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authorMaxime Hadjinlian2013-04-28 12:26:39 +0200
committerMaxime Hadjinlian2013-04-28 12:34:57 +0200
commit62266fec52b4d55812c260fedda449f9598022e1 (patch)
tree47d23d5057e7e886d04398ed377dc0f29ac141db /digital/io-hub/src/apbirthday
parent627663d2b4a12b2b302c6acb5f7c99332650fc91 (diff)
digital/io-hub/src/apbirthday: Cannon now handle blower
Diffstat (limited to 'digital/io-hub/src/apbirthday')
-rw-r--r--digital/io-hub/src/apbirthday/cannon.cc4
1 files changed, 4 insertions, 0 deletions
diff --git a/digital/io-hub/src/apbirthday/cannon.cc b/digital/io-hub/src/apbirthday/cannon.cc
index 5af0c850..d06412ef 100644
--- a/digital/io-hub/src/apbirthday/cannon.cc
+++ b/digital/io-hub/src/apbirthday/cannon.cc
@@ -33,11 +33,13 @@ Cannon::Cannon ()
inline void Cannon::blower_on ()
{
// Start the blower
+ robot->pot_regul.set_wiper(0, 256);
}
inline void Cannon::blower_off ()
{
// Shutdown the blower
+ robot->pot_regul.set_wiper (0, 0);
}
inline void Cannon::set_servo_pos (int pos)
@@ -150,11 +152,13 @@ FSM_START_WITH (CANNON_OFF)
FSM_TRANS (CANNON_OFF, init_actuators, CANNON_PURGING)
{
// Start the blower to purge the canon
+ robot->cannon.blower_on ();
}
FSM_TRANS_TIMEOUT (CANNON_PURGING, 500, CANNON_READY)
{
// Stop the blower
+ robot->cannon.blower_off ();
}
FSM_TRANS (CANNON_READY, cannon_fire, CANNON_FIRING)