From 007c131f6ee3cf5309be95241e915c29d8b85476 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 15 May 2012 21:55:12 +0200 Subject: digital/io-hub/src/guybrush: release door closing pressure to save power --- digital/io-hub/src/guybrush/top.c | 6 ++++++ 1 file changed, 6 insertions(+) (limited to 'digital') diff --git a/digital/io-hub/src/guybrush/top.c b/digital/io-hub/src/guybrush/top.c index 869721b3..9ff8b18b 100644 --- a/digital/io-hub/src/guybrush/top.c +++ b/digital/io-hub/src/guybrush/top.c @@ -118,6 +118,7 @@ struct top_t top; void top_update (void) { + /* Close door when out of unloading zone. */ if (top.close_door) { position_t robot_pos; @@ -130,6 +131,11 @@ top_update (void) top.close_door = 0; } } + /* If door is closed, cut air to save power. */ + if (!IO_GET (CONTACT_DOOR_CLOSE)) + { + IO_CLR (OUTPUT_DOOR_CLOSE); + } } /** Go collect a totem. */ -- cgit v1.2.3