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authorNicolas Schodet2013-04-20 12:29:36 +0200
committerNicolas Schodet2013-04-21 22:00:08 +0200
commit1d6f1f86887b139a3744330357f04af47627701e (patch)
tree5bfda882e387730d08402325af5ec4a64fc8e016 /digital
parent92f16f4042175efa642ee8499acb797d410afc76 (diff)
digital/io-hub/src/apbirthday: change clamp output polarity
Diffstat (limited to 'digital')
-rw-r--r--digital/io-hub/src/apbirthday/plate.cc10
1 files changed, 2 insertions, 8 deletions
diff --git a/digital/io-hub/src/apbirthday/plate.cc b/digital/io-hub/src/apbirthday/plate.cc
index 46918753..7b8fe9aa 100644
--- a/digital/io-hub/src/apbirthday/plate.cc
+++ b/digital/io-hub/src/apbirthday/plate.cc
@@ -21,16 +21,10 @@
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
//
// }}}
-
#include "robot.hh"
#include "defs.hh"
#include "plate.hh"
-extern "C" {
-#define ANGFSM_NAME AI
-#include "angfsm.h"
-}
-
inline void Plate::arm_down ()
{
robot->hardware.cherry_plate_down.set (true);
@@ -45,12 +39,12 @@ inline void Plate::arm_up ()
inline void Plate::clamp_open ()
{
- robot->hardware.cherry_plate_clamp.set (true);
+ robot->hardware.cherry_plate_clamp.set (false);
}
inline void Plate::clamp_close ()
{
- robot->hardware.cherry_plate_clamp.set (false);
+ robot->hardware.cherry_plate_clamp.set (true);
}
FSM_STATES (PLATE_OFF,