From cf271206993cd8d69a8ef928b789cf7c04305e3b Mon Sep 17 00:00:00 2001 From: Julien Balleyguier Date: Fri, 18 May 2012 09:31:13 +0200 Subject: digital/io-hub/src/guybrush: clamp close anyway when stop tree approach --- digital/io-hub/src/guybrush/bottom_clamp.c | 3 +++ 1 file changed, 3 insertions(+) (limited to 'digital/io-hub/src/guybrush') diff --git a/digital/io-hub/src/guybrush/bottom_clamp.c b/digital/io-hub/src/guybrush/bottom_clamp.c index 6d576203..bc6a72eb 100644 --- a/digital/io-hub/src/guybrush/bottom_clamp.c +++ b/digital/io-hub/src/guybrush/bottom_clamp.c @@ -832,6 +832,9 @@ FSM_TRANS (CLAMP_READY_TO_EMPTY_TREE, stop_tree_approach, CLAMP_REARRANGE_CD) IO_SET (OUTPUT_LOWER_CLAMP_1_CLOSE); /*We need to close both clamp to have an easier turn around. */ IO_SET (OUTPUT_LOWER_CLAMP_2_CLOSE); + + /*Closing upper & middle clamps.*/ + IO_CLR (OUTPUT_UPPER_CLAMP_OPEN); return FSM_NEXT (CLAMP_READY_TO_EMPTY_TREE, stop_tree_approach); } -- cgit v1.2.3