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authorJulien Balleyguier2012-05-13 12:58:06 +0200
committerJulien Balleyguier2012-05-13 13:25:26 +0200
commit4423c66e401bcedde2ec5710b5ea86ce305e9555 (patch)
treea66fa0d10298d30658a42542ba44c959dfd8d0ee /digital/io-hub/src/guybrush/bottom_clamp.c
parentc16a0c876f4a2f9c6e0ec8b2c8a9bceeee05ee8a (diff)
digital/io-hub/src/guybrush/bottom_clamp.c : adding some init clamp states in init sequence
Diffstat (limited to 'digital/io-hub/src/guybrush/bottom_clamp.c')
-rw-r--r--digital/io-hub/src/guybrush/bottom_clamp.c8
1 files changed, 7 insertions, 1 deletions
diff --git a/digital/io-hub/src/guybrush/bottom_clamp.c b/digital/io-hub/src/guybrush/bottom_clamp.c
index 5ce675b3..0c52f546 100644
--- a/digital/io-hub/src/guybrush/bottom_clamp.c
+++ b/digital/io-hub/src/guybrush/bottom_clamp.c
@@ -231,12 +231,17 @@ uint8_t clamp_read_blocked_cpt(void)
FSM_TRANS (CLAMP_START, init_actuators, CLAMP_INIT_OPEN)
{
+ ctx.pos_current = 0;
+ /* Starting the pump */
+ pressure_set(LOW_PRESSURE);
/* Opening the 2 clamps. */
IO_CLR (OUTPUT_LOWER_CLAMP_1_CLOSE);
- IO_CLR (OUTPUT_LOWER_CLAMP_2_CLOSE);
+ IO_SET (OUTPUT_LOWER_CLAMP_2_CLOSE);
/* recentrage the middle clamp. */
IO_SET (OUTPUT_UPPER_CLAMP_OUT);
IO_CLR (OUTPUT_UPPER_CLAMP_IN);
+ /*Contrepression*/
+ IO_SET (OUTPUT_UPPER_CLAMP_UP);
return FSM_NEXT (CLAMP_START,init_actuators);
@@ -273,6 +278,7 @@ FSM_TRANS (CLAMP_INIT_READY,init_start_round, CLAMP_GOING_IDLE)
{
move_needed(BACK_TO_READY * 250,SPEED_ROTATION);
ctx.clamp_1_down = 1;
+ ctx.clamp_1_down = 0;
return FSM_NEXT (CLAMP_INIT_READY, init_start_round);
}