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authorJerome Jutteau2013-04-06 15:22:41 +0200
committerJerome Jutteau2013-04-07 02:53:47 +0200
commitea6ebc995fa412ae3985c83f89365fb59b54728d (patch)
tree65bc76c2796809aceaa53f51a2c222195eec2d19 /digital
parente26a603aa47e67bc99b90bc6286bcf889b3acfe6 (diff)
digital/io-hub/src/apbirthday: add 2 GPIO for arm contact in / out
Diffstat (limited to 'digital')
-rw-r--r--digital/io-hub/src/apbirthday/hardware.hh3
-rw-r--r--digital/io-hub/src/apbirthday/hardware.host.cc2
-rw-r--r--digital/io-hub/src/apbirthday/hardware.stm32.cc1
-rw-r--r--digital/io-hub/src/apbirthday/robot.cc2
4 files changed, 7 insertions, 1 deletions
diff --git a/digital/io-hub/src/apbirthday/hardware.hh b/digital/io-hub/src/apbirthday/hardware.hh
index 49ed9077..eeb00545 100644
--- a/digital/io-hub/src/apbirthday/hardware.hh
+++ b/digital/io-hub/src/apbirthday/hardware.hh
@@ -78,6 +78,7 @@ struct Hardware
cherry_plate_up, cherry_plate_down,
cherry_plate_clamp,
cake_arm_out, cake_arm_in,
+ cake_arm_out_contact, cake_arm_in_contact,
cake_push_far_out, cake_push_far_in,
cake_push_near_out, cake_push_near_in,
glass_lower_clamp_close, glass_lower_clamp_open,
@@ -88,7 +89,7 @@ struct Hardware
pneum_open;
ucoo::Gpio
dist0_sync, dist1_sync, dist2_sync, dist3_sync;
- static const int inputs_nb = 9;
+ static const int inputs_nb = 11;
static const int outputs_nb = 21;
#ifdef TARGET_stm32
ucoo::AdcHard adc;
diff --git a/digital/io-hub/src/apbirthday/hardware.host.cc b/digital/io-hub/src/apbirthday/hardware.host.cc
index b9af78fe..35172d38 100644
--- a/digital/io-hub/src/apbirthday/hardware.host.cc
+++ b/digital/io-hub/src/apbirthday/hardware.host.cc
@@ -48,6 +48,8 @@ Hardware::Hardware ()
cherry_plate_clamp (host, "cherry_plate_clamp"),
cake_arm_out (host, "cake_arm_out"),
cake_arm_in (host, "cake_arm_in"),
+ cake_arm_out_contact (host, "cake_arm_out_contact"),
+ cake_arm_in_contact (host, "cake_arm_in_contact"),
cake_push_far_out (host, "cake_push_far_out"),
cake_push_far_in (host, "cake_push_far_in"),
cake_push_near_out (host, "cake_push_near_out"),
diff --git a/digital/io-hub/src/apbirthday/hardware.stm32.cc b/digital/io-hub/src/apbirthday/hardware.stm32.cc
index 48b69c2b..9c70a1ad 100644
--- a/digital/io-hub/src/apbirthday/hardware.stm32.cc
+++ b/digital/io-hub/src/apbirthday/hardware.stm32.cc
@@ -47,6 +47,7 @@ Hardware::Hardware ()
cherry_plate_up (GPIOE, 2), cherry_plate_down (GPIOE, 3),
cherry_plate_clamp (GPIOE, 4),
cake_arm_out (GPIOB, 3), cake_arm_in (GPIOB, 4),
+ cake_arm_out_contact (GPIOB, 7), cake_arm_in_contact (GPIOB, 6),
cake_push_far_out (GPIOD, 7), cake_push_far_in (GPIOB, 5),
cake_push_near_out (GPIOD, 6), cake_push_near_in (GPIOB, 6),
glass_lower_clamp_close (GPIOA, 15), glass_lower_clamp_open (GPIOA, 10),
diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc
index ca9d6a64..806d5aae 100644
--- a/digital/io-hub/src/apbirthday/robot.cc
+++ b/digital/io-hub/src/apbirthday/robot.cc
@@ -67,6 +67,8 @@ Robot::Robot ()
inputs_[i++] = &hardware.glass_contact;
inputs_[i++] = &hardware.cherry_plate_left_contact;
inputs_[i++] = &hardware.cherry_plate_right_contact;
+ inputs_[i++] = &hardware.cake_arm_out_contact;
+ inputs_[i++] = &hardware.cake_arm_in_contact;
ucoo::assert (i == lengthof (inputs_));
i = 0;
outputs_[i++] = &hardware.cherry_bad_out;