summaryrefslogtreecommitdiffhomepage
path: root/digital
diff options
context:
space:
mode:
authorNicolas Schodet2013-04-07 15:54:57 +0200
committerNicolas Schodet2013-04-07 15:54:57 +0200
commitfdc411592c69d7c365b65e3ce9c091ee341f4b50 (patch)
tree33f4c40a8eeb53f702076f8d7b00aa6a03c11432 /digital
parent261a73fe703333984c4bc22ce6cbd108f86058ca (diff)
digital/io-hub/src/apbirthday: fix contact polarity
There is a pull up, so true means no contact.
Diffstat (limited to 'digital')
-rw-r--r--digital/io-hub/src/apbirthday/candles.cc4
1 files changed, 2 insertions, 2 deletions
diff --git a/digital/io-hub/src/apbirthday/candles.cc b/digital/io-hub/src/apbirthday/candles.cc
index f9b1b676..ae9a90aa 100644
--- a/digital/io-hub/src/apbirthday/candles.cc
+++ b/digital/io-hub/src/apbirthday/candles.cc
@@ -199,7 +199,7 @@ FSM_TRANS_TIMEOUT (AI_CANDLE_DEPLOYING, 12,
success, AI_CANDLE_READY,
failure, AI_CANDLE_FALLING_BACK_TO_UNDEPLOYED)
{
- if (robot->hardware.cake_arm_out_contact.get ())
+ if (!robot->hardware.cake_arm_out_contact.get ())
{
robot->fsm_queue.post (FSM_EVENT (ai_candle_success));
return FSM_BRANCH (success);
@@ -263,7 +263,7 @@ FSM_TRANS_TIMEOUT (AI_CANDLE_UNDEPLOYING_2, 10,
success, AI_CANDLE_SLEEPING,
failure, AI_CANDLE_READY)
{
- if (robot->hardware.cake_arm_in_contact.get ())
+ if (!robot->hardware.cake_arm_in_contact.get ())
{
robot->fsm_queue.post (FSM_EVENT (ai_candle_success));
return FSM_BRANCH (success);