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-rw-r--r--digital/io-hub/src/apbirthday/robot.cc13
1 files changed, 13 insertions, 0 deletions
diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc
index 598881a0..560c11c3 100644
--- a/digital/io-hub/src/apbirthday/robot.cc
+++ b/digital/io-hub/src/apbirthday/robot.cc
@@ -344,6 +344,19 @@ Robot::proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size
stats_pressure_cpt_ = stats_pressure_ = args[0];
stats_proto_ = &proto;
break;
+ case c ('P', 1):
+ // Plate test
+ // 1B:
+ // - 00: up
+ // - 01: down
+ if (args[0] == 0)
+ FSM_HANDLE (AI, plate_take);
+ else if (args[0] == 1)
+ FSM_HANDLE (AI, plate_drop);
+ break;
+ case c ('i', 0):
+ FSM_HANDLE (AI, init_actuators);
+ break;
case c ('T', 0):
// Transitions.
ANGFSM_TRANS_CALLBACK (Robot::trans_callback);