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authorJerome Jutteau2013-05-01 18:07:58 +0200
committerJerome Jutteau2013-05-01 18:07:58 +0200
commitccd3c182799be61b2d8ac319c009652ece94ff7d (patch)
tree62280621f7bb4fdee96487502833628d68efb4cb /digital/io-hub/src/apbirthday
parent0c8f1f4ba219c8f92ed5b1e7c7ad0f967d4150a2 (diff)
digital/io-hub/src/apbirthday: patch to map bad cherry on plate arm
Diffstat (limited to 'digital/io-hub/src/apbirthday')
-rw-r--r--digital/io-hub/src/apbirthday/plate.cc12
1 files changed, 12 insertions, 0 deletions
diff --git a/digital/io-hub/src/apbirthday/plate.cc b/digital/io-hub/src/apbirthday/plate.cc
index 9b38b771..d5b43dea 100644
--- a/digital/io-hub/src/apbirthday/plate.cc
+++ b/digital/io-hub/src/apbirthday/plate.cc
@@ -48,14 +48,26 @@ inline void Plate::ppp ()
inline void Plate::arm_down ()
{
+#ifdef TARGET_host
robot->hardware.cherry_plate_down.set (true);
robot->hardware.cherry_plate_up.set (false);
+#else
+ // TODO: temp patch
+ robot->hardware.cherry_bad_out.set (true);
+ robot->hardware.cherry_bad_in.set (false);
+#endif
}
inline void Plate::arm_up ()
{
+#ifdef TARGET_host
robot->hardware.cherry_plate_down.set (false);
robot->hardware.cherry_plate_up.set (true);
+#else
+ // TODO: temp patch
+ robot->hardware.cherry_bad_out.set (false);
+ robot->hardware.cherry_bad_in.set (true);
+#endif
}
inline void Plate::clamp_open ()