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-rw-r--r--digital/io-hub/src/apbirthday/plate.cc21
1 files changed, 21 insertions, 0 deletions
diff --git a/digital/io-hub/src/apbirthday/plate.cc b/digital/io-hub/src/apbirthday/plate.cc
index 43e05e57..8fda068b 100644
--- a/digital/io-hub/src/apbirthday/plate.cc
+++ b/digital/io-hub/src/apbirthday/plate.cc
@@ -25,6 +25,26 @@
#include "defs.hh"
#include "plate.hh"
+Plate::Plate ()
+{
+ reset_plate_nb ();
+}
+
+inline int Plate::get_plate_nb ()
+{
+ return nb_plate;
+}
+
+inline void Plate::reset_plate_nb ()
+{
+ nb_plate = 0;
+}
+
+inline void Plate::ppp ()
+{
+ nb_plate++;
+}
+
inline void Plate::arm_down ()
{
robot->hardware.cherry_plate_down.set (true);
@@ -120,6 +140,7 @@ FSM_TRANS_TIMEOUT (PLATE_TAKE_GLUE, 100, PLATE_TAKE_UPING)
FSM_TRANS_TIMEOUT (PLATE_TAKE_UPING, 100, PLATE_I_HAZ_PLATE)
{
robot->fsm_queue.post (FSM_EVENT (plate_taken));
+ robot->plate.ppp ();
}
FSM_TRANS (PLATE_I_HAZ_PLATE, plate_take, PLATE_I_HAZ_PLATE)