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-rw-r--r--digital/ai/tools/test_simu_control_guybrush.py7
-rw-r--r--digital/io-hub/src/guybrush/main.c4
-rw-r--r--digital/io-hub/tools/io_hub/io_hub.py2
3 files changed, 13 insertions, 0 deletions
diff --git a/digital/ai/tools/test_simu_control_guybrush.py b/digital/ai/tools/test_simu_control_guybrush.py
index e895bf39..661e2140 100644
--- a/digital/ai/tools/test_simu_control_guybrush.py
+++ b/digital/ai/tools/test_simu_control_guybrush.py
@@ -97,6 +97,10 @@ class TestSimuControl (TestSimu):
text = 'Robot is back', padx = 0, pady = 0,
command = self.robot_is_back)
self.robot_is_back_button.pack()
+ self.unblock_button = Button (self.control_frame,
+ text = 'unblock bottom clamp', padx = 0, pady = 0,
+ command = self.unblock_bottom_clamp)
+ self.unblock_button.pack()
self.backward_var = IntVar ()
self.backward_button = Checkbutton (self.control_frame,
text = 'Backward', variable = self.backward_var)
@@ -146,5 +150,8 @@ class TestSimuControl (TestSimu):
def robot_is_back(self):
self.io.robot_is_back()
+ def unblock_bottom_clamp(self):
+ self.io.unblock_bottom_clamp()
+
if __name__ == '__main__':
run ('guybrush', TestSimuControl)
diff --git a/digital/io-hub/src/guybrush/main.c b/digital/io-hub/src/guybrush/main.c
index 85b53d2e..ef411a35 100644
--- a/digital/io-hub/src/guybrush/main.c
+++ b/digital/io-hub/src/guybrush/main.c
@@ -395,6 +395,10 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
/* Simulate the robot_is_back command. */
fsm_queue_post_event (FSM_EVENT (AI, robot_is_back));
break;
+ case c ('u',0):
+ /* Simulate the unblock command. */
+ fsm_queue_post_event (FSM_EVENT (AI, clamp_unblock));
+ break;
case c ('c', 1):
/* Simulate clean_start (00), clean_catch (01), clean_load (02). */
if (args[0] == 0)
diff --git a/digital/io-hub/tools/io_hub/io_hub.py b/digital/io-hub/tools/io_hub/io_hub.py
index 4aa388b0..7c4d2bb5 100644
--- a/digital/io-hub/tools/io_hub/io_hub.py
+++ b/digital/io-hub/tools/io_hub/io_hub.py
@@ -100,3 +100,5 @@ class ProtoGuybrush (Proto):
self.proto.send('e')
def robot_is_back(self):
self.proto.send('r')
+ def unblock_bottom_clamp(self):
+ self.proto.send('u')