From 62266fec52b4d55812c260fedda449f9598022e1 Mon Sep 17 00:00:00 2001 From: Maxime Hadjinlian Date: Sun, 28 Apr 2013 12:26:39 +0200 Subject: digital/io-hub/src/apbirthday: Cannon now handle blower --- digital/io-hub/src/apbirthday/cannon.cc | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/digital/io-hub/src/apbirthday/cannon.cc b/digital/io-hub/src/apbirthday/cannon.cc index 5af0c850..d06412ef 100644 --- a/digital/io-hub/src/apbirthday/cannon.cc +++ b/digital/io-hub/src/apbirthday/cannon.cc @@ -33,11 +33,13 @@ Cannon::Cannon () inline void Cannon::blower_on () { // Start the blower + robot->pot_regul.set_wiper(0, 256); } inline void Cannon::blower_off () { // Shutdown the blower + robot->pot_regul.set_wiper (0, 0); } inline void Cannon::set_servo_pos (int pos) @@ -150,11 +152,13 @@ FSM_START_WITH (CANNON_OFF) FSM_TRANS (CANNON_OFF, init_actuators, CANNON_PURGING) { // Start the blower to purge the canon + robot->cannon.blower_on (); } FSM_TRANS_TIMEOUT (CANNON_PURGING, 500, CANNON_READY) { // Stop the blower + robot->cannon.blower_off (); } FSM_TRANS (CANNON_READY, cannon_fire, CANNON_FIRING) -- cgit v1.2.3