From 3872b92328b5f562e2fdb4272c46f50c46144a38 Mon Sep 17 00:00:00 2001 From: Jerome Jutteau Date: Wed, 1 May 2013 19:08:11 +0200 Subject: apbteam/digital/io-hub/src/apbirthday: activate plate fsm and temp patch --- digital/io-hub/src/apbirthday/plate.cc | 25 ++++++++++++------------- 1 file changed, 12 insertions(+), 13 deletions(-) (limited to 'digital/io-hub/src/apbirthday/plate.cc') diff --git a/digital/io-hub/src/apbirthday/plate.cc b/digital/io-hub/src/apbirthday/plate.cc index d5b43dea..3d3483c0 100644 --- a/digital/io-hub/src/apbirthday/plate.cc +++ b/digital/io-hub/src/apbirthday/plate.cc @@ -48,36 +48,35 @@ inline void Plate::ppp () inline void Plate::arm_down () { -#ifdef TARGET_host robot->hardware.cherry_plate_down.set (true); robot->hardware.cherry_plate_up.set (false); -#else - // TODO: temp patch - robot->hardware.cherry_bad_out.set (true); - robot->hardware.cherry_bad_in.set (false); -#endif } inline void Plate::arm_up () { -#ifdef TARGET_host robot->hardware.cherry_plate_down.set (false); robot->hardware.cherry_plate_up.set (true); -#else - // TODO: temp patch - robot->hardware.cherry_bad_out.set (false); - robot->hardware.cherry_bad_in.set (true); -#endif } inline void Plate::clamp_open () { +#ifdef TARGET_host robot->hardware.cherry_plate_clamp.set (false); +#else + robot->hardware.cherry_bad_out.set (false); + robot->hardware.cherry_bad_in.set (true); +#endif } inline void Plate::clamp_close () { +#ifdef TARGET_host robot->hardware.cherry_plate_clamp.set (true); +#else + robot->hardware.cherry_bad_out.set (true); + robot->hardware.cherry_bad_in.set (false); +#endif + } FSM_STATES (PLATE_OFF, @@ -105,7 +104,7 @@ FSM_TRANS (PLATE_OFF, init_actuators, on, PLATE_INIT_PREPARE) { // TODO: disabled until present. - if (1) + if (0) return FSM_BRANCH (off); else { -- cgit v1.2.3