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authorNicolas Schodet2013-04-28 00:45:16 +0200
committerNicolas Schodet2013-04-28 00:49:58 +0200
commita8d0ca5fdee674be6fdbac5fc3927368c745bab0 (patch)
treeb1cd19bf9a7b529e43a2aa1ecfb9bffe8d38672a /digital/io-hub
parent7379b4aba2aa6da0e3d66b92689e7f8073b66c4b (diff)
digital/io-hub/src/apbirthday: set pressure at initialisation
Diffstat (limited to 'digital/io-hub')
-rw-r--r--digital/io-hub/src/apbirthday/bot.hh3
-rw-r--r--digital/io-hub/src/apbirthday/top.cc1
2 files changed, 4 insertions, 0 deletions
diff --git a/digital/io-hub/src/apbirthday/bot.hh b/digital/io-hub/src/apbirthday/bot.hh
index 405a8c3c..594b40b7 100644
--- a/digital/io-hub/src/apbirthday/bot.hh
+++ b/digital/io-hub/src/apbirthday/bot.hh
@@ -58,4 +58,7 @@
/// Speed used for plate loading.
#define BOT_SPEED_PLATE 0x20, 0x20, 0x20, 0x20
+/// Normal pneumatic pressure.
+#define BOT_NORMAL_PRESSURE 0x0c00
+
#endif // bot_hh
diff --git a/digital/io-hub/src/apbirthday/top.cc b/digital/io-hub/src/apbirthday/top.cc
index 3f7bf2a5..dcede4c5 100644
--- a/digital/io-hub/src/apbirthday/top.cc
+++ b/digital/io-hub/src/apbirthday/top.cc
@@ -300,6 +300,7 @@ FSM_TRANS (TOP_START, init_actuators, TOP_INIT_ACTUATORS)
{
// TODO: make sure the operator do not forget this is demo mode!
robot->demo = !robot->hardware.ihm_strat.get ();
+ robot->pressure.set (BOT_NORMAL_PRESSURE);
}
FSM_TRANS (TOP_INIT_ACTUATORS, init_done, TOP_INIT)