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authorJerome Jutteau2013-05-01 19:07:32 +0200
committerJerome Jutteau2013-05-01 19:07:32 +0200
commitab5dcf1f5afccad7370ef93d817644211548a402 (patch)
treeba2ad04319ab21d0bee1374666f9658693ce5281 /digital/io-hub/src/apbirthday
parentccd3c182799be61b2d8ac319c009652ece94ff7d (diff)
digital/io-hub/src/apbirthday: add proto for plate FSM and init_actuators
Diffstat (limited to 'digital/io-hub/src/apbirthday')
-rw-r--r--digital/io-hub/src/apbirthday/robot.cc13
1 files changed, 13 insertions, 0 deletions
diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc
index 598881a0..560c11c3 100644
--- a/digital/io-hub/src/apbirthday/robot.cc
+++ b/digital/io-hub/src/apbirthday/robot.cc
@@ -344,6 +344,19 @@ Robot::proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size
stats_pressure_cpt_ = stats_pressure_ = args[0];
stats_proto_ = &proto;
break;
+ case c ('P', 1):
+ // Plate test
+ // 1B:
+ // - 00: up
+ // - 01: down
+ if (args[0] == 0)
+ FSM_HANDLE (AI, plate_take);
+ else if (args[0] == 1)
+ FSM_HANDLE (AI, plate_drop);
+ break;
+ case c ('i', 0):
+ FSM_HANDLE (AI, init_actuators);
+ break;
case c ('T', 0):
// Transitions.
ANGFSM_TRANS_CALLBACK (Robot::trans_callback);