From a43e5e79aac5119cdbda8a434d966cbea131d18e Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 14 May 2012 16:36:51 +0200 Subject: digital/io-hub/src/guybrush: open upper clamp at startup So that items in the robot can be given back. --- digital/io-hub/src/guybrush/bottom_clamp.c | 2 ++ 1 file changed, 2 insertions(+) diff --git a/digital/io-hub/src/guybrush/bottom_clamp.c b/digital/io-hub/src/guybrush/bottom_clamp.c index 7a746243..eec6460c 100644 --- a/digital/io-hub/src/guybrush/bottom_clamp.c +++ b/digital/io-hub/src/guybrush/bottom_clamp.c @@ -270,6 +270,8 @@ FSM_TRANS (CLAMP_START, init_actuators, CLAMP_INIT_OPEN) /* Opening the 2 clamps. */ IO_CLR (OUTPUT_LOWER_CLAMP_1_CLOSE); IO_SET (OUTPUT_LOWER_CLAMP_2_CLOSE); + /* Open upper clamp. */ + IO_SET (OUTPUT_UPPER_CLAMP_OPEN); /* recentrage the middle clamp. */ IO_SET (OUTPUT_UPPER_CLAMP_OUT); IO_CLR (OUTPUT_UPPER_CLAMP_IN); -- cgit v1.2.3