From fb5f5bacada7e196597614fcaf4ef4fe31707fc6 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 17 May 2012 05:15:28 +0200 Subject: digital/io-hub/src/guybrush: invert start condition on upper clamp --- digital/io-hub/src/guybrush/bottom_clamp.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'digital/io-hub/src/guybrush/bottom_clamp.c') diff --git a/digital/io-hub/src/guybrush/bottom_clamp.c b/digital/io-hub/src/guybrush/bottom_clamp.c index 737b0b11..ca44c98b 100644 --- a/digital/io-hub/src/guybrush/bottom_clamp.c +++ b/digital/io-hub/src/guybrush/bottom_clamp.c @@ -288,7 +288,7 @@ FSM_TRANS_TIMEOUT (CLAMP_INIT_OPEN_ALL_CLAMPS,TIMEOUT_OPEN_CLAMPS, upper_set_out,CLAMP_SHITTY_STATE) { /*if upper set is inside the robot*/ - if(!IO_GET(CONTACT_UPPER_CLAMP_UP)) + if(IO_GET(CONTACT_UPPER_CLAMP_DOWN)) { ctx.pos_current = 0; /* closing all the clamps except the clamp 1 to proceed the find_O function. */ -- cgit v1.2.3