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-rw-r--r--digital/io-hub/src/apbirthday/plate.cc25
1 files changed, 12 insertions, 13 deletions
diff --git a/digital/io-hub/src/apbirthday/plate.cc b/digital/io-hub/src/apbirthday/plate.cc
index d5b43dea..3d3483c0 100644
--- a/digital/io-hub/src/apbirthday/plate.cc
+++ b/digital/io-hub/src/apbirthday/plate.cc
@@ -48,36 +48,35 @@ inline void Plate::ppp ()
inline void Plate::arm_down ()
{
-#ifdef TARGET_host
robot->hardware.cherry_plate_down.set (true);
robot->hardware.cherry_plate_up.set (false);
-#else
- // TODO: temp patch
- robot->hardware.cherry_bad_out.set (true);
- robot->hardware.cherry_bad_in.set (false);
-#endif
}
inline void Plate::arm_up ()
{
-#ifdef TARGET_host
robot->hardware.cherry_plate_down.set (false);
robot->hardware.cherry_plate_up.set (true);
-#else
- // TODO: temp patch
- robot->hardware.cherry_bad_out.set (false);
- robot->hardware.cherry_bad_in.set (true);
-#endif
}
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
}
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
+
}
FSM_STATES (PLATE_OFF,
@@ -105,7 +104,7 @@ FSM_TRANS (PLATE_OFF, init_actuators,
on, PLATE_INIT_PREPARE)
{
// TODO: disabled until present.
- if (1)
+ if (0)
return FSM_BRANCH (off);
else
{