From 4423c66e401bcedde2ec5710b5ea86ce305e9555 Mon Sep 17 00:00:00 2001 From: Julien Balleyguier Date: Sun, 13 May 2012 12:58:06 +0200 Subject: digital/io-hub/src/guybrush/bottom_clamp.c : adding some init clamp states in init sequence --- digital/io-hub/src/guybrush/bottom_clamp.c | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/digital/io-hub/src/guybrush/bottom_clamp.c b/digital/io-hub/src/guybrush/bottom_clamp.c index 5ce675b3..0c52f546 100644 --- a/digital/io-hub/src/guybrush/bottom_clamp.c +++ b/digital/io-hub/src/guybrush/bottom_clamp.c @@ -231,12 +231,17 @@ uint8_t clamp_read_blocked_cpt(void) FSM_TRANS (CLAMP_START, init_actuators, CLAMP_INIT_OPEN) { + ctx.pos_current = 0; + /* Starting the pump */ + pressure_set(LOW_PRESSURE); /* Opening the 2 clamps. */ IO_CLR (OUTPUT_LOWER_CLAMP_1_CLOSE); - IO_CLR (OUTPUT_LOWER_CLAMP_2_CLOSE); + IO_SET (OUTPUT_LOWER_CLAMP_2_CLOSE); /* recentrage the middle clamp. */ IO_SET (OUTPUT_UPPER_CLAMP_OUT); IO_CLR (OUTPUT_UPPER_CLAMP_IN); + /*Contrepression*/ + IO_SET (OUTPUT_UPPER_CLAMP_UP); return FSM_NEXT (CLAMP_START,init_actuators); @@ -273,6 +278,7 @@ FSM_TRANS (CLAMP_INIT_READY,init_start_round, CLAMP_GOING_IDLE) { move_needed(BACK_TO_READY * 250,SPEED_ROTATION); ctx.clamp_1_down = 1; + ctx.clamp_1_down = 0; return FSM_NEXT (CLAMP_INIT_READY, init_start_round); } -- cgit v1.2.3