From fdc411592c69d7c365b65e3ce9c091ee341f4b50 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 7 Apr 2013 15:54:57 +0200 Subject: digital/io-hub/src/apbirthday: fix contact polarity There is a pull up, so true means no contact. --- digital/io-hub/src/apbirthday/candles.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'digital/io-hub/src/apbirthday/candles.cc') diff --git a/digital/io-hub/src/apbirthday/candles.cc b/digital/io-hub/src/apbirthday/candles.cc index f9b1b676..ae9a90aa 100644 --- a/digital/io-hub/src/apbirthday/candles.cc +++ b/digital/io-hub/src/apbirthday/candles.cc @@ -199,7 +199,7 @@ FSM_TRANS_TIMEOUT (AI_CANDLE_DEPLOYING, 12, success, AI_CANDLE_READY, failure, AI_CANDLE_FALLING_BACK_TO_UNDEPLOYED) { - if (robot->hardware.cake_arm_out_contact.get ()) + if (!robot->hardware.cake_arm_out_contact.get ()) { robot->fsm_queue.post (FSM_EVENT (ai_candle_success)); return FSM_BRANCH (success); @@ -263,7 +263,7 @@ FSM_TRANS_TIMEOUT (AI_CANDLE_UNDEPLOYING_2, 10, success, AI_CANDLE_SLEEPING, failure, AI_CANDLE_READY) { - if (robot->hardware.cake_arm_in_contact.get ()) + if (!robot->hardware.cake_arm_in_contact.get ()) { robot->fsm_queue.post (FSM_EVENT (ai_candle_success)); return FSM_BRANCH (success); -- cgit v1.2.3