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authorJulien Balleyguier2012-05-18 09:31:13 +0200
committerNicolas Schodet2012-05-18 09:34:27 +0200
commitcf271206993cd8d69a8ef928b789cf7c04305e3b (patch)
tree961a8ebaf0fc5396b6aca17454fff875efefef11 /digital/io-hub/src/guybrush/bottom_clamp.c
parentce54d55afe583b92ffb57d46916ccba4eba51f5b (diff)
digital/io-hub/src/guybrush: clamp close anyway when stop tree approach
Diffstat (limited to 'digital/io-hub/src/guybrush/bottom_clamp.c')
-rw-r--r--digital/io-hub/src/guybrush/bottom_clamp.c3
1 files changed, 3 insertions, 0 deletions
diff --git a/digital/io-hub/src/guybrush/bottom_clamp.c b/digital/io-hub/src/guybrush/bottom_clamp.c
index 6d576203..bc6a72eb 100644
--- a/digital/io-hub/src/guybrush/bottom_clamp.c
+++ b/digital/io-hub/src/guybrush/bottom_clamp.c
@@ -832,6 +832,9 @@ FSM_TRANS (CLAMP_READY_TO_EMPTY_TREE, stop_tree_approach, CLAMP_REARRANGE_CD)
IO_SET (OUTPUT_LOWER_CLAMP_1_CLOSE);
/*We need to close both clamp to have an easier turn around. */
IO_SET (OUTPUT_LOWER_CLAMP_2_CLOSE);
+
+ /*Closing upper & middle clamps.*/
+ IO_CLR (OUTPUT_UPPER_CLAMP_OPEN);
return FSM_NEXT (CLAMP_READY_TO_EMPTY_TREE, stop_tree_approach);
}