From a8d0ca5fdee674be6fdbac5fc3927368c745bab0 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 28 Apr 2013 00:45:16 +0200 Subject: digital/io-hub/src/apbirthday: set pressure at initialisation --- digital/io-hub/src/apbirthday/bot.hh | 3 +++ digital/io-hub/src/apbirthday/top.cc | 1 + 2 files changed, 4 insertions(+) (limited to 'digital') diff --git a/digital/io-hub/src/apbirthday/bot.hh b/digital/io-hub/src/apbirthday/bot.hh index 405a8c3c..594b40b7 100644 --- a/digital/io-hub/src/apbirthday/bot.hh +++ b/digital/io-hub/src/apbirthday/bot.hh @@ -58,4 +58,7 @@ /// Speed used for plate loading. #define BOT_SPEED_PLATE 0x20, 0x20, 0x20, 0x20 +/// Normal pneumatic pressure. +#define BOT_NORMAL_PRESSURE 0x0c00 + #endif // bot_hh diff --git a/digital/io-hub/src/apbirthday/top.cc b/digital/io-hub/src/apbirthday/top.cc index 3f7bf2a5..dcede4c5 100644 --- a/digital/io-hub/src/apbirthday/top.cc +++ b/digital/io-hub/src/apbirthday/top.cc @@ -300,6 +300,7 @@ FSM_TRANS (TOP_START, init_actuators, TOP_INIT_ACTUATORS) { // TODO: make sure the operator do not forget this is demo mode! robot->demo = !robot->hardware.ihm_strat.get (); + robot->pressure.set (BOT_NORMAL_PRESSURE); } FSM_TRANS (TOP_INIT_ACTUATORS, init_done, TOP_INIT) -- cgit v1.2.3