@@ -130,6 +131,11 @@ top_update (void)
top.close_door = 0;
}
}
+ /* If door is closed, cut air to save power. */
+ if (!IO_GET (CONTACT_DOOR_CLOSE))
+ {
+ IO_CLR (OUTPUT_DOOR_CLOSE);
+ }
}
/** Go collect a totem. */