From b3ef903ed14bb7c6c3175b300f22e55efc78d46d Mon Sep 17 00:00:00 2001 From: Maxime Hadjinlian Date: Fri, 10 May 2013 03:35:03 +0200 Subject: digital/io-hub/src/apbirthday: fix blower speed in cannon fsm --- digital/io-hub/src/apbirthday/cannon.cc | 9 +++++---- digital/io-hub/src/apbirthday/cannon.hh | 2 +- 2 files changed, 6 insertions(+), 5 deletions(-) (limited to 'digital') diff --git a/digital/io-hub/src/apbirthday/cannon.cc b/digital/io-hub/src/apbirthday/cannon.cc index 0ca5b246..8b288f91 100644 --- a/digital/io-hub/src/apbirthday/cannon.cc +++ b/digital/io-hub/src/apbirthday/cannon.cc @@ -30,10 +30,12 @@ Cannon::Cannon () // Init the cannon and the RGB sensor } -inline void Cannon::blower_on () +inline void Cannon::blower_on (int speed) { // Start the blower + // speed is between 0-256 (max->min) robot->pot_regul.set_wiper(0, 256); + robot->pot_regul.set_wiper(1, speed); } inline void Cannon::blower_off () @@ -61,7 +63,6 @@ FSM_START_WITH (CANNON_TRAP_OFF) FSM_TRANS (CANNON_TRAP_OFF, init_actuators, CANNON_TRAP_BLOCK) { - robot->pot_regul.set_wiper (1, 23); Cannon::set_servo_pos (Cannon::BLOCK); } @@ -102,7 +103,7 @@ FSM_START_WITH (CANNON_OFF) FSM_TRANS (CANNON_OFF, init_actuators, CANNON_PURGING) { // Start the blower to purge the canon - robot->cannon.blower_on (); + robot->cannon.blower_on (0); } FSM_TRANS_TIMEOUT (CANNON_PURGING, 500, CANNON_READY) @@ -114,7 +115,7 @@ FSM_TRANS_TIMEOUT (CANNON_PURGING, 500, CANNON_READY) FSM_TRANS (CANNON_READY, cannon_fire, CANNON_FIRING) { // Start the blower - Cannon::blower_on (); + Cannon::blower_on (23); // Start RGB sensor robot->rgb.calibrate_cannon_sensor (); robot->rgb.start_cannon_color (); diff --git a/digital/io-hub/src/apbirthday/cannon.hh b/digital/io-hub/src/apbirthday/cannon.hh index fc69bfbe..5cf427de 100644 --- a/digital/io-hub/src/apbirthday/cannon.hh +++ b/digital/io-hub/src/apbirthday/cannon.hh @@ -42,7 +42,7 @@ class Cannon }; // GPIO manipulation. static void blower_off (); - static void blower_on (); + static void blower_on (int speed); static void set_servo_pos (int pos); }; -- cgit v1.2.3