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-rw-r--r--digital/ai/tools/test_simu_control_apbirthday.py2
-rw-r--r--digital/io-hub/src/apbirthday/hardware.hh4
-rw-r--r--digital/io-hub/src/apbirthday/hardware.host.cc4
-rw-r--r--digital/io-hub/src/apbirthday/hardware.stm32.cc6
-rw-r--r--digital/io-hub/src/apbirthday/plate.cc17
-rw-r--r--digital/io-hub/src/apbirthday/robot.cc4
-rw-r--r--digital/io-hub/tools/io_hub/apbirthday.py4
-rw-r--r--eurobot/2013/io-hub-stm32-connectors.odsbin22213 -> 22234 bytes
-rw-r--r--host/simu/robots/apbirthday/model/bag.py5
9 files changed, 19 insertions, 27 deletions
diff --git a/digital/ai/tools/test_simu_control_apbirthday.py b/digital/ai/tools/test_simu_control_apbirthday.py
index 5ec67e0e..dfd49b76 100644
--- a/digital/ai/tools/test_simu_control_apbirthday.py
+++ b/digital/ai/tools/test_simu_control_apbirthday.py
@@ -60,7 +60,7 @@ class TestSimuControl (TestSimu):
out_button ('Push far in/out', 'cake_push_far_in', 'cake_push_far_out')
out_button ('Push near in/out', 'cake_push_near_in', 'cake_push_near_out')
out_button ('Plate arm up/down', 'cherry_plate_up', 'cherry_plate_down')
- out_button ('Plate clamp', 'cherry_plate_clamp')
+ out_button ('Plate clamp', 'cherry_plate_clamp_close', 'cherry_plate_clamp_open')
out_button ('Gift', 'gift_in', 'gift_out')
cannon_var = IntVar ()
def cannon_cmd ():
diff --git a/digital/io-hub/src/apbirthday/hardware.hh b/digital/io-hub/src/apbirthday/hardware.hh
index 2d016587..33d10c0c 100644
--- a/digital/io-hub/src/apbirthday/hardware.hh
+++ b/digital/io-hub/src/apbirthday/hardware.hh
@@ -75,9 +75,9 @@ struct Hardware
cherry_plate_left_contact, cherry_plate_right_contact,
cake_arm_out_contact, cake_arm_in_contact;
ucoo::Gpio
- cherry_bad_out, cherry_bad_in,
+ cherry_bad_out,
cherry_plate_up, cherry_plate_down,
- cherry_plate_clamp,
+ cherry_plate_clamp_close, cherry_plate_clamp_open,
cake_arm_out, cake_arm_in,
cake_push_far_out, cake_push_far_in,
cake_push_near_out, cake_push_near_in,
diff --git a/digital/io-hub/src/apbirthday/hardware.host.cc b/digital/io-hub/src/apbirthday/hardware.host.cc
index 80d55eae..bc9cff18 100644
--- a/digital/io-hub/src/apbirthday/hardware.host.cc
+++ b/digital/io-hub/src/apbirthday/hardware.host.cc
@@ -44,10 +44,10 @@ Hardware::Hardware ()
cake_arm_out_contact (host, "cake_arm_out_contact"),
cake_arm_in_contact (host, "cake_arm_in_contact"),
cherry_bad_out (host, "cherry_bad_out"),
- cherry_bad_in (host, "cherry_bad_in"),
cherry_plate_up (host, "cherry_plate_up"),
cherry_plate_down (host, "cherry_plate_down"),
- cherry_plate_clamp (host, "cherry_plate_clamp"),
+ cherry_plate_clamp_close (host, "cherry_plate_clamp_close"),
+ cherry_plate_clamp_open (host, "cherry_plate_clamp_open"),
cake_arm_out (host, "cake_arm_out"),
cake_arm_in (host, "cake_arm_in"),
cake_push_far_out (host, "cake_push_far_out"),
diff --git a/digital/io-hub/src/apbirthday/hardware.stm32.cc b/digital/io-hub/src/apbirthday/hardware.stm32.cc
index 32ffcffd..b92940ed 100644
--- a/digital/io-hub/src/apbirthday/hardware.stm32.cc
+++ b/digital/io-hub/src/apbirthday/hardware.stm32.cc
@@ -46,13 +46,13 @@ Hardware::Hardware ()
cherry_plate_left_contact (GPIOE, 6),
cherry_plate_right_contact (GPIOC, 13),
cake_arm_out_contact (GPIOC, 5), cake_arm_in_contact (GPIOB, 1),
- cherry_bad_out (GPIOE, 0), cherry_bad_in (GPIOE, 1),
+ cherry_bad_out (GPIOA, 15),
cherry_plate_up (GPIOE, 2), cherry_plate_down (GPIOE, 3),
- cherry_plate_clamp (GPIOE, 4),
+ cherry_plate_clamp_close (GPIOE, 0), cherry_plate_clamp_open (GPIOE, 1),
cake_arm_out (GPIOB, 3), cake_arm_in (GPIOB, 4),
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),
+ glass_lower_clamp_close (GPIOE, 4), glass_lower_clamp_open (GPIOA, 10),
glass_upper_clamp_close (GPIOD, 0), glass_upper_clamp_open (GPIOD, 1),
glass_upper_clamp_up (GPIOD, 3), glass_upper_clamp_down (GPIOC, 10),
gift_out (GPIOD, 4), gift_in (GPIOC, 11),
diff --git a/digital/io-hub/src/apbirthday/plate.cc b/digital/io-hub/src/apbirthday/plate.cc
index 3d3483c0..094fb50f 100644
--- a/digital/io-hub/src/apbirthday/plate.cc
+++ b/digital/io-hub/src/apbirthday/plate.cc
@@ -60,23 +60,14 @@ inline void Plate::arm_up ()
inline void Plate::clamp_open ()
{
-#ifdef TARGET_host
- robot->hardware.cherry_plate_clamp.set (false);
-#else
- robot->hardware.cherry_bad_out.set (false);
- robot->hardware.cherry_bad_in.set (true);
-#endif
+ robot->hardware.cherry_plate_clamp_close.set (false);
+ robot->hardware.cherry_plate_clamp_open.set (true);
}
inline void Plate::clamp_close ()
{
-#ifdef TARGET_host
- robot->hardware.cherry_plate_clamp.set (true);
-#else
- robot->hardware.cherry_bad_out.set (true);
- robot->hardware.cherry_bad_in.set (false);
-#endif
-
+ robot->hardware.cherry_plate_clamp_close.set (true);
+ robot->hardware.cherry_plate_clamp_open.set (false);
}
FSM_STATES (PLATE_OFF,
diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc
index bde89f6f..4b8a4c1f 100644
--- a/digital/io-hub/src/apbirthday/robot.cc
+++ b/digital/io-hub/src/apbirthday/robot.cc
@@ -90,10 +90,10 @@ Robot::Robot ()
ucoo::assert (i == lengthof (inputs_));
i = 0;
outputs_[i++] = &hardware.cherry_bad_out;
- outputs_[i++] = &hardware.cherry_bad_in;
outputs_[i++] = &hardware.cherry_plate_up;
outputs_[i++] = &hardware.cherry_plate_down;
- outputs_[i++] = &hardware.cherry_plate_clamp;
+ outputs_[i++] = &hardware.cherry_plate_clamp_close;
+ outputs_[i++] = &hardware.cherry_plate_clamp_open;
outputs_[i++] = &hardware.cake_arm_out;
outputs_[i++] = &hardware.cake_arm_in;
outputs_[i++] = &hardware.cake_push_far_out;
diff --git a/digital/io-hub/tools/io_hub/apbirthday.py b/digital/io-hub/tools/io_hub/apbirthday.py
index f23ba8bc..3979907a 100644
--- a/digital/io-hub/tools/io_hub/apbirthday.py
+++ b/digital/io-hub/tools/io_hub/apbirthday.py
@@ -30,8 +30,8 @@ inputs = [
'cake_arm_out_contact', 'cake_arm_in_contact',
]
outputs = [
- 'cherry_bad_out', 'cherry_bad_in', 'cherry_plate_up',
- 'cherry_plate_down', 'cherry_plate_clamp', 'cake_arm_out',
+ 'cherry_bad_out', 'cherry_plate_up', 'cherry_plate_down',
+ 'cherry_plate_clamp_close', 'cherry_plate_clamp_open', 'cake_arm_out',
'cake_arm_in', 'cake_push_far_out', 'cake_push_far_in',
'cake_push_near_out', 'cake_push_near_in',
'glass_lower_clamp_close', 'glass_lower_clamp_open',
diff --git a/eurobot/2013/io-hub-stm32-connectors.ods b/eurobot/2013/io-hub-stm32-connectors.ods
index 4eb372b4..eb67a227 100644
--- a/eurobot/2013/io-hub-stm32-connectors.ods
+++ b/eurobot/2013/io-hub-stm32-connectors.ods
Binary files differ
diff --git a/host/simu/robots/apbirthday/model/bag.py b/host/simu/robots/apbirthday/model/bag.py
index b6bf6c60..0eb995f4 100644
--- a/host/simu/robots/apbirthday/model/bag.py
+++ b/host/simu/robots/apbirthday/model/bag.py
@@ -81,8 +81,9 @@ class Bag:
link_bag.cherry_plate_up,
link_bag.cherry_plate_down,
scheduler, 0., 1., 2.5, 2.5, 1.),
- PneumaticCylinder (None,
- link_bag.cherry_plate_clamp,
+ PneumaticCylinder (
+ link_bag.cherry_plate_clamp_open,
+ link_bag.cherry_plate_clamp_close,
scheduler, 0., 1., 10., 10., 0.),
(Switch (link_bag.cherry_plate_left_contact),
Switch (link_bag.cherry_plate_right_contact)),