From 1d6f1f86887b139a3744330357f04af47627701e Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 20 Apr 2013 12:29:36 +0200 Subject: digital/io-hub/src/apbirthday: change clamp output polarity --- digital/io-hub/src/apbirthday/plate.cc | 10 ++-------- 1 file changed, 2 insertions(+), 8 deletions(-) (limited to 'digital') 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, -- cgit v1.2.3