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-rw-r--r--digital/io-hub/src/apbirthday/cannon.cc3
1 files changed, 3 insertions, 0 deletions
diff --git a/digital/io-hub/src/apbirthday/cannon.cc b/digital/io-hub/src/apbirthday/cannon.cc
index 33e17590..4e91d750 100644
--- a/digital/io-hub/src/apbirthday/cannon.cc
+++ b/digital/io-hub/src/apbirthday/cannon.cc
@@ -115,6 +115,8 @@ FSM_TRANS (CANNON_READY, cannon_fire, CANNON_FIRING)
// Start the blower
Cannon::blower_on ();
// Start RGB sensor
+ robot->rgb.calibrate_cannon_sensor ();
+ robot->rgb.start_cannon_color ();
}
FSM_TRANS_TIMEOUT (CANNON_FIRING, 1250, CANNON_READY)
@@ -122,6 +124,7 @@ FSM_TRANS_TIMEOUT (CANNON_FIRING, 1250, CANNON_READY)
// Stop the blower
Cannon::blower_off ();
// Stop the RGB sensor
+ robot->rgb.stop_cannon_color ();
robot->fsm_queue.post (FSM_EVENT (cannon_fire_ok));
}