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authorNicolas Schodet2012-05-14 16:36:51 +0200
committerNicolas Schodet2012-05-14 20:38:39 +0200
commita43e5e79aac5119cdbda8a434d966cbea131d18e (patch)
tree6e92a7ac81a3751dcab1965c75ec7e035e1ec38f /digital/io-hub/src/guybrush
parent8a2b063c5f1482bcc0e2576bfe178a6c21a9f166 (diff)
digital/io-hub/src/guybrush: open upper clamp at startup
So that items in the robot can be given back.
Diffstat (limited to 'digital/io-hub/src/guybrush')
-rw-r--r--digital/io-hub/src/guybrush/bottom_clamp.c2
1 files changed, 2 insertions, 0 deletions
diff --git a/digital/io-hub/src/guybrush/bottom_clamp.c b/digital/io-hub/src/guybrush/bottom_clamp.c
index 7a746243..eec6460c 100644
--- a/digital/io-hub/src/guybrush/bottom_clamp.c
+++ b/digital/io-hub/src/guybrush/bottom_clamp.c
@@ -270,6 +270,8 @@ FSM_TRANS (CLAMP_START, init_actuators, CLAMP_INIT_OPEN)
/* Opening the 2 clamps. */
IO_CLR (OUTPUT_LOWER_CLAMP_1_CLOSE);
IO_SET (OUTPUT_LOWER_CLAMP_2_CLOSE);
+ /* Open upper clamp. */
+ IO_SET (OUTPUT_UPPER_CLAMP_OPEN);
/* recentrage the middle clamp. */
IO_SET (OUTPUT_UPPER_CLAMP_OUT);
IO_CLR (OUTPUT_UPPER_CLAMP_IN);