From ab5dcf1f5afccad7370ef93d817644211548a402 Mon Sep 17 00:00:00 2001 From: Jerome Jutteau Date: Wed, 1 May 2013 19:07:32 +0200 Subject: digital/io-hub/src/apbirthday: add proto for plate FSM and init_actuators --- digital/io-hub/src/apbirthday/robot.cc | 13 +++++++++++++ 1 file changed, 13 insertions(+) (limited to 'digital') diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc index 598881a0..560c11c3 100644 --- a/digital/io-hub/src/apbirthday/robot.cc +++ b/digital/io-hub/src/apbirthday/robot.cc @@ -344,6 +344,19 @@ Robot::proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size stats_pressure_cpt_ = stats_pressure_ = args[0]; stats_proto_ = &proto; break; + case c ('P', 1): + // Plate test + // 1B: + // - 00: up + // - 01: down + if (args[0] == 0) + FSM_HANDLE (AI, plate_take); + else if (args[0] == 1) + FSM_HANDLE (AI, plate_drop); + break; + case c ('i', 0): + FSM_HANDLE (AI, init_actuators); + break; case c ('T', 0): // Transitions. ANGFSM_TRANS_CALLBACK (Robot::trans_callback); -- cgit v1.2.3