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authorJulien Balleyguier2012-05-17 00:55:41 +0200
committerJulien Balleyguier2012-05-17 00:55:41 +0200
commit25afe92f4ecf738de89e30cedb9ba7a1553c3bb8 (patch)
tree57398a4317986a256706659815d8a41660379f10
parent2c5fd40cca4e784d2a12bfa1f45ae59e26b00ac3 (diff)
digital/io-hub/src/guybrush: fixing the calm_clamp_down bug
-rw-r--r--digital/io-hub/src/guybrush/main.c4
1 files changed, 2 insertions, 2 deletions
diff --git a/digital/io-hub/src/guybrush/main.c b/digital/io-hub/src/guybrush/main.c
index 20548d16..556be296 100644
--- a/digital/io-hub/src/guybrush/main.c
+++ b/digital/io-hub/src/guybrush/main.c
@@ -231,8 +231,8 @@ main_event_to_fsm (void)
FSM_HANDLE_E (AI, lower_clamp_rotation_success);
else if (mimot_motor0_status == failure)
FSM_HANDLE_E (AI, lower_clamp_rotation_failure);
- if (IO_GET (CONTACT_LOWER_CLAMP_SENSOR_1)
- || IO_GET (CONTACT_LOWER_CLAMP_SENSOR_2))
+ if ((IO_GET (CONTACT_LOWER_CLAMP_SENSOR_1)
+ || IO_GET (CONTACT_LOWER_CLAMP_SENSOR_2)) && (!clamp_calm_mode_read()))
FSM_HANDLE_E (AI, coin_detected);
if ((int16_t) (mimot_get_motor0_position() - position_to_drop) > 0)
FSM_HANDLE_E (AI, time_to_drop_coin);