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From: Olivier B. <Ba...@us...> - 2010-03-07 11:11:23
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 47260998a8e90353bc2184ad640df1993da7c630 (commit)
from 80fe5918d44c802611d6240b92b308dac6bb229a (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 47260998a8e90353bc2184ad640df1993da7c630
Author: Olivier BICHLER <oli...@gm...>
Date: Sun Mar 7 12:10:55 2010 +0100
Added a new turn() function which generalizes the basic functions turnLeft() and turnRight()
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/common/PcInterface.h b/PC_Mainboard/common/PcInterface.h
index bb164d1..eaebb09 100644
--- a/PC_Mainboard/common/PcInterface.h
+++ b/PC_Mainboard/common/PcInterface.h
@@ -164,6 +164,7 @@ typedef struct _UP {
#define TRAJ_START 0x0D
#define TRAJ_GET_REL_POS 0x0E
#define TRAJ_READ_CONFIG 0x0F
+#define TRAJ_TURN 0x10
#define TRAJ_NOT_COMPLETED 0x00
#define TRAJ_COMPLETED 0x01
diff --git a/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h b/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h
index bb164d1..eaebb09 100644
--- a/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h
+++ b/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h
@@ -164,6 +164,7 @@ typedef struct _UP {
#define TRAJ_START 0x0D
#define TRAJ_GET_REL_POS 0x0E
#define TRAJ_READ_CONFIG 0x0F
+#define TRAJ_TURN 0x10
#define TRAJ_NOT_COMPLETED 0x00
#define TRAJ_COMPLETED 0x01
diff --git a/PC_Mainboard/python/dev/User_Interface/PcInterface.h b/PC_Mainboard/python/dev/User_Interface/PcInterface.h
index bb164d1..eaebb09 100644
--- a/PC_Mainboard/python/dev/User_Interface/PcInterface.h
+++ b/PC_Mainboard/python/dev/User_Interface/PcInterface.h
@@ -164,6 +164,7 @@ typedef struct _UP {
#define TRAJ_START 0x0D
#define TRAJ_GET_REL_POS 0x0E
#define TRAJ_READ_CONFIG 0x0F
+#define TRAJ_TURN 0x10
#define TRAJ_NOT_COMPLETED 0x00
#define TRAJ_COMPLETED 0x01
diff --git a/USB_Dev_Board/Firmware/PcInterface.h b/USB_Dev_Board/Firmware/PcInterface.h
index bb164d1..eaebb09 100644
--- a/USB_Dev_Board/Firmware/PcInterface.h
+++ b/USB_Dev_Board/Firmware/PcInterface.h
@@ -164,6 +164,7 @@ typedef struct _UP {
#define TRAJ_START 0x0D
#define TRAJ_GET_REL_POS 0x0E
#define TRAJ_READ_CONFIG 0x0F
+#define TRAJ_TURN 0x10
#define TRAJ_NOT_COMPLETED 0x00
#define TRAJ_COMPLETED 0x01
diff --git a/USB_Module/Battery_Monitoring/Firmware/PcInterface.h b/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
index bb164d1..eaebb09 100644
--- a/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
+++ b/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
@@ -164,6 +164,7 @@ typedef struct _UP {
#define TRAJ_START 0x0D
#define TRAJ_GET_REL_POS 0x0E
#define TRAJ_READ_CONFIG 0x0F
+#define TRAJ_TURN 0x10
#define TRAJ_NOT_COMPLETED 0x00
#define TRAJ_COMPLETED 0x01
diff --git a/USB_Module/Motor_Controller/Firmware/PcInterface.h b/USB_Module/Motor_Controller/Firmware/PcInterface.h
index bb164d1..eaebb09 100644
--- a/USB_Module/Motor_Controller/Firmware/PcInterface.h
+++ b/USB_Module/Motor_Controller/Firmware/PcInterface.h
@@ -164,6 +164,7 @@ typedef struct _UP {
#define TRAJ_START 0x0D
#define TRAJ_GET_REL_POS 0x0E
#define TRAJ_READ_CONFIG 0x0F
+#define TRAJ_TURN 0x10
#define TRAJ_NOT_COMPLETED 0x00
#define TRAJ_COMPLETED 0x01
diff --git a/USB_Module/Motor_Controller/Firmware/lm629.c b/USB_Module/Motor_Controller/Firmware/lm629.c
index 426f9cf..7bcdd54 100644
--- a/USB_Module/Motor_Controller/Firmware/lm629.c
+++ b/USB_Module/Motor_Controller/Firmware/lm629.c
@@ -657,7 +657,7 @@ void moveBackward(short pos, short vel, short acc) {
}
/**
- * Tourne vers la droite.
+ * Tourne vers la droite, le centre de rotation nt le milieu de l'axe des roues.
*
* @param angle angle de rotation par rapport a direction initiale du robot, en , sur 16 bits
* @param vel vitesse max., en mm/s, sur 16 bits
@@ -677,7 +677,7 @@ void turnRight(short angle, short vel, short acc) {
}
/**
- * Tourne vers la gauche.
+ * Tourne vers la gauche, le centre de rotation nt le milieu de l'axe des roues.
*
* @param angle angle de rotation par rapport a direction initiale du robot, en , sur 16 bits
* @param vel vitesse max., en mm/s, sur 16 bits
@@ -697,6 +697,42 @@ void turnLeft(short angle, short vel, short acc) {
}
/**
+ * Tourne autour d'un centre quelconque situur l'axe des roues.
+ * Ceci est une fonction gralisdes fonctions turnRight() et turnLeft().
+ *
+ * @param angle angle de rotation par rapport a direction initiale du robot, en , sur 16 bits
+ * @param vel vitesse max., en mm/s, sur 16 bits
+ * @param acc accration, en mm/s, sur 16 bits
+ * @param c position du centre de rotation par rapport au milieu de l'axe des roues, en mm ou en %, sur 16 bits
+ * @param rel indique si c est exprimn mm (relative = 0) ou en % de la distance du milieu a roue, #WHEELS_DIST/2 (relative = 1)
+ *
+ * -100 0 100
+ * relative = 1: ||--------.--------||
+ * LW RW
+ *
+ * @note angle et c peuvent e positifs ou ntifs. @n
+ * Lorsqu'exprimn %, c peut e supeur 00 en valeur absolue.
+*/
+void turn(short angle, short vel, short acc, short c, BOOL rel) {
+ resetInterrupt(MOTOR_BOTH);
+
+ if (rel)
+ c = WHEELS_DIST / 2.0 * (c / 100.0);
+
+ newPosition(MOTOR_RIGHT,
+ (long) ((float) angle * CONST_POS * 2.0 * (WHEELS_DIST / 2.0 - c) * COEF_RIGHT_WHEEL),
+ (long) ((float) vel * COEF_RIGHT_WHEEL * CONST_VEL),
+ (long) ((float) acc * COEF_RIGHT_WHEEL * CONST_ACC));
+
+ newPosition(MOTOR_LEFT,
+ - (long) ((float) angle * CONST_POS * 2.0 * (WHEELS_DIST / 2.0 + c) * COEF_RIGHT_WHEEL),
+ (long) ((float) vel * COEF_RIGHT_WHEEL * CONST_VEL),
+ (long) ((float) acc * COEF_RIGHT_WHEEL * CONST_ACC));
+
+ start(MOTOR_BOTH);
+}
+
+/**
* Aller n emplacement, relativement a position actuelle.
*
* ^
diff --git a/USB_Module/Motor_Controller/Firmware/lm629.h b/USB_Module/Motor_Controller/Firmware/lm629.h
index 8674bb4..5792929 100644
--- a/USB_Module/Motor_Controller/Firmware/lm629.h
+++ b/USB_Module/Motor_Controller/Firmware/lm629.h
@@ -17,27 +17,26 @@
// Robot utilis #define KROBOT_2010
// #define KROBOT_PROTO
+
// Parames graux
#define LM_CLOCK 8e6 ///< Frence horloge LM (en Hz) -- forcnt 6 ou 8 MHz selon la rrence du composant
-#ifdef KROBOT_2010
- // Constantes pour [Kro]bot 2010
- #define ENCODER_RES 15*500 ///< Impulsions du codeur par tour de roue (prendre en compte le rcteur selon le cas !)
- #define WHEELS_DIAMETER 98 ///< Diame des roues (en mm)
- #define WHEELS_DIST 259 ///< Distance entre les 2 roues (en mm)
- #define CON_MOTOR_LEFT -1
- #define CON_MOTOR_RIGHT -1
-#else
-#ifdef KROBOT_PROTO
- // Constantes pour le robot protoype basur des EMG30s
- #define ENCODER_RES 90 ///< Impulsions du codeur par tour de roue (prendre en compte le rcteur selon le cas !)
- #define WHEELS_DIAMETER 99 ///< Diame des roues (en mm)
- #define WHEELS_DIST 220 ///< Distance entre les 2 roues (en mm)
- #define CON_MOTOR_LEFT -1
- #define CON_MOTOR_RIGHT 1
+#if defined(KROBOT_2010)
+ // Constantes pour [Kro]bot 2010
+ #define ENCODER_RES 15*500 ///< Impulsions du codeur par tour de roue (prendre en compte le rcteur selon le cas !)
+ #define WHEELS_DIAMETER 98 ///< Diame des roues (en mm)
+ #define WHEELS_DIST 259 ///< Distance entre les 2 roues (en mm)
+ #define CON_MOTOR_LEFT -1
+ #define CON_MOTOR_RIGHT -1
+#elif defined(KROBOT_PROTO)
+ // Constantes pour le robot protoype basur des EMG30s
+ #define ENCODER_RES 90 ///< Impulsions du codeur par tour de roue (prendre en compte le rcteur selon le cas !)
+ #define WHEELS_DIAMETER 99 ///< Diame des roues (en mm)
+ #define WHEELS_DIST 220 ///< Distance entre les 2 roues (en mm)
+ #define CON_MOTOR_LEFT -1
+ #define CON_MOTOR_RIGHT 1
#else
- #error "Il est nssaire de darer un type de robot tiliser"
-#endif
+ #error Il est nssaire de darer un type de robot tiliser
#endif
/**
@@ -46,22 +45,20 @@
* Vfier que le syst est stable (pas d'oscillation)
* On peut alors augmenter le KP et ajuster KI et KD.
*/
-#ifdef KROBOT_2010
- // Constantes pour [Kro]bot 2010
- #define DEFAULT_KP 1 ///< Constante action proportionnelle
- #define DEFAULT_KI 0 ///< Constante action intale
- #define DEFAULT_KD 0 ///< Constante action dv
- #define DEFAULT_IL 10000 ///< Integration Limit -- limite la contribution du terme intateur (doit e non nul si KI est non nul !)
+#if defined(KROBOT_2010)
+ // Constantes pour [Kro]bot 2010
+ #define DEFAULT_KP 1 ///< Constante action proportionnelle
+ #define DEFAULT_KI 0 ///< Constante action intale
+ #define DEFAULT_KD 0 ///< Constante action dv
+ #define DEFAULT_IL 10000 ///< Integration Limit -- limite la contribution du terme intateur (doit e non nul si KI est non nul !)
+#elif defined(KROBOT_PROTO)
+ // Constantes pour le robot protoype basur des EMG30s
+ #define DEFAULT_KP 1000 ///< Constante action proportionnelle
+ #define DEFAULT_KI 1 ///< Constante action intale
+ #define DEFAULT_KD 0 ///< Constante action dv
+ #define DEFAULT_IL 10000 ///< Integration Limit -- limite la contribution du terme intateur (doit e non nul si KI est non nul !)
#else
-#ifdef KROBOT_PROTO
- // Constantes pour le robot protoype basur des EMG30s
- #define DEFAULT_KP 1000 ///< Constante action proportionnelle
- #define DEFAULT_KI 1 ///< Constante action intale
- #define DEFAULT_KD 0 ///< Constante action dv
- #define DEFAULT_IL 10000 ///< Integration Limit -- limite la contribution du terme intateur (doit e non nul si KI est non nul !)
-#else
- #error "Il est nssaire de darer un type de robot tiliser"
-#endif
+ #error Il est nssaire de darer un type de robot tiliser
#endif
// Constantes
@@ -232,6 +229,7 @@ void moveForward(short pos, short vel, short acc);
void moveBackward(short pos, short vel, short acc);
void turnRight(short angle, short vel, short acc);
void turnLeft(short angle, short vel, short acc);
+void turn(short angle, short vel, short acc, short c, BOOL rel);
void goTo(short x, short y, short vel, short acc, BYTE mode, short d);
WORD getRelPosRight(void);
WORD getRelPosLeft(void);
diff --git a/USB_Module/Motor_Controller/Firmware/main.c b/USB_Module/Motor_Controller/Firmware/main.c
index f036db5..230b7b9 100644
--- a/USB_Module/Motor_Controller/Firmware/main.c
+++ b/USB_Module/Motor_Controller/Firmware/main.c
@@ -989,7 +989,7 @@ void ProcessIO(void) {
word3.byte.LB = ReceivedDataBuffer.DATA[6];
turnRight(word1.Val, word2.Val, word3.Val);
traj_engaged = 1;
- break;
+ break;
case TRAJ_TL:
word1.byte.HB = ReceivedDataBuffer.DATA[1];
@@ -1002,6 +1002,19 @@ void ProcessIO(void) {
traj_engaged = 1;
break;
+ case TRAJ_TURN:
+ word1.byte.HB = ReceivedDataBuffer.DATA[1];
+ word1.byte.LB = ReceivedDataBuffer.DATA[2];
+ word2.byte.HB = ReceivedDataBuffer.DATA[3];
+ word2.byte.LB = ReceivedDataBuffer.DATA[4];
+ word3.byte.HB = ReceivedDataBuffer.DATA[5];
+ word3.byte.LB = ReceivedDataBuffer.DATA[6];
+ word4.byte.HB = ReceivedDataBuffer.DATA[7];
+ word4.byte.LB = ReceivedDataBuffer.DATA[8];
+ turn(word1.Val, word2.Val, word3.Val, word4.Val, ReceivedDataBuffer.DATA[9]);
+ traj_engaged = 1;
+ break;
+
case TRAJ_GOTO:
word1.byte.HB = ReceivedDataBuffer.DATA[1];
word1.byte.LB = ReceivedDataBuffer.DATA[2];
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof
index 84163ed..743ff8e 100644
Binary files a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof and b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof differ
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
index 3cf2fff..4faf3af 100644
--- a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
+++ b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
@@ -1,18 +1,18 @@
:020000040000FA
-:0600000062EF30F0120077
+:0600000025EF31F01200B3
:0600080004EF04F01200F9
:060018000CEF04F01200E1
-:0608000062EF30F012006F
-:06080800F9EF0FF01200F1
-:0608180061EF10F0120078
-:06082A000400576100000C
-:1008300026010000210000004F6100005F01000060
-:100840000800000041610000470100000E000000A8
-:0C0850003E6100006A010000030000008F
-:04085C003DEC0DF072
+:0608000025EF31F01200AB
+:060808007CEF10F012006D
+:06081800E4EF10F01200F5
+:06082A000400DD62000085
+:100830002601000021000000D56200005F010000D9
+:1008400008000000C7620000470100000E00000021
+:0C085000C46200006A0100000300000008
+:04085C0015EC0DF09A
:10086000FE0EDB5006E1F80E96163C0E9416959897
:1008700008D0FE0EDB0405E1070E9612C30E94129B
-:10088000958842EF0DF0D9CFE6FFE1CFD9FFE652D0
+:1008800095881AEF0DF0D9CFE6FFE1CFD9FFE652F8
:10089000010EE66EE3DFE5528098FE0EDB5004E0C9
:1008A000FE0EDB5002080FE1839C808A0000839ECD
:1008B0000000000000008450010BDF6E838E0000FA
@@ -98,1373 +98,1398 @@
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[truncated message content] |
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From: Xavier L. <Ba...@us...> - 2010-03-07 00:06:24
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 80fe5918d44c802611d6240b92b308dac6bb229a (commit)
from a9944f99ef133be4a4f19cb4855833c1648ef6d3 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 80fe5918d44c802611d6240b92b308dac6bb229a
Author: Xavier Lagorce <Xav...@cr...>
Date: Sun Mar 7 01:02:01 2010 +0100
Adding LCD commands to PcInterface.h
Implementation will follow shortly...
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/common/PcInterface.h b/PC_Mainboard/common/PcInterface.h
index e79e8fa..bb164d1 100644
--- a/PC_Mainboard/common/PcInterface.h
+++ b/PC_Mainboard/common/PcInterface.h
@@ -61,6 +61,7 @@ typedef struct _UP {
#define CMD_TRAJ 10 ///< Transmet une trajetoire au Krobot
#define CMD_MOTOR 11 ///< Gestion des moteurs
#define CMD_MOTOR_TOR 12
+#define CMD_LCD 13 ///< Commande de l'afficheur LCD
// CMD_GET arguments
#define GET_RESET_SOURCE 0 ///< Demande au PIC la source du Reset
@@ -136,6 +137,16 @@ typedef struct _UP {
#define AX12_EXEC_NOW 0x00
#define AX12_EXEC_ACTION 0x01
+// CMD_LCD
+#define LCD_CLEAR 0x00
+#define LCD_CURSOR_ON 0x01
+#define LCD_CURSOR_OFF 0x02
+#define LCD_BACKLIGHT_ON 0x03
+#define LCD_BACKLIGHT_OFF 0x04
+#define LCD_GOTO_POS 0x05
+#define LCD_WRITE 0x06
+#define LCD_WRITE_LINE 0x07
+
// CMD_TRAJ
#define TRAJ_INIT 0x00
#define TRAJ_FORWARD 0x01
diff --git a/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h b/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h
index e79e8fa..bb164d1 100644
--- a/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h
+++ b/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h
@@ -61,6 +61,7 @@ typedef struct _UP {
#define CMD_TRAJ 10 ///< Transmet une trajetoire au Krobot
#define CMD_MOTOR 11 ///< Gestion des moteurs
#define CMD_MOTOR_TOR 12
+#define CMD_LCD 13 ///< Commande de l'afficheur LCD
// CMD_GET arguments
#define GET_RESET_SOURCE 0 ///< Demande au PIC la source du Reset
@@ -136,6 +137,16 @@ typedef struct _UP {
#define AX12_EXEC_NOW 0x00
#define AX12_EXEC_ACTION 0x01
+// CMD_LCD
+#define LCD_CLEAR 0x00
+#define LCD_CURSOR_ON 0x01
+#define LCD_CURSOR_OFF 0x02
+#define LCD_BACKLIGHT_ON 0x03
+#define LCD_BACKLIGHT_OFF 0x04
+#define LCD_GOTO_POS 0x05
+#define LCD_WRITE 0x06
+#define LCD_WRITE_LINE 0x07
+
// CMD_TRAJ
#define TRAJ_INIT 0x00
#define TRAJ_FORWARD 0x01
diff --git a/PC_Mainboard/python/dev/User_Interface/PcInterface.h b/PC_Mainboard/python/dev/User_Interface/PcInterface.h
index e79e8fa..bb164d1 100644
--- a/PC_Mainboard/python/dev/User_Interface/PcInterface.h
+++ b/PC_Mainboard/python/dev/User_Interface/PcInterface.h
@@ -61,6 +61,7 @@ typedef struct _UP {
#define CMD_TRAJ 10 ///< Transmet une trajetoire au Krobot
#define CMD_MOTOR 11 ///< Gestion des moteurs
#define CMD_MOTOR_TOR 12
+#define CMD_LCD 13 ///< Commande de l'afficheur LCD
// CMD_GET arguments
#define GET_RESET_SOURCE 0 ///< Demande au PIC la source du Reset
@@ -136,6 +137,16 @@ typedef struct _UP {
#define AX12_EXEC_NOW 0x00
#define AX12_EXEC_ACTION 0x01
+// CMD_LCD
+#define LCD_CLEAR 0x00
+#define LCD_CURSOR_ON 0x01
+#define LCD_CURSOR_OFF 0x02
+#define LCD_BACKLIGHT_ON 0x03
+#define LCD_BACKLIGHT_OFF 0x04
+#define LCD_GOTO_POS 0x05
+#define LCD_WRITE 0x06
+#define LCD_WRITE_LINE 0x07
+
// CMD_TRAJ
#define TRAJ_INIT 0x00
#define TRAJ_FORWARD 0x01
diff --git a/USB_Dev_Board/Firmware/PcInterface.h b/USB_Dev_Board/Firmware/PcInterface.h
index e79e8fa..bb164d1 100644
--- a/USB_Dev_Board/Firmware/PcInterface.h
+++ b/USB_Dev_Board/Firmware/PcInterface.h
@@ -61,6 +61,7 @@ typedef struct _UP {
#define CMD_TRAJ 10 ///< Transmet une trajetoire au Krobot
#define CMD_MOTOR 11 ///< Gestion des moteurs
#define CMD_MOTOR_TOR 12
+#define CMD_LCD 13 ///< Commande de l'afficheur LCD
// CMD_GET arguments
#define GET_RESET_SOURCE 0 ///< Demande au PIC la source du Reset
@@ -136,6 +137,16 @@ typedef struct _UP {
#define AX12_EXEC_NOW 0x00
#define AX12_EXEC_ACTION 0x01
+// CMD_LCD
+#define LCD_CLEAR 0x00
+#define LCD_CURSOR_ON 0x01
+#define LCD_CURSOR_OFF 0x02
+#define LCD_BACKLIGHT_ON 0x03
+#define LCD_BACKLIGHT_OFF 0x04
+#define LCD_GOTO_POS 0x05
+#define LCD_WRITE 0x06
+#define LCD_WRITE_LINE 0x07
+
// CMD_TRAJ
#define TRAJ_INIT 0x00
#define TRAJ_FORWARD 0x01
diff --git a/USB_Module/Battery_Monitoring/Firmware/PcInterface.h b/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
index e79e8fa..bb164d1 100644
--- a/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
+++ b/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
@@ -61,6 +61,7 @@ typedef struct _UP {
#define CMD_TRAJ 10 ///< Transmet une trajetoire au Krobot
#define CMD_MOTOR 11 ///< Gestion des moteurs
#define CMD_MOTOR_TOR 12
+#define CMD_LCD 13 ///< Commande de l'afficheur LCD
// CMD_GET arguments
#define GET_RESET_SOURCE 0 ///< Demande au PIC la source du Reset
@@ -136,6 +137,16 @@ typedef struct _UP {
#define AX12_EXEC_NOW 0x00
#define AX12_EXEC_ACTION 0x01
+// CMD_LCD
+#define LCD_CLEAR 0x00
+#define LCD_CURSOR_ON 0x01
+#define LCD_CURSOR_OFF 0x02
+#define LCD_BACKLIGHT_ON 0x03
+#define LCD_BACKLIGHT_OFF 0x04
+#define LCD_GOTO_POS 0x05
+#define LCD_WRITE 0x06
+#define LCD_WRITE_LINE 0x07
+
// CMD_TRAJ
#define TRAJ_INIT 0x00
#define TRAJ_FORWARD 0x01
diff --git a/USB_Module/Motor_Controller/Firmware/PcInterface.h b/USB_Module/Motor_Controller/Firmware/PcInterface.h
index e79e8fa..bb164d1 100644
--- a/USB_Module/Motor_Controller/Firmware/PcInterface.h
+++ b/USB_Module/Motor_Controller/Firmware/PcInterface.h
@@ -61,6 +61,7 @@ typedef struct _UP {
#define CMD_TRAJ 10 ///< Transmet une trajetoire au Krobot
#define CMD_MOTOR 11 ///< Gestion des moteurs
#define CMD_MOTOR_TOR 12
+#define CMD_LCD 13 ///< Commande de l'afficheur LCD
// CMD_GET arguments
#define GET_RESET_SOURCE 0 ///< Demande au PIC la source du Reset
@@ -136,6 +137,16 @@ typedef struct _UP {
#define AX12_EXEC_NOW 0x00
#define AX12_EXEC_ACTION 0x01
+// CMD_LCD
+#define LCD_CLEAR 0x00
+#define LCD_CURSOR_ON 0x01
+#define LCD_CURSOR_OFF 0x02
+#define LCD_BACKLIGHT_ON 0x03
+#define LCD_BACKLIGHT_OFF 0x04
+#define LCD_GOTO_POS 0x05
+#define LCD_WRITE 0x06
+#define LCD_WRITE_LINE 0x07
+
// CMD_TRAJ
#define TRAJ_INIT 0x00
#define TRAJ_FORWARD 0x01
diff --git a/USB_Module/Proximity_Sensor/Firmware/PcInterface.h b/USB_Module/Proximity_Sensor/Firmware/PcInterface.h
index e79e8fa..bb164d1 100644
--- a/USB_Module/Proximity_Sensor/Firmware/PcInterface.h
+++ b/USB_Module/Proximity_Sensor/Firmware/PcInterface.h
@@ -61,6 +61,7 @@ typedef struct _UP {
#define CMD_TRAJ 10 ///< Transmet une trajetoire au Krobot
#define CMD_MOTOR 11 ///< Gestion des moteurs
#define CMD_MOTOR_TOR 12
+#define CMD_LCD 13 ///< Commande de l'afficheur LCD
// CMD_GET arguments
#define GET_RESET_SOURCE 0 ///< Demande au PIC la source du Reset
@@ -136,6 +137,16 @@ typedef struct _UP {
#define AX12_EXEC_NOW 0x00
#define AX12_EXEC_ACTION 0x01
+// CMD_LCD
+#define LCD_CLEAR 0x00
+#define LCD_CURSOR_ON 0x01
+#define LCD_CURSOR_OFF 0x02
+#define LCD_BACKLIGHT_ON 0x03
+#define LCD_BACKLIGHT_OFF 0x04
+#define LCD_GOTO_POS 0x05
+#define LCD_WRITE 0x06
+#define LCD_WRITE_LINE 0x07
+
// CMD_TRAJ
#define TRAJ_INIT 0x00
#define TRAJ_FORWARD 0x01
diff --git a/USB_Module/Robot_Interface/Firmware/PcInterface.h b/USB_Module/Robot_Interface/Firmware/PcInterface.h
index e79e8fa..bb164d1 100644
--- a/USB_Module/Robot_Interface/Firmware/PcInterface.h
+++ b/USB_Module/Robot_Interface/Firmware/PcInterface.h
@@ -61,6 +61,7 @@ typedef struct _UP {
#define CMD_TRAJ 10 ///< Transmet une trajetoire au Krobot
#define CMD_MOTOR 11 ///< Gestion des moteurs
#define CMD_MOTOR_TOR 12
+#define CMD_LCD 13 ///< Commande de l'afficheur LCD
// CMD_GET arguments
#define GET_RESET_SOURCE 0 ///< Demande au PIC la source du Reset
@@ -136,6 +137,16 @@ typedef struct _UP {
#define AX12_EXEC_NOW 0x00
#define AX12_EXEC_ACTION 0x01
+// CMD_LCD
+#define LCD_CLEAR 0x00
+#define LCD_CURSOR_ON 0x01
+#define LCD_CURSOR_OFF 0x02
+#define LCD_BACKLIGHT_ON 0x03
+#define LCD_BACKLIGHT_OFF 0x04
+#define LCD_GOTO_POS 0x05
+#define LCD_WRITE 0x06
+#define LCD_WRITE_LINE 0x07
+
// CMD_TRAJ
#define TRAJ_INIT 0x00
#define TRAJ_FORWARD 0x01
hooks/post-receive
--
krobot
|
|
From: Jérémie D. <Ba...@us...> - 2010-03-06 23:53:36
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via a9944f99ef133be4a4f19cb4855833c1648ef6d3 (commit)
from 53198a8d5d1d8f51dc3d817a03443aebc4987cce (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit a9944f99ef133be4a4f19cb4855833c1648ef6d3
Author: Jérémie Dimino <je...@di...>
Date: Sun Mar 7 00:48:58 2010 +0100
High-level commands to control the grip
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/clients/script.ml b/PC_Mainboard/clients/script.ml
index f57651b..55dfb13 100644
--- a/PC_Mainboard/clients/script.ml
+++ b/PC_Mainboard/clients/script.ml
@@ -274,7 +274,7 @@ let () =
let id = int "id"
and position = int "position"
- and velocity = int ~default:50 "velocity"
+ and velocity = int ~default:Config.ax12_default_velocity "velocity"
and timeout = int ~default:100 "timeout"
and goto_mode = keyword ~default:`Now "mode" [("now", `Now); ("action", `Action)] in
@@ -311,6 +311,18 @@ let () =
return ());
register ~path:["ax12"] "action" (f1 (int ~default:254 "id"))
(fun logger krobot id ->
- Krobot_unsafe.AX12.action krobot id)
+ Krobot_unsafe.AX12.action krobot id);
+
+ (* +---------------------------------------------------------------+
+ | Grip |
+ +---------------------------------------------------------------+ *)
+
+ register ~path:["grip"] "up" f0
+ (fun logger krobot ->
+ Krobot.grip_up krobot);
+ register ~path:["grip"] "down" f0
+ (fun logger krobot ->
+ Krobot.grip_down krobot)
+
let () = Script_unsafe.register ()
diff --git a/PC_Mainboard/common/config.ml b/PC_Mainboard/common/config.ml
index c248d6e..c05aaf8 100644
--- a/PC_Mainboard/common/config.ml
+++ b/PC_Mainboard/common/config.ml
@@ -13,3 +13,8 @@ let initial_position = 200
let bus_address = "unix:abstract=krobot"
let update_delay = 0.05
let reopen_delay = 1.0
+
+let ax12_grip_up_down = 1
+let grip_up_position = 880
+let grip_down_position = 580
+let ax12_default_velocity = 50
diff --git a/PC_Mainboard/common/config.mli b/PC_Mainboard/common/config.mli
index 645ac10..66cd249 100644
--- a/PC_Mainboard/common/config.mli
+++ b/PC_Mainboard/common/config.mli
@@ -26,3 +26,8 @@ val update_delay : float
val reopen_delay : float
(** Time to wait before retrying to open a card *)
+
+val ax12_grip_up_down : int
+val grip_up_position : int
+val grip_down_position : int
+val ax12_default_velocity : int
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index 9fb42d4..a7f256e 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -121,6 +121,12 @@ struct
in
USB_commands.AX12.action dev.card ~id:0xfe
+ OL_method GripUp : unit = fun dev ->
+ set_ax12 dev [{ aa_id = Config.ax12_grip_up_down; aa_position = Config.grip_up_position; aa_velocity = Config.ax12_default_velocity }]
+
+ OL_method GripDown : unit = fun dev ->
+ set_ax12 dev [{ aa_id = Config.ax12_grip_up_down; aa_position = Config.grip_down_position; aa_velocity = Config.ax12_default_velocity }]
+
let make card path =
return {
obus = OBus.make ~interfaces:[Unsafe.interface; interface] path;
diff --git a/PC_Mainboard/lib_krobot/krobot.ml b/PC_Mainboard/lib_krobot/krobot.ml
index 62a7c10..7a845d7 100644
--- a/PC_Mainboard/lib_krobot/krobot.ml
+++ b/PC_Mainboard/lib_krobot/krobot.ml
@@ -11,6 +11,7 @@ module Log = Lwt_log.Make(struct let section = "krobot" end)
open OBus_pervasives
open Lwt
+open Types
(* +-----------------------------------------------------------------+
| Types |
@@ -175,6 +176,8 @@ module AX12 = Make_device(struct let name = "AX12" end)
OP_interface(AX12) "fr.krobot.Device.AX12"
OP_method SetAX12 : Types.ax12_action structure list -> unit
+OP_method GripUp : unit
+OP_method GripDown : unit
(* +-----------------------------------------------------------------+
| Motors |
diff --git a/PC_Mainboard/lib_krobot/krobot.mli b/PC_Mainboard/lib_krobot/krobot.mli
index 4dde27c..19b8c34 100644
--- a/PC_Mainboard/lib_krobot/krobot.mli
+++ b/PC_Mainboard/lib_krobot/krobot.mli
@@ -68,6 +68,9 @@ val set_ax12 : t -> Types.ax12_action list -> unit Lwt.t
(** [set_ax12 krobot actions] move all given ax12 at the same
time. *)
+val grip_up : t -> unit Lwt.t
+val grip_down : t -> unit Lwt.t
+
(** {6 Motors} *)
val motors_state : t -> string Lwt.t
hooks/post-receive
--
krobot
|
|
From: Jérémie D. <Ba...@us...> - 2010-03-06 23:24:15
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 53198a8d5d1d8f51dc3d817a03443aebc4987cce (commit)
from 9958104ae2f54521a51358de5ed2ceda0b9b9ba4 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 53198a8d5d1d8f51dc3d817a03443aebc4987cce
Author: Jérémie Dimino <je...@di...>
Date: Sun Mar 7 00:23:55 2010 +0100
Add module for the LCD device
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index cfe4f0d..9fb42d4 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -62,6 +62,32 @@ struct
end
(* +-----------------------------------------------------------------+
+ | LCD |
+ +-----------------------------------------------------------------+ *)
+
+module LCD =
+struct
+ type t = {
+ obus : OBus_object.t;
+ card : Krobot_card.t;
+ }
+
+ module OBus = OBus_object.Make(struct
+ type obj = t
+ let cast obj = obj.obus
+ end)
+
+ module Unsafe = DBus_exports.LCD(OBus)(struct let get dev = dev.card end)
+
+ let make card path =
+ let dev = {
+ obus = OBus.make ~interfaces:[Unsafe.interface] path;
+ card = card;
+ } in
+ return dev
+end
+
+(* +-----------------------------------------------------------------+
| AX12 |
+-----------------------------------------------------------------+ *)
@@ -754,7 +780,8 @@ lwt () =
(fun card ->
lwt () = USB_commands.Servo.enable card `Both in
lwt () = Compass.OBus.export bus =|< Compass.make card ["fr"; "krobot"; "Devices"; "Compass"]
- and () = AX12.OBus.export bus =|< AX12.make card ["fr"; "krobot"; "Devices"; "AX12"] in
+ and () = AX12.OBus.export bus =|< AX12.make card ["fr"; "krobot"; "Devices"; "AX12"]
+ and () = LCD.OBus.export bus =|< LCD.make card ["fr"; "krobot"; "Devices"; "LCD"] in
return ())
(fun () ->
OBus_object.remove_by_path bus ["fr"; "krobot"; "Devices"; "Compass"];
hooks/post-receive
--
krobot
|
|
From: Jérémie D. <Ba...@us...> - 2010-03-06 23:17:23
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 9958104ae2f54521a51358de5ed2ceda0b9b9ba4 (commit)
from cdc425a8c48cc4414de80fd9f8c695c2ad92ef7d (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 9958104ae2f54521a51358de5ed2ceda0b9b9ba4
Author: Jérémie Dimino <je...@di...>
Date: Sun Mar 7 00:16:36 2010 +0100
[interface] commande pour le LCD
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/interface/interface.ml b/PC_Mainboard/interface/interface.ml
index d7269d5..91f115d 100644
--- a/PC_Mainboard/interface/interface.ml
+++ b/PC_Mainboard/interface/interface.ml
@@ -573,4 +573,12 @@ let interfaces = [
Arg("duration", uint32)]
();
]);
+
+ Module("LCD", [
+ command
+ ~name:"send"
+ ~code:PcInterface.cmd_send
+ ~args:[Arg("cmd", uint8)]
+ ();
+ ]);
]
hooks/post-receive
--
krobot
|
|
From: Olivier B. <Ba...@us...> - 2010-03-06 22:53:46
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via cdc425a8c48cc4414de80fd9f8c695c2ad92ef7d (commit)
from f210a0e3676c019eec203c614a66a685a24d1f7a (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit cdc425a8c48cc4414de80fd9f8c695c2ad92ef7d
Author: Olivier BICHLER <oli...@gm...>
Date: Sat Mar 6 23:53:17 2010 +0100
Activate LCD support on Robot Interface board
-----------------------------------------------------------------------
Changes:
diff --git a/USB_Module/Robot_Interface/Firmware/Robot_Interface.mcs b/USB_Module/Robot_Interface/Firmware/Robot_Interface.mcs
index 1396fab..7ded22f 100644
--- a/USB_Module/Robot_Interface/Firmware/Robot_Interface.mcs
+++ b/USB_Module/Robot_Interface/Firmware/Robot_Interface.mcs
@@ -2,7 +2,7 @@
MagicCookie={0b13fe8c-dfe0-40eb-8900-6712719559a7}
Version=1.0
[File000]
-Location=Z:\USB_Module\Robot_Interface\Firmware\output\usb_descriptors.o
+Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\usb_descriptors.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
@@ -15,7 +15,7 @@ ToolArgsString=
TraceCmdString=
DebugOptions=
[File001]
-Location=Z:\USB_Module\Robot_Interface\Firmware\output\main.o
+Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\main.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
@@ -28,7 +28,7 @@ ToolArgsString=
TraceCmdString=
DebugOptions=
[File002]
-Location=Z:\USB_Module\Robot_Interface\Firmware\output\eeprom.o
+Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\eeprom.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
@@ -41,7 +41,7 @@ ToolArgsString=
TraceCmdString=
DebugOptions=
[File003]
-Location=Z:\USB_Module\Robot_Interface\Firmware\output\usb_device.o
+Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\usb_device.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
@@ -54,7 +54,7 @@ ToolArgsString=
TraceCmdString=
DebugOptions=
[File004]
-Location=Z:\USB_Module\Robot_Interface\Firmware\output\usb_function_hid.o
+Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\usb_function_hid.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
@@ -67,7 +67,7 @@ ToolArgsString=
TraceCmdString=
DebugOptions=
[File005]
-Location=Z:\USB_Module\Robot_Interface\Firmware\output\ax12.o
+Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\ax12.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
@@ -80,7 +80,7 @@ ToolArgsString=
TraceCmdString=
DebugOptions=
[File006]
-Location=Z:\USB_Module\Robot_Interface\Firmware\output\error.o
+Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\error.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
@@ -93,7 +93,7 @@ ToolArgsString=
TraceCmdString=
DebugOptions=
[File007]
-Location=Z:\USB_Module\Robot_Interface\Firmware\output\servo.o
+Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\servo.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
@@ -106,7 +106,7 @@ ToolArgsString=
TraceCmdString=
DebugOptions=
[File008]
-Location=Z:\USB_Module\Robot_Interface\Firmware\output\mcc.o
+Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\mcc.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
@@ -119,7 +119,7 @@ ToolArgsString=
TraceCmdString=
DebugOptions=
[File009]
-Location=Z:\USB_Module\Robot_Interface\Firmware\output\adjd-s371.o
+Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\adjd-s371.o
Folder=Intermediary
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
@@ -132,7 +132,7 @@ ToolArgsString=
TraceCmdString=
DebugOptions=
[File010]
-Location=Z:\USB_Module\Robot_Interface\Firmware\output\Robot_Interface.cof
+Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\Robot_Interface.cof
Folder=Output
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
@@ -145,7 +145,7 @@ ToolArgsString=/m"$(BINDIR_)$(TARGETBASE).map" /w /o"$(BINDIR_)$(TARGETBASE).cof
TraceCmdString=
DebugOptions=
[File011]
-Location=Z:\USB_Module\Robot_Interface\Firmware\output\Robot_Interface.hex
+Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\Robot_Interface.hex
Folder=Output
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
@@ -158,7 +158,7 @@ ToolArgsString=/m"$(BINDIR_)$(TARGETBASE).map" /w /o"$(BINDIR_)$(TARGETBASE).cof
TraceCmdString=
DebugOptions=
[File012]
-Location=Z:\USB_Module\Robot_Interface\Firmware\output\Robot_Interface.map
+Location=C:\krobot\USB_Module\Robot_Interface\Firmware\output\Robot_Interface.map
Folder=Output
DeviceName=PIC18F4550
LanguageToolSuiteID={5B7D72DD-9861-47BD-9F60-2BE967BF8416}
diff --git a/USB_Module/Robot_Interface/Firmware/main.c b/USB_Module/Robot_Interface/Firmware/main.c
index 20531af..a994ee1 100644
--- a/USB_Module/Robot_Interface/Firmware/main.c
+++ b/USB_Module/Robot_Interface/Firmware/main.c
@@ -555,7 +555,6 @@ void UserInit(void)
// Configuration de l'I2C
SSPADD = 119; // Vitesse de l'I2C = 100 KHz ( = FOSC/[4*(SSPADD+1)] )
-/*
// Initialisation et effacement de l'afficheur LCD
OpenI2C(MASTER, SLEW_OFF);
StartI2C();
@@ -568,7 +567,7 @@ void UserInit(void)
WriteI2C(0x43);
StopI2C();
CloseI2C();
-*/
+
//Initialize all of the LED pins
mInitAllLEDs();
@@ -1284,6 +1283,16 @@ void USBCBSuspend(void)
//IMPORTANT NOTE: Do not clear the USBActivityIF (ACTVIF) bit here. This bit is
//cleared inside the usb_device.c file. Clearing USBActivityIF here will cause
//things to not work as intended.
+
+ // Turn off LCD backlight
+ OpenI2C(MASTER, SLEW_OFF);
+ StartI2C();
+ IdleI2C(); // Absolument nssaire
+ WriteI2C(0x00);
+ WriteI2C(0x1B);
+ WriteI2C(0x62);
+ StopI2C();
+ CloseI2C();
#if defined(__C30__)
#if 0
@@ -1367,6 +1376,15 @@ void USBCBWakeFromSuspend(void)
// clocking (IE: 48MHz clock must be available to SIE for full speed USB
// operation).
+ // Turn on LCD backlight
+ OpenI2C(MASTER, SLEW_OFF);
+ StartI2C();
+ IdleI2C(); // Absolument nssaire
+ WriteI2C(0x00);
+ WriteI2C(0x1B);
+ WriteI2C(0x42);
+ StopI2C();
+ CloseI2C();
}
/********************************************************************
diff --git a/USB_Module/Robot_Interface/Firmware/output/Robot_Interface.cof b/USB_Module/Robot_Interface/Firmware/output/Robot_Interface.cof
index 7c3e46c..8a3a01b 100644
Binary files a/USB_Module/Robot_Interface/Firmware/output/Robot_Interface.cof and b/USB_Module/Robot_Interface/Firmware/output/Robot_Interface.cof differ
diff --git a/USB_Module/Robot_Interface/Firmware/output/Robot_Interface.hex b/USB_Module/Robot_Interface/Firmware/output/Robot_Interface.hex
index 3608778..5e4fbd6 100644
--- a/USB_Module/Robot_Interface/Firmware/output/Robot_Interface.hex
+++ b/USB_Module/Robot_Interface/Firmware/output/Robot_Interface.hex
@@ -1,909 +1,915 @@
:020000040000FA
-:06000000AAEF1EF0120041
+:06000000DEEF1EF012000D
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-:10085000B13D0000EC00000010000000A83D0000C9
+:06082A000500523E000033
+:100830008600000024000000313E0000CB000000D4
+:1008400021000000293E0000130100000800000004
+:10085000193E0000EC00000010000000103E0000F7
:080860000A010000090000007C
-:08086800F1EC0BF000EE22F0B0
+:0808680013EC0CF000EE22F08D
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-:10088000220EE80403E3EECFE4FFFBD719EC0CF0F3
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-:1008A00011F09E9A9EA003D068EC17F09E9023EC66
+:10088000220EE80403E3EECFE4FFFBD73BEC0CF0D1
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-:1008E000FBD706EC0CF01100D8CFE4FFE0CFE4FF1B
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+:1008E000FBD728EC0CF01100D8CFE4FFE0CFE4FFF9
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[truncated message content] |
|
From: Xavier L. <Ba...@us...> - 2010-03-06 22:41:07
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via f210a0e3676c019eec203c614a66a685a24d1f7a (commit)
from 605fdc677788b43a9549798ac4e4afc0702e1aee (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit f210a0e3676c019eec203c614a66a685a24d1f7a
Author: Xavier Lagorce <Xav...@cr...>
Date: Sat Mar 6 23:40:42 2010 +0100
Working version of the set of constants
-----------------------------------------------------------------------
Changes:
diff --git a/USB_Module/Motor_Controller/Firmware/lm629.h b/USB_Module/Motor_Controller/Firmware/lm629.h
index 1daaceb..8674bb4 100644
--- a/USB_Module/Motor_Controller/Firmware/lm629.h
+++ b/USB_Module/Motor_Controller/Firmware/lm629.h
@@ -25,8 +25,8 @@
#define ENCODER_RES 15*500 ///< Impulsions du codeur par tour de roue (prendre en compte le rcteur selon le cas !)
#define WHEELS_DIAMETER 98 ///< Diame des roues (en mm)
#define WHEELS_DIST 259 ///< Distance entre les 2 roues (en mm)
- #define CON_MOTOR_LEFT 1
- #define CON_MOTOR_RIGHT 1
+ #define CON_MOTOR_LEFT -1
+ #define CON_MOTOR_RIGHT -1
#else
#ifdef KROBOT_PROTO
// Constantes pour le robot protoype basur des EMG30s
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof
index 0e5f6f8..84163ed 100644
Binary files a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof and b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof differ
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
index f0dba99..3cf2fff 100644
--- a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
+++ b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
@@ -1,1465 +1,1470 @@
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[truncated message content] |
|
From: Xavier L. <Ba...@us...> - 2010-03-06 21:54:10
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 605fdc677788b43a9549798ac4e4afc0702e1aee (commit)
from ec4edc47e210a512d7cb447fb93b4428a5c93cf3 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 605fdc677788b43a9549798ac4e4afc0702e1aee
Author: Xavier Lagorce <Xav...@cr...>
Date: Sat Mar 6 22:52:03 2010 +0100
Refactoring of the code which is responsible for the choice of the set of constants to be be used by the motor controller.
First try with constants for the 2010 senior robot
-----------------------------------------------------------------------
Changes:
diff --git a/USB_Module/Motor_Controller/Firmware/HardwareProfile.h b/USB_Module/Motor_Controller/Firmware/HardwareProfile.h
index 0954d0d..5d042e9 100644
--- a/USB_Module/Motor_Controller/Firmware/HardwareProfile.h
+++ b/USB_Module/Motor_Controller/Firmware/HardwareProfile.h
@@ -50,8 +50,8 @@
#ifndef HARDWARE_PROFILE_H
#define HARDWARE_PROFILE_H
- //#define REV_1_1
- #define REV_1_0
+ #define REV_1_1
+ //#define REV_1_0
/*******************************************************************/
/******** USB stack hardware selection options *********************/
diff --git a/USB_Module/Motor_Controller/Firmware/lm629.h b/USB_Module/Motor_Controller/Firmware/lm629.h
index c3040e9..1daaceb 100644
--- a/USB_Module/Motor_Controller/Firmware/lm629.h
+++ b/USB_Module/Motor_Controller/Firmware/lm629.h
@@ -14,19 +14,31 @@
#include "eeprom.h"
#include "motor.h"
+// Robot utilis+#define KROBOT_2010
+// #define KROBOT_PROTO
// Parames graux
#define LM_CLOCK 8e6 ///< Frence horloge LM (en Hz) -- forcnt 6 ou 8 MHz selon la rrence du composant
-//#define ENCODER_RES 15*500 ///< Impulsions du codeur par tour de roue (prendre en compte le rcteur selon le cas !)
-//#define WHEELS_DIAMETER 80 ///< Diame des roues (en mm)
-//#define WHEELS_DIST 268 ///< Distance entre les 2 roues (en mm)
-//#define CON_MOTOR_LEFT 1
-//#define CON_MOTOR_RIGHT 1
-
-#define ENCODER_RES 90 ///< Impulsions du codeur par tour de roue (prendre en compte le rcteur selon le cas !)
-#define WHEELS_DIAMETER 99 ///< Diame des roues (en mm)
-#define WHEELS_DIST 220 ///< Distance entre les 2 roues (en mm)
-#define CON_MOTOR_LEFT -1
-#define CON_MOTOR_RIGHT 1
+
+#ifdef KROBOT_2010
+ // Constantes pour [Kro]bot 2010
+ #define ENCODER_RES 15*500 ///< Impulsions du codeur par tour de roue (prendre en compte le rcteur selon le cas !)
+ #define WHEELS_DIAMETER 98 ///< Diame des roues (en mm)
+ #define WHEELS_DIST 259 ///< Distance entre les 2 roues (en mm)
+ #define CON_MOTOR_LEFT 1
+ #define CON_MOTOR_RIGHT 1
+#else
+#ifdef KROBOT_PROTO
+ // Constantes pour le robot protoype basur des EMG30s
+ #define ENCODER_RES 90 ///< Impulsions du codeur par tour de roue (prendre en compte le rcteur selon le cas !)
+ #define WHEELS_DIAMETER 99 ///< Diame des roues (en mm)
+ #define WHEELS_DIST 220 ///< Distance entre les 2 roues (en mm)
+ #define CON_MOTOR_LEFT -1
+ #define CON_MOTOR_RIGHT 1
+#else
+ #error "Il est nssaire de darer un type de robot tiliser"
+#endif
+#endif
/**
* Parames par dult du correcteur.
@@ -34,15 +46,23 @@
* Vfier que le syst est stable (pas d'oscillation)
* On peut alors augmenter le KP et ajuster KI et KD.
*/
-//#define DEFAULT_KP 1 ///< Constante action proportionnelle
-//#define DEFAULT_KI 0 ///< Constante action intale
-//#define DEFAULT_KD 0 ///< Constante action dv
-//#define DEFAULT_IL 10000 ///< Integration Limit -- limite la contribution du terme intateur (doit e non nul si KI est non nul !)
-
-#define DEFAULT_KP 1000 ///< Constante action proportionnelle
-#define DEFAULT_KI 1 ///< Constante action intale
-#define DEFAULT_KD 0 ///< Constante action dv
-#define DEFAULT_IL 10000 ///< Integration Limit -- limite la contribution du terme intateur (doit e non nul si KI est non nul !)
+#ifdef KROBOT_2010
+ // Constantes pour [Kro]bot 2010
+ #define DEFAULT_KP 1 ///< Constante action proportionnelle
+ #define DEFAULT_KI 0 ///< Constante action intale
+ #define DEFAULT_KD 0 ///< Constante action dv
+ #define DEFAULT_IL 10000 ///< Integration Limit -- limite la contribution du terme intateur (doit e non nul si KI est non nul !)
+#else
+#ifdef KROBOT_PROTO
+ // Constantes pour le robot protoype basur des EMG30s
+ #define DEFAULT_KP 1000 ///< Constante action proportionnelle
+ #define DEFAULT_KI 1 ///< Constante action intale
+ #define DEFAULT_KD 0 ///< Constante action dv
+ #define DEFAULT_IL 10000 ///< Integration Limit -- limite la contribution du terme intateur (doit e non nul si KI est non nul !)
+#else
+ #error "Il est nssaire de darer un type de robot tiliser"
+#endif
+#endif
// Constantes
#define PS_COMMAND 0 ///< Envoyer une commande
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof
index 2c0c916..0e5f6f8 100644
Binary files a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof and b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof differ
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
index fc58abe..f0dba99 100644
--- a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
+++ b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
@@ -1,1469 +1,1465 @@
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-:105180001200020EDBCF...
[truncated message content] |
|
From: Jérémie D. <Ba...@us...> - 2010-03-06 19:03:13
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via ec4edc47e210a512d7cb447fb93b4428a5c93cf3 (commit)
from ed8ac2f3d06d5a45df789be0c871e252a08ff60c (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit ec4edc47e210a512d7cb447fb93b4428a5c93cf3
Author: Jérémie Dimino <je...@di...>
Date: Sat Mar 6 20:02:26 2010 +0100
Add commands for servos
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index 837f7b3..cfe4f0d 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -752,7 +752,7 @@ lwt () =
ignore begin
monitor_card ~name:"interace" ~vendor_id:PcInterface.usb_vid ~product_id:PcInterface.usb_pid_robot_interface ~set:set_card_interface
(fun card ->
- lwt () = USB_commands.Motors.enable card `Both in
+ lwt () = USB_commands.Servo.enable card `Both in
lwt () = Compass.OBus.export bus =|< Compass.make card ["fr"; "krobot"; "Devices"; "Compass"]
and () = AX12.OBus.export bus =|< AX12.make card ["fr"; "krobot"; "Devices"; "AX12"] in
return ())
diff --git a/PC_Mainboard/interface/interface.ml b/PC_Mainboard/interface/interface.ml
index 1d217fe..d7269d5 100644
--- a/PC_Mainboard/interface/interface.ml
+++ b/PC_Mainboard/interface/interface.ml
@@ -542,4 +542,35 @@ let interfaces = [
Arg("left", sint32)]
();
]);
+
+ Module("servo", [
+ enum
+ ~name:"motor"
+ ~typ:uint8
+ ~keys:[("left", PcInterface.motor_left);
+ ("both", PcInterface.motor_both);
+ ("right", PcInterface.motor_right)]
+ ();
+ command
+ ~name:"enable"
+ ~code:PcInterface.cmd_motor
+ ~args:[Cst(uint8, PcInterface.motor_enable);
+ Arg("motor", typ "motor")]
+ ();
+ command
+ ~name:"disable"
+ ~code:PcInterface.cmd_motor
+ ~args:[Cst(uint8, PcInterface.motor_disable);
+ Arg("motor", typ "motor")]
+ ();
+ command
+ ~name:"move"
+ ~code:PcInterface.cmd_motor
+ ~args:[Cst(uint8, PcInterface.motor_move);
+ Arg("motor", typ "motor");
+ Arg("sens", uint8);
+ Arg("velocity", uint8);
+ Arg("duration", uint32)]
+ ();
+ ]);
]
hooks/post-receive
--
krobot
|
|
From: Jérémie D. <Ba...@us...> - 2010-03-05 19:04:07
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via ed8ac2f3d06d5a45df789be0c871e252a08ff60c (commit)
from f3121e926476263b9b9a082afdfbbd93643149de (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit ed8ac2f3d06d5a45df789be0c871e252a08ff60c
Author: Jérémie Dimino <je...@di...>
Date: Fri Mar 5 20:03:28 2010 +0100
[generators] add missing "Unsafe" in interface names
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/generators/gen_dbus_imports.ml b/PC_Mainboard/generators/gen_dbus_imports.ml
index d4d5f1d..2f62ba9 100644
--- a/PC_Mainboard/generators/gen_dbus_imports.ml
+++ b/PC_Mainboard/generators/gen_dbus_imports.ml
@@ -55,7 +55,7 @@ let rec print indent = function
printf "%s let cast krobot = OBus_proxy.make (Krobot.peer krobot) [\"fr\"; \"krobot\"; \"Devices\"; \"%s\"]\n" indent (Name.caml_case name);
printf "%s let make _ = failwith \"not implemented\"\n" indent;
printf "%s end)\n" indent;
- printf "%s OP_interface(Proxy) \"fr.krobot.Device.%s\"\n" indent (Name.caml_case name);
+ printf "%s OP_interface(Proxy) \"fr.krobot.Device.%s.Unsafe\"\n" indent (Name.caml_case name);
List.iter (print (indent ^ " ")) items;
printf "%send\n" indent
hooks/post-receive
--
krobot
|
|
From: Olivier B. <Ba...@us...> - 2010-03-03 22:19:33
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via f3121e926476263b9b9a082afdfbbd93643149de (commit)
from beb30006c75b3a879ce8bbef232f68675743d55a (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit f3121e926476263b9b9a082afdfbbd93643149de
Author: Olivier BICHLER <oli...@gm...>
Date: Wed Mar 3 23:19:05 2010 +0100
Added holes for mainboard support
-----------------------------------------------------------------------
Changes:
diff --git a/meca/Base assemblee.CATProduct b/meca/Base assemblee.CATProduct
index 3fdd346..2a6e502 100644
Binary files a/meca/Base assemblee.CATProduct and b/meca/Base assemblee.CATProduct differ
diff --git a/meca/Niveau 1.CATPart b/meca/Niveau 1.CATPart
index c722bb3..ec3e757 100644
Binary files a/meca/Niveau 1.CATPart and b/meca/Niveau 1.CATPart differ
hooks/post-receive
--
krobot
|
|
From: Jérémie D. <Ba...@us...> - 2010-03-03 19:47:33
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via beb30006c75b3a879ce8bbef232f68675743d55a (commit)
from 3d05cb1b4e6b5a7976548aab8e639572d47d57ab (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit beb30006c75b3a879ce8bbef232f68675743d55a
Author: Jérémie Dimino <je...@di...>
Date: Wed Mar 3 20:37:07 2010 +0100
[send-firmware] resets the USB card after flashing it
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/card_tools/send_firmware.ml b/PC_Mainboard/card_tools/send_firmware.ml
index 443036a..321edb6 100644
--- a/PC_Mainboard/card_tools/send_firmware.ml
+++ b/PC_Mainboard/card_tools/send_firmware.ml
@@ -41,7 +41,7 @@ let do_flash force filename =
lwt () = printf "Flash erased\n" in
lwt () = Bootloader.write_flash k ~address memory address length in
lwt () = printf "Flashing completed\n" in
- lwt () = Bootloader.close k in
+ lwt () = Bootloader.reset_board k in
return ()
let _ =
hooks/post-receive
--
krobot
|
|
From: Jérémie D. <Ba...@us...> - 2010-03-02 13:26:32
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 3d05cb1b4e6b5a7976548aab8e639572d47d57ab (commit)
from 2e41773908b10cad366a5395fa1f35b5477a1b6a (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 3d05cb1b4e6b5a7976548aab8e639572d47d57ab
Author: Jérémie Dimino <je...@di...>
Date: Tue Mar 2 14:25:31 2010 +0100
Use a more suitable proxy type for cards
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/clients/controller.ml b/PC_Mainboard/clients/controller.ml
index 3f01691..cd91d27 100644
--- a/PC_Mainboard/clients/controller.ml
+++ b/PC_Mainboard/clients/controller.ml
@@ -240,9 +240,9 @@ let rec draw krobot =
| `Absent -> [fg lred; textf "%s card is absent" name]
| `Present -> [textf "%s card is present" name]
in
- Draw.textc zone x 3 (text_of_state "interface" (React.S.value (Krobot.Card.state krobot `Interface)));
- Draw.textc zone x 4 (text_of_state "sensor" (React.S.value (Krobot.Card.state krobot `Sensor)));
- Draw.textc zone x 5 (text_of_state "motor" (React.S.value (Krobot.Card.state krobot `Motor)));
+ Draw.textc zone x 3 (text_of_state "interface" (React.S.value (Krobot.Card.state (krobot, `Interface))));
+ Draw.textc zone x 4 (text_of_state "sensor" (React.S.value (Krobot.Card.state (krobot, `Sensor))));
+ Draw.textc zone x 5 (text_of_state "motor" (React.S.value (Krobot.Card.state (krobot, `Motor))));
let date = Unix.gettimeofday () in
let text_of_motor_state mode until =
if date < until then
@@ -415,9 +415,9 @@ lwt () =
notify (Krobot.jack krobot);
notify (Krobot.inhibited_forward_until krobot);
notify (Krobot.inhibited_backward_until krobot);
- notify (Krobot.Card.state krobot `Interface);
- notify (Krobot.Card.state krobot `Sensor);
- notify (Krobot.Card.state krobot `Motor);
+ notify (Krobot.Card.state (krobot, `Interface));
+ notify (Krobot.Card.state (krobot, `Sensor));
+ notify (Krobot.Card.state (krobot, `Motor));
notify services;
(* Redraw immedlatly the screen when [signal] changes: *)
diff --git a/PC_Mainboard/clients/info.ml b/PC_Mainboard/clients/info.ml
index 99519db..7efb03a 100644
--- a/PC_Mainboard/clients/info.ml
+++ b/PC_Mainboard/clients/info.ml
@@ -13,10 +13,10 @@ open Lwt
open Lwt_io
let print_card krobot card =
- match React.S.value (Krobot.Card.state krobot card) with
+ match React.S.value (Krobot.Card.state (krobot, card)) with
| `Present ->
- lwt firmware_build = Krobot.Card.get_firmware_build krobot card
- and board_info = Krobot.Card.get_board_info krobot card in
+ lwt firmware_build = Krobot.Card.get_firmware_build (krobot, card)
+ and board_info = Krobot.Card.get_board_info (krobot, card) in
let name = Krobot.Card.name card in
lwt () = printl "==========" in
lwt () = printlf "card.%s.state = present" name in
diff --git a/PC_Mainboard/clients/script.ml b/PC_Mainboard/clients/script.ml
index 166ce54..f57651b 100644
--- a/PC_Mainboard/clients/script.ml
+++ b/PC_Mainboard/clients/script.ml
@@ -234,11 +234,11 @@ let () =
("sensor", `Sensor)] in
register ~path:["card"] "bootloader" (f1 card)
- (fun logger -> Krobot.Card.bootloader);
+ (fun logger krobot card -> Krobot.Card.bootloader (krobot, card));
register ~path:["card"] "reset" (f1 card)
- (fun logger -> Krobot.Card.reset);
+ (fun logger krobot card -> Krobot.Card.reset (krobot, card));
register ~path:["card"] "test" (f1 card)
- (fun logger -> Krobot.Card.test);
+ (fun logger krobot card -> Krobot.Card.test (krobot, card));
(* +---------------------------------------------------------------+
| Range finders |
diff --git a/PC_Mainboard/generators/gen_dbus_imports.ml b/PC_Mainboard/generators/gen_dbus_imports.ml
index 2f27622..d4d5f1d 100644
--- a/PC_Mainboard/generators/gen_dbus_imports.ml
+++ b/PC_Mainboard/generators/gen_dbus_imports.ml
@@ -69,22 +69,19 @@ let () =
print_string "\
open OBus_pervasives
module Card = struct
- OP_interface \"fr.krobot.Card.Unsafe\"
+ module Proxy = OBus_proxy.Make
+ (struct
+ type proxy = Krobot.t * Krobot.Card.card
+ let cast (krobot, card) =
+ OBus_proxy.make (Krobot.peer krobot)
+ [\"fr\"; \"krobot\"; \"Cards\"; (match card with
+ | `Interface -> \"Interface\"
+ | `Sensor -> \"Sensor\"
+ | `Motor -> \"Motor\")]
+ let make proxy = failwith \"not implemented\"
+ end)
+ OP_interface(Proxy) \"fr.krobot.Card.Unsafe\"
";
List.iter (print " ") card;
- print_string "\
- let proxy krobot (card : Krobot.Card.card) =
- OBus_proxy.make (Krobot.peer krobot)
- [\"fr\"; \"krobot\"; \"Cards\"; (match card with
- | `Interface -> \"Interface\"
- | `Sensor -> \"Sensor\"
- | `Motor -> \"Motor\")]
-";
- List.iter (function
- | Request{ req_name = name } | Command{ cmd_name = name } ->
- let name = Name.lid name in
- printf " let %s krobot card = %s (proxy krobot card)\n" name name
- | _ ->
- ()) card;
printf "end\n";
List.iter (print "") interfaces
diff --git a/PC_Mainboard/generators/gen_script_commands.ml b/PC_Mainboard/generators/gen_script_commands.ml
index 020bf5d..8e48838 100644
--- a/PC_Mainboard/generators/gen_script_commands.ml
+++ b/PC_Mainboard/generators/gen_script_commands.ml
@@ -10,12 +10,13 @@
open Printf
open Interface
-let print_common path caml_path name args repl =
+let print_common is_card path caml_path name args repl =
printf " register ~path:[%s] \"%s\" (f%d"
path name
(List.fold_left (fun n arg -> match arg with
| Arg _ -> n + 1
- | Cst _ -> n) 0 args);
+ | Cst _ -> n) (if is_card then 1 else 0) args);
+ if is_card then printf " (__type_card \"name\")";
List.iter (function
| Arg(name, { caml_type = "int" }) ->
printf " (int \"%s\")" name
@@ -27,15 +28,17 @@ let print_common path caml_path name args repl =
()) args;
printf ")\n";
printf " (fun logger krobot";
+ if is_card then printf " card";
List.iter (function
| Arg(name, typ) ->
printf " %s" (Name.lid name)
| Cst _ ->
()) args;
printf " ->\n";
- printf " lwt (%s) = Krobot_unsafe.%s%s krobot"
+ printf " lwt (%s) = Krobot_unsafe.%s%s"
(String.concat ", " (List.map (fun (name, typ) -> Name.lid name) repl))
caml_path (Name.lid name);
+ if is_card then printf " (krobot, card)" else printf " krobot";
List.iter (function
| Arg(name, typ) ->
printf " %s" (Name.lid name)
@@ -48,16 +51,16 @@ let print_common path caml_path name args repl =
repl;
printf " Lwt.return ());\n"
-let rec print path caml_path = function
+let rec print is_card path caml_path = function
| Request req ->
- print_common path caml_path req.req_name req.req_args
+ print_common is_card path caml_path req.req_name req.req_args
(List.map
(function
| Arg(name, typ) -> (name, typ)
| Cst _ -> failwith "constants not allow in replies")
req.req_repl)
| Command cmd ->
- print_common path caml_path cmd.cmd_name cmd.cmd_args []
+ print_common is_card path caml_path cmd.cmd_name cmd.cmd_args []
| Enum enum ->
printf " let __type_%s name = keyword name [" (Name.lid enum.enum_name);
List.iter (fun (name, code) ->
@@ -80,20 +83,12 @@ let rec print path caml_path = function
printf "]) ^ \"}\" in\n";
printf " let _ = print_%s in\n" (Name.lid record.rec_name)
| Module(name, items) ->
- List.iter (print (sprintf "%s; \"%s\"" path (String.lowercase name)) (caml_path ^ Name.uid name ^ ".")) items
+ List.iter (print false (sprintf "%s; \"%s\"" path (String.lowercase name)) (caml_path ^ Name.uid name ^ ".")) items
let () =
printf "open Script_commands\n";
printf "let register () =\n";
printf " let __type_card name = keyword name [(\"interface\", `Interface); (\"sensor\", `Sensor); (\"motor\", `Motor)] in\n";
- let card_type = typ "card" in
- List.iter
- (print "\"unsafe\"; \"card\"" "Card.")
- (List.map
- (function
- | Request req -> Request{ req with req_args = Arg("card", card_type) :: req.req_args }
- | Command cmd -> Command{ cmd with cmd_args = Arg("card", card_type) :: cmd.cmd_args }
- | item -> item)
- card);
- List.iter (print "\"unsafe\"" "") interfaces;
+ List.iter (print true "\"unsafe\"; \"card\"" "Card.") card;
+ List.iter (print false "\"unsafe\"" "") interfaces;
printf " ()"
diff --git a/PC_Mainboard/lib_krobot/krobot.ml b/PC_Mainboard/lib_krobot/krobot.ml
index 4c6279f..62a7c10 100644
--- a/PC_Mainboard/lib_krobot/krobot.ml
+++ b/PC_Mainboard/lib_krobot/krobot.ml
@@ -205,28 +205,27 @@ struct
| `Sensor -> "sensor"
| `Motor -> "motor"
- let state krobot = function
+ let state (krobot, card) = match card with
| `Interface -> krobot.interface.card_state
| `Sensor -> krobot.sensor.card_state
| `Motor -> krobot.motor.card_state
- let proxy krobot card =
- OBus_proxy.make krobot.peer
- ["fr"; "krobot"; "Cards"; (match card with
- | `Interface -> "Interface"
- | `Sensor -> "Sensor"
- | `Motor -> "Motor")]
+ module Proxy = OBus_proxy.Make
+ (struct
+ type proxy = t * card
+ let cast (krobot, card) =
+ OBus_proxy.make krobot.peer
+ ["fr"; "krobot"; "Cards"; (match card with
+ | `Interface -> "Interface"
+ | `Sensor -> "Sensor"
+ | `Motor -> "Motor")]
+ let make proxy = failwith "not implemented"
+ end)
- OP_interface "fr.krobot.Card"
+ OP_interface(Proxy) "fr.krobot.Card"
OP_method GetFirmwareBuild : string
OP_method GetBoardInfo : string
OP_method Bootloader : unit
OP_method Reset : unit
OP_method Test : unit
-
- let get_firmware_build krobot card = get_firmware_build (proxy krobot card)
- let get_board_info krobot card = get_board_info (proxy krobot card)
- let bootloader krobot card = bootloader (proxy krobot card)
- let reset krobot card = reset (proxy krobot card)
- let test krobot card = test (proxy krobot card)
end
diff --git a/PC_Mainboard/lib_krobot/krobot.mli b/PC_Mainboard/lib_krobot/krobot.mli
index 0dbb1c6..4dde27c 100644
--- a/PC_Mainboard/lib_krobot/krobot.mli
+++ b/PC_Mainboard/lib_krobot/krobot.mli
@@ -118,14 +118,14 @@ module Card : sig
val name : card -> string
(** Returns the name of a card *)
- val state : t -> card -> Types.card_state React.signal
+ val state : t * card -> Types.card_state React.signal
(** Returns the status of one of the card of the krobot *)
- val bootloader : t -> card -> unit Lwt.t
+ val bootloader : t * card -> unit Lwt.t
(** Put the card into bootloader mode *)
- val get_firmware_build : t -> card -> string Lwt.t
- val get_board_info : t -> card -> string Lwt.t
- val reset : t -> card -> unit Lwt.t
- val test : t -> card -> unit Lwt.t
+ val get_firmware_build : t * card -> string Lwt.t
+ val get_board_info : t * card -> string Lwt.t
+ val reset : t * card -> unit Lwt.t
+ val test : t * card -> unit Lwt.t
end
hooks/post-receive
--
krobot
|
|
From: Jérémie D. <Ba...@us...> - 2010-02-28 21:58:58
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 2e41773908b10cad366a5395fa1f35b5477a1b6a (commit)
from d0d1b4f316d589f5b6fe73acb68a160acda7bc7c (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 2e41773908b10cad366a5395fa1f35b5477a1b6a
Author: Jérémie Dimino <je...@di...>
Date: Sun Feb 28 22:58:23 2010 +0100
Updates
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index a7d9615..837f7b3 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -29,12 +29,12 @@ struct
module OBus = OBus_object.Make(struct
type obj = t
- let get obj = obj.obus
+ let cast obj = obj.obus
end)
- include DBus_exports.Compass(OBus)(struct let get dev = dev.card end)
+ module Unsafe = DBus_exports.Compass(OBus)(struct let get dev = dev.card end)
- include OBus.Make_interface(struct let name = "fr.krobot.Device.Compass" end)
+ OL_interface(OBus) "fr.krobot.Device.Compass" as interface
OL_signal Value : int
OL_method Get : int = fun dev -> return dev.data
@@ -53,7 +53,7 @@ struct
let make card path =
lwt data = USB_commands.Compass.get card in
let dev = {
- obus = OBus_object.make path;
+ obus = OBus.make ~interfaces:[Unsafe.interface; interface] path;
card = card;
data = data;
} in
@@ -74,12 +74,12 @@ struct
module OBus = OBus_object.Make(struct
type obj = t
- let get obj = obj.obus
+ let cast obj = obj.obus
end)
- include DBus_exports.AX12(OBus)(struct let get dev = dev.card end)
+ module Unsafe = DBus_exports.AX12(OBus)(struct let get dev = dev.card end)
- include OBus.Make_interface(struct let name = "fr.krobot.Device.AX12" end)
+ OL_interface(OBus) "fr.krobot.Device.AX12" as interface
OL_method SetAX12 : Types.ax12_action structure list -> unit = fun dev actions ->
lwt () =
@@ -97,7 +97,7 @@ struct
let make card path =
return {
- obus = OBus_object.make path;
+ obus = OBus.make ~interfaces:[Unsafe.interface; interface] path;
card = card;
}
end
@@ -116,12 +116,12 @@ struct
module OBus = OBus_object.Make(struct
type obj = t
- let get obj = obj.obus
+ let cast obj = obj.obus
end)
- include DBus_exports.Logic_sensors(OBus)(struct let get dev = dev.card end)
+ module Unsafe = DBus_exports.Logic_sensors(OBus)(struct let get dev = dev.card end)
- include OBus.Make_interface(struct let name = "fr.krobot.Device.LogicSensors" end)
+ OL_interface(OBus) "fr.krobot.Device.LogicSensors" as interface
OL_signal Value : bool array
OL_method Get : bool array = fun dev -> return dev.data
@@ -139,7 +139,7 @@ struct
let make card path =
let dev = {
- obus = OBus_object.make path;
+ obus = OBus.make ~interfaces:[Unsafe.interface; interface] path;
card = card;
data = Array.create 16 false;
} in
@@ -161,12 +161,12 @@ struct
module OBus = OBus_object.Make(struct
type obj = t
- let get obj = obj.obus
+ let cast obj = obj.obus
end)
- include DBus_exports.Range_finders(OBus)(struct let get dev = dev.card end)
+ module Unsafe = DBus_exports.Range_finders(OBus)(struct let get dev = dev.card end)
- include OBus.Make_interface(struct let name = "fr.krobot.Device.RangeFinders" end)
+ OL_interface(OBus) "fr.krobot.Device.RangeFinders" as interface
OL_signal Value : int array
OL_method Get : int array = fun dev -> return dev.data
@@ -193,7 +193,7 @@ struct
let make card path =
let dev = {
- obus = OBus_object.make path;
+ obus = OBus.make ~interfaces:[Unsafe.interface; interface] path;
card = card;
data = Array.create 8 0;
} in
@@ -250,12 +250,12 @@ struct
module OBus = OBus_object.Make(struct
type obj = t
- let get obj = obj.obus
+ let cast obj = obj.obus
end)
- include DBus_exports.Motors(OBus)(struct let get dev = dev.card end)
+ module Unsafe = DBus_exports.Motors(OBus)(struct let get dev = dev.card end)
- include OBus.Make_interface(struct let name = "fr.krobot.Device.Motors" end)
+ OL_interface(OBus) "fr.krobot.Device.Motors" as interface
let string_of_direction = function
| `Forward -> "forward"
@@ -534,7 +534,7 @@ struct
let make card path =
let commands = React.E.map (fun data -> Char.code data.[0]) (Krobot_card.connect card PcInterface.cmd_traj)#event in
let dev = {
- obus = OBus_object.make path;
+ obus = OBus.make ~interfaces:[Unsafe.interface; interface] path;
card = card;
inhibit_forward_until = 0.0;
inhibit_backward_until = 0.0;
@@ -556,14 +556,7 @@ let card_motor, set_card_motor = React.S.create None
module Manager =
struct
- let manager = OBus_object.make ["fr"; "krobot"; "Manager"]
-
- module OBus = OBus_object.Make(struct
- type obj = unit
- let get _ = manager
- end)
-
- include OBus.Make_interface(struct let name = "fr.krobot.Manager" end)
+ OL_interface "fr.krobot.Manager" as interface
let close card = match React.S.value card with
| None ->
@@ -571,7 +564,7 @@ struct
| Some card ->
Krobot_card.close card
- OL_method CardStates : OBus_connection.t -> Types.card_state * Types.card_state * Types.card_state = fun () connection ->
+ OL_method CardStates : OBus_connection.t -> Types.card_state * Types.card_state * Types.card_state = fun manager connection ->
let state card = match React.S.value card with
| Some _ -> `Present
| None -> `Absent
@@ -580,7 +573,7 @@ struct
state card_sensor,
state card_motor)
- OL_method Shutdown : OBus_connection.t -> unit = fun () connection ->
+ OL_method Shutdown : OBus_connection.t -> unit = fun manager connection ->
lwt () = Log.info "exiting" in
quit := true;
lwt () = close card_interface
@@ -589,6 +582,8 @@ struct
lwt _ = OBus_bus.release_name connection "fr.krobot.Driver" in
Lwt.wakeup done_wakener ();
return ()
+
+ let manager = OBus_object.make ~interfaces:[interface] ["fr"; "krobot"; "Manager"]
end
(* +-----------------------------------------------------------------+
@@ -606,7 +601,7 @@ struct
module OBus = OBus_object.Make(struct
type obj = t
- let get obj = obj.obus
+ let cast obj = obj.obus
end)
let get_card dev = match React.S.value dev.card with
@@ -615,9 +610,9 @@ struct
| Some card ->
card
- include DBus_exports.Card(OBus)(struct let get = get_card end)
+ module Unsafe = DBus_exports.Card(OBus)(struct let get = get_card end)
- include OBus.Make_interface(struct let name = "fr.krobot.Card" end)
+ OL_interface(OBus) "fr.krobot.Card" as interface
OL_property_r Name : string = fun dev ->
return (Krobot_card.name (get_card dev))
@@ -649,7 +644,7 @@ struct
let make name card path =
let dev = {
card = card;
- obus = OBus_object.make path;
+ obus = OBus.make ~interfaces:[Unsafe.interface; interface] path;
name = name;
state = React.S.const (return ());
} in
@@ -794,7 +789,7 @@ lwt () =
Card.OBus.export bus (Card.make "sensor" card_sensor ["fr"; "krobot"; "Cards"; "Sensor"]);
Card.OBus.export bus (Card.make "motor" card_motor ["fr"; "krobot"; "Cards"; "Motor"]);
- Manager.OBus.export bus ();
+ OBus_object.export bus Manager.manager;
lwt () = Log.notice "ready, waiting for requests" in
lwt () = done_waiter in
diff --git a/PC_Mainboard/generators/gen_dbus_exports.ml b/PC_Mainboard/generators/gen_dbus_exports.ml
index b8f54eb..134edef 100644
--- a/PC_Mainboard/generators/gen_dbus_exports.ml
+++ b/PC_Mainboard/generators/gen_dbus_exports.ml
@@ -72,7 +72,7 @@ let rec print path indent = function
| Module(name, items) ->
printf "%smodule %s(M : OBus_object.S)(Get : sig val get : M.obj -> Krobot_card.t end) = struct\n"
indent (Name.uid name);
- printf "%s include M.Make_interface(struct let name = \"fr.krobot.Device.%s.Unsafe\" end)\n"
+ printf "%s OL_interface(M) \"fr.krobot.Device.%s.Unsafe\" as interface\n"
indent (Name.caml_case name);
List.iter (print (path ^ Name.uid name ^ ".") (indent ^ " ")) items;
printf "%send\n" indent
@@ -87,7 +87,7 @@ let () =
printf "open OBus_pervasives\n";
printf "module Card(M : OBus_object.S)(Get : sig val get : M.obj -> Krobot_card.t end) = struct\n";
- printf " include M.Make_interface(struct let name = \"fr.krobot.Card.Unsafe\" end)\n";
+ printf " OL_interface(M) \"fr.krobot.Card.Unsafe\" as interface\n";
List.iter (print "Card." " ") card;
printf "end\n";
diff --git a/PC_Mainboard/generators/gen_dbus_imports.ml b/PC_Mainboard/generators/gen_dbus_imports.ml
index 55c8851..2f27622 100644
--- a/PC_Mainboard/generators/gen_dbus_imports.ml
+++ b/PC_Mainboard/generators/gen_dbus_imports.ml
@@ -52,10 +52,10 @@ let rec print indent = function
printf "%smodule %s = struct\n" indent (Name.uid name);
printf "%s module Proxy = OBus_proxy.Make(struct\n" indent;
printf "%s type proxy = Krobot.t\n" indent;
- printf "%s let get krobot = OBus_proxy.make (Krobot.peer krobot) [\"fr\"; \"krobot\"; \"Devices\"; \"%s\"]\n" indent (Name.caml_case name);
+ printf "%s let cast krobot = OBus_proxy.make (Krobot.peer krobot) [\"fr\"; \"krobot\"; \"Devices\"; \"%s\"]\n" indent (Name.caml_case name);
printf "%s let make _ = failwith \"not implemented\"\n" indent;
printf "%s end)\n" indent;
- printf "%s include Proxy.Make_interface(struct let name = \"fr.krobot.Device.%s\" end)\n" indent (Name.caml_case name);
+ printf "%s OP_interface(Proxy) \"fr.krobot.Device.%s\"\n" indent (Name.caml_case name);
List.iter (print (indent ^ " ")) items;
printf "%send\n" indent
@@ -69,15 +69,22 @@ let () =
print_string "\
open OBus_pervasives
module Card = struct
+ OP_interface \"fr.krobot.Card.Unsafe\"
+";
+ List.iter (print " ") card;
+ print_string "\
let proxy krobot (card : Krobot.Card.card) =
OBus_proxy.make (Krobot.peer krobot)
[\"fr\"; \"krobot\"; \"Cards\"; (match card with
| `Interface -> \"Interface\"
| `Sensor -> \"Sensor\"
| `Motor -> \"Motor\")]
- let op_method_call member typ krobot card =
- OBus_proxy.method_call (proxy krobot card) ~interface:\"fr.krobot.Card.Unsafe\" ~member typ
";
- List.iter (print " ") card;
+ List.iter (function
+ | Request{ req_name = name } | Command{ cmd_name = name } ->
+ let name = Name.lid name in
+ printf " let %s krobot card = %s (proxy krobot card)\n" name name
+ | _ ->
+ ()) card;
printf "end\n";
List.iter (print "") interfaces
diff --git a/PC_Mainboard/lib_krobot/krobot.ml b/PC_Mainboard/lib_krobot/krobot.ml
index 1cb9e91..4c6279f 100644
--- a/PC_Mainboard/lib_krobot/krobot.ml
+++ b/PC_Mainboard/lib_krobot/krobot.ml
@@ -49,18 +49,12 @@ let peer krobot = krobot.peer
(* Create an interface using [t] as type for proxies *)
module Make_device(Name : sig val name : string end) =
-struct
- module Proxy = OBus_proxy.Make
+ OBus_proxy.Make
(struct
type proxy = t
- let get krobot = OBus_proxy.make krobot.peer ["fr"; "krobot"; "Devices"; Name.name]
+ let cast krobot = OBus_proxy.make krobot.peer ["fr"; "krobot"; "Devices"; Name.name]
let make _ = failwith "not implemented"
end)
- module Interface = Proxy.Make_interface
- (struct
- let name = "fr.krobot.Device." ^ Name.name
- end)
-end
let make_dev_signal ~peer ~name ~get ~update ~typ ~default =
let proxy = OBus_proxy.make peer ["fr"; "krobot"; "Devices"; name] in
@@ -165,8 +159,8 @@ let jack krobot =
| Range finders |
+-----------------------------------------------------------------+ *)
-module Range_finders = Make_device(struct let name = "RangeFinders" end)
-include Range_finders.Interface
+module RF = Make_device(struct let name = "RangeFinders" end)
+OP_interface(RF) "fr.krobot.Device.RangeFinders"
OP_method GetCalibration : int -> int array
OP_method CalibrationStart : int -> bool -> unit
@@ -178,7 +172,7 @@ OP_method CalibrationContinue : unit
+-----------------------------------------------------------------+ *)
module AX12 = Make_device(struct let name = "AX12" end)
-include AX12.Interface
+OP_interface(AX12) "fr.krobot.Device.AX12"
OP_method SetAX12 : Types.ax12_action structure list -> unit
@@ -187,7 +181,7 @@ OP_method SetAX12 : Types.ax12_action structure list -> unit
+-----------------------------------------------------------------+ *)
module Motors = Make_device(struct let name = "Motors" end)
-include Motors.Interface
+OP_interface(Motors) "fr.krobot.Device.Motors"
OP_method Turn : angle : int -> velocity : int -> acceleration : int -> Types.move_result
OP_method Move : distance : int -> velocity : int -> acceleration : int -> Types.move_result
@@ -223,12 +217,16 @@ struct
| `Sensor -> "Sensor"
| `Motor -> "Motor")]
- let op_method_call member typ krobot card =
- OBus_proxy.method_call (proxy krobot card) ~interface:"fr.krobot.Card" ~member typ
-
+ OP_interface "fr.krobot.Card"
OP_method GetFirmwareBuild : string
OP_method GetBoardInfo : string
OP_method Bootloader : unit
OP_method Reset : unit
OP_method Test : unit
+
+ let get_firmware_build krobot card = get_firmware_build (proxy krobot card)
+ let get_board_info krobot card = get_board_info (proxy krobot card)
+ let bootloader krobot card = bootloader (proxy krobot card)
+ let reset krobot card = reset (proxy krobot card)
+ let test krobot card = test (proxy krobot card)
end
hooks/post-receive
--
krobot
|
|
From: Jérémie D. <Ba...@us...> - 2010-02-25 14:53:56
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via d0d1b4f316d589f5b6fe73acb68a160acda7bc7c (commit)
from 59f35c0d7c2f0bd92c9ac23fc6d0c6d347833723 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit d0d1b4f316d589f5b6fe73acb68a160acda7bc7c
Author: Jérémie Dimino <je...@di...>
Date: Thu Feb 25 15:53:12 2010 +0100
rename things to match last D-Bus pathces
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index eae08a2..a7d9615 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -34,7 +34,7 @@ struct
include DBus_exports.Compass(OBus)(struct let get dev = dev.card end)
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.Compass" end)
+ include OBus.Make_interface(struct let name = "fr.krobot.Device.Compass" end)
OL_signal Value : int
OL_method Get : int = fun dev -> return dev.data
@@ -79,7 +79,7 @@ struct
include DBus_exports.AX12(OBus)(struct let get dev = dev.card end)
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.AX12" end)
+ include OBus.Make_interface(struct let name = "fr.krobot.Device.AX12" end)
OL_method SetAX12 : Types.ax12_action structure list -> unit = fun dev actions ->
lwt () =
@@ -121,7 +121,7 @@ struct
include DBus_exports.Logic_sensors(OBus)(struct let get dev = dev.card end)
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.LogicSensors" end)
+ include OBus.Make_interface(struct let name = "fr.krobot.Device.LogicSensors" end)
OL_signal Value : bool array
OL_method Get : bool array = fun dev -> return dev.data
@@ -166,7 +166,7 @@ struct
include DBus_exports.Range_finders(OBus)(struct let get dev = dev.card end)
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.RangeFinders" end)
+ include OBus.Make_interface(struct let name = "fr.krobot.Device.RangeFinders" end)
OL_signal Value : int array
OL_method Get : int array = fun dev -> return dev.data
@@ -255,7 +255,7 @@ struct
include DBus_exports.Motors(OBus)(struct let get dev = dev.card end)
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.Motors" end)
+ include OBus.Make_interface(struct let name = "fr.krobot.Device.Motors" end)
let string_of_direction = function
| `Forward -> "forward"
@@ -563,7 +563,7 @@ struct
let get _ = manager
end)
- include OBus.MakeInterface(struct let name = "fr.krobot.Manager" end)
+ include OBus.Make_interface(struct let name = "fr.krobot.Manager" end)
let close card = match React.S.value card with
| None ->
@@ -617,7 +617,7 @@ struct
include DBus_exports.Card(OBus)(struct let get = get_card end)
- include OBus.MakeInterface(struct let name = "fr.krobot.Card" end)
+ include OBus.Make_interface(struct let name = "fr.krobot.Card" end)
OL_property_r Name : string = fun dev ->
return (Krobot_card.name (get_card dev))
diff --git a/PC_Mainboard/driver/object.ml b/PC_Mainboard/driver/object.ml
deleted file mode 100644
index e676ed1..0000000
--- a/PC_Mainboard/driver/object.ml
+++ /dev/null
@@ -1,27 +0,0 @@
-(*
- * object.ml
- * ---------
- * Copyright : (c) 2010, Jeremie Dimino <je...@di...>
- * Licence : BSD3
- *
- * This file is a part of [kro]bot.
- *)
-
-module type S = sig
- type t
- module MakeInterface(Name : OBus_interface.Name) : sig
- val ol_interface : OBus_name.interface
- val ol_method_call : OBus_name.member -> ('a, 'b Lwt.t, 'b) OBus_type.func -> (t -> 'a) -> unit
- val ol_signal : OBus_name.member -> ('a, _) OBus_type.cl_sequence -> (t -> ?peer : OBus_peer.t -> 'a -> unit Lwt.t)
- val ol_property_r : OBus_name.member ->
- ('a, _) OBus_type.cl_single ->
- (t -> 'a Lwt.t) -> unit
- val ol_property_w : OBus_name.member ->
- ('a, _) OBus_type.cl_single ->
- (t -> 'a -> unit Lwt.t) -> unit
- val ol_property_rw : OBus_name.member ->
- ('a, _) OBus_type.cl_single ->
- (t -> 'a Lwt.t) ->
- (t -> 'a -> unit Lwt.t) -> unit
- end
-end
diff --git a/PC_Mainboard/generators/gen_dbus_exports.ml b/PC_Mainboard/generators/gen_dbus_exports.ml
index b230cc7..b8f54eb 100644
--- a/PC_Mainboard/generators/gen_dbus_exports.ml
+++ b/PC_Mainboard/generators/gen_dbus_exports.ml
@@ -70,9 +70,9 @@ let rec print path indent = function
print_apply (sprintf "USB_commands.%s%s (Get.get dev)" path (Name.lid cmd.cmd_name)) cmd.cmd_args
| Module(name, items) ->
- printf "%smodule %s(M : Object.S)(Get : sig val get : M.t -> Krobot_card.t end) = struct\n"
+ printf "%smodule %s(M : OBus_object.S)(Get : sig val get : M.obj -> Krobot_card.t end) = struct\n"
indent (Name.uid name);
- printf "%s include M.MakeInterface(struct let name = \"fr.krobot.Device.%s.Unsafe\" end)\n"
+ printf "%s include M.Make_interface(struct let name = \"fr.krobot.Device.%s.Unsafe\" end)\n"
indent (Name.caml_case name);
List.iter (print (path ^ Name.uid name ^ ".") (indent ^ " ")) items;
printf "%send\n" indent
@@ -86,8 +86,8 @@ let rec print path indent = function
let () =
printf "open OBus_pervasives\n";
- printf "module Card(M : Object.S)(Get : sig val get : M.t -> Krobot_card.t end) = struct\n";
- printf " include M.MakeInterface(struct let name = \"fr.krobot.Card.Unsafe\" end)\n";
+ printf "module Card(M : OBus_object.S)(Get : sig val get : M.obj -> Krobot_card.t end) = struct\n";
+ printf " include M.Make_interface(struct let name = \"fr.krobot.Card.Unsafe\" end)\n";
List.iter (print "Card." " ") card;
printf "end\n";
diff --git a/PC_Mainboard/generators/gen_dbus_imports.ml b/PC_Mainboard/generators/gen_dbus_imports.ml
index cdd7552..55c8851 100644
--- a/PC_Mainboard/generators/gen_dbus_imports.ml
+++ b/PC_Mainboard/generators/gen_dbus_imports.ml
@@ -50,7 +50,12 @@ let rec print indent = function
| Module(name, items) ->
printf "%smodule %s = struct\n" indent (Name.uid name);
- printf "%s include MakeDevice(struct let name = \"%s\" end)\n" indent (Name.caml_case name);
+ printf "%s module Proxy = OBus_proxy.Make(struct\n" indent;
+ printf "%s type proxy = Krobot.t\n" indent;
+ printf "%s let get krobot = OBus_proxy.make (Krobot.peer krobot) [\"fr\"; \"krobot\"; \"Devices\"; \"%s\"]\n" indent (Name.caml_case name);
+ printf "%s let make _ = failwith \"not implemented\"\n" indent;
+ printf "%s end)\n" indent;
+ printf "%s include Proxy.Make_interface(struct let name = \"fr.krobot.Device.%s\" end)\n" indent (Name.caml_case name);
List.iter (print (indent ^ " ")) items;
printf "%send\n" indent
@@ -63,15 +68,6 @@ let rec print indent = function
let () =
print_string "\
open OBus_pervasives
-module MakeDevice(Name : sig val name : string end) =
- OBus_interface.MakeCustom
- (struct
- type proxy = Krobot.t
- let get krobot = OBus_proxy.make (Krobot.peer krobot) [\"fr\"; \"krobot\"; \"Devices\"; Name.name]
- end)
- (struct
- let name = \"fr.krobot.Device.\" ^ Name.name ^ \".Unsafe\"
- end)
module Card = struct
let proxy krobot (card : Krobot.Card.card) =
OBus_proxy.make (Krobot.peer krobot)
diff --git a/PC_Mainboard/lib_krobot/krobot.ml b/PC_Mainboard/lib_krobot/krobot.ml
index 60d4cd4..1cb9e91 100644
--- a/PC_Mainboard/lib_krobot/krobot.ml
+++ b/PC_Mainboard/lib_krobot/krobot.ml
@@ -48,15 +48,19 @@ let peer krobot = krobot.peer
+-----------------------------------------------------------------+ *)
(* Create an interface using [t] as type for proxies *)
-module MakeDevice(Name : sig val name : string end) =
- OBus_interface.MakeCustom
+module Make_device(Name : sig val name : string end) =
+struct
+ module Proxy = OBus_proxy.Make
(struct
type proxy = t
let get krobot = OBus_proxy.make krobot.peer ["fr"; "krobot"; "Devices"; Name.name]
+ let make _ = failwith "not implemented"
end)
+ module Interface = Proxy.Make_interface
(struct
let name = "fr.krobot.Device." ^ Name.name
end)
+end
let make_dev_signal ~peer ~name ~get ~update ~typ ~default =
let proxy = OBus_proxy.make peer ["fr"; "krobot"; "Devices"; name] in
@@ -67,7 +71,7 @@ let make_dev_signal ~peer ~name ~get ~update ~typ ~default =
with exn ->
return default
in
- return (React.S.hold initial (OBus_signal.connect proxy ~interface ~member:update typ)#event)
+ return (React.S.hold initial (OBus_proxy.connect proxy ~interface ~member:update typ)#event)
let make_card_signal ~peer ~name ~get ~update ~typ ~default =
let proxy = OBus_proxy.make peer ["fr"; "krobot"; "Cards"; name] in
@@ -78,7 +82,7 @@ let make_card_signal ~peer ~name ~get ~update ~typ ~default =
with exn ->
return default
in
- return (React.S.hold initial (OBus_signal.connect proxy ~interface ~member:update typ)#event)
+ return (React.S.hold initial (OBus_proxy.connect proxy ~interface ~member:update typ)#event)
(* +-----------------------------------------------------------------+
| Creation |
@@ -161,7 +165,8 @@ let jack krobot =
| Range finders |
+-----------------------------------------------------------------+ *)
-include MakeDevice(struct let name = "RangeFinders" end)
+module Range_finders = Make_device(struct let name = "RangeFinders" end)
+include Range_finders.Interface
OP_method GetCalibration : int -> int array
OP_method CalibrationStart : int -> bool -> unit
@@ -172,7 +177,8 @@ OP_method CalibrationContinue : unit
| AX12 |
+-----------------------------------------------------------------+ *)
-include MakeDevice(struct let name = "AX12" end)
+module AX12 = Make_device(struct let name = "AX12" end)
+include AX12.Interface
OP_method SetAX12 : Types.ax12_action structure list -> unit
@@ -180,7 +186,8 @@ OP_method SetAX12 : Types.ax12_action structure list -> unit
| Motors |
+-----------------------------------------------------------------+ *)
-include MakeDevice(struct let name = "Motors" end)
+module Motors = Make_device(struct let name = "Motors" end)
+include Motors.Interface
OP_method Turn : angle : int -> velocity : int -> acceleration : int -> Types.move_result
OP_method Move : distance : int -> velocity : int -> acceleration : int -> Types.move_result
hooks/post-receive
--
krobot
|
|
From: Xavier L. <Ba...@us...> - 2010-02-25 01:27:35
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, motor-nurbs has been updated
via 5f1263fc05729c7457e97b0c697a120101edfa93 (commit)
from 03ce4e475cf42b892c90fc4f9278e7866c82911d (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 5f1263fc05729c7457e97b0c697a120101edfa93
Author: Xavier Lagorce <Xav...@cr...>
Date: Thu Feb 25 01:46:42 2010 +0100
First implementation of a trajectory in the new framework
-----------------------------------------------------------------------
Changes:
diff --git a/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw b/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw
index 6528ac9..b596f92 100644
Binary files a/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw and b/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw differ
diff --git a/USB_Module/Motor_Controller/Firmware/Motor_controller.mcs b/USB_Module/Motor_Controller/Firmware/Motor_controller.mcs
index 7e843b1..728e42c 100644
--- a/USB_Module/Motor_Controller/Firmware/Motor_controller.mcs
+++ b/USB_Module/Motor_Controller/Firmware/Motor_controller.mcs
@@ -2,144 +2,157 @@
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Version=1.0
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PPAD=$(BINDIR)|output||$(TMPDIR)|output||$(AINDIR)||$(INCDIR)|C:\MCC18\h;.;Include||$(LIBDIR)|C:\mcc18\lib||$(LKRDIR)||
-SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|motor.c|lm629.c|usb_device.c|usb_function_hid.c|error.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
+SOLK=<src>|usb_descriptors.c|main.c|eeprom.c|motor.c|lm629.c|usb_device.c|usb_function_hid.c|error.c|trajectory.c||<obj>||<lib>||<lkr>|rm18f4550.lkr||
SuiteArgsString=
ToolArgsString=/m"$(BINDIR_)$(TARGETBASE).map" /w /o"$(BINDIR_)$(TARGETBASE).cof"
TraceCmdString=
diff --git a/USB_Module/Motor_Controller/Firmware/main.c b/USB_Module/Motor_Controller/Firmware/main.c
index 0a23cbb..07b3675 100644
--- a/USB_Module/Motor_Controller/Firmware/main.c
+++ b/USB_Module/Motor_Controller/Firmware/main.c
@@ -1120,7 +1120,7 @@ void ProcessIO(void) {
ToSendDataBuffer.DATA[0] = '\0';
strcatpgm2ram((char *) &ToSendDataBuffer.DATA[0], (const rom far char *) "Commande TEST re");
- goToBezier(0, 0, 0, 500, 500, 0, 500, 500, 200);
+ goToLine(500, 400, 800);
USBInHandle = HIDTxPacket(HID_EP, (BYTE*) &ToSendDataBuffer, 64);
USBOutHandle = HIDRxPacket(HID_EP,(BYTE*)&ReceivedDataBuffer,64); // Re-arm the OUT endpoint for the next packet
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof
index 07d0aec..19b0233 100644
Binary files a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof and b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof differ
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
index 54337cd..982e54b 100644
--- a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
+++ b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
@@ -1,145 +1,145 @@
:020000040000FA
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[truncated message content] |
|
From: Jérémie D. <Ba...@us...> - 2010-02-25 00:14:44
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 59f35c0d7c2f0bd92c9ac23fc6d0c6d347833723 (commit)
via 81a5f63a2c90f5b3fa53cbc452e6764619d920fa (commit)
from dd313e5ea3e145e3516b4765ab9028d78f8d0dc7 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 59f35c0d7c2f0bd92c9ac23fc6d0c6d347833723
Author: Jérémie Dimino <je...@di...>
Date: Thu Feb 25 01:14:17 2010 +0100
[controller] use bars for range finders
commit 81a5f63a2c90f5b3fa53cbc452e6764619d920fa
Author: Jérémie Dimino <je...@di...>
Date: Thu Feb 25 01:13:45 2010 +0100
[generators] fix names of DBus interfaces
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/clients/controller.ml b/PC_Mainboard/clients/controller.ml
index a253a34..3f01691 100644
--- a/PC_Mainboard/clients/controller.ml
+++ b/PC_Mainboard/clients/controller.ml
@@ -209,7 +209,7 @@ let rec draw krobot =
let range_finders = React.S.value (Krobot.range_finders krobot) in
for i = 0 to Array.length range_finders - 1 do
- Draw.textf zone 0 i "%d : %d" i range_finders.(i)
+ Draw.textc zone 0 i [textf "%d : " i; text (Text.repeat (range_finders.(i) * 14 / 3146) "=")]
done;
let logic_sensors = React.S.value (Krobot.logic_sensors krobot) in
diff --git a/PC_Mainboard/generators/gen_dbus_exports.ml b/PC_Mainboard/generators/gen_dbus_exports.ml
index f761e04..b230cc7 100644
--- a/PC_Mainboard/generators/gen_dbus_exports.ml
+++ b/PC_Mainboard/generators/gen_dbus_exports.ml
@@ -73,7 +73,7 @@ let rec print path indent = function
printf "%smodule %s(M : Object.S)(Get : sig val get : M.t -> Krobot_card.t end) = struct\n"
indent (Name.uid name);
printf "%s include M.MakeInterface(struct let name = \"fr.krobot.Device.%s.Unsafe\" end)\n"
- indent (Name.uid name);
+ indent (Name.caml_case name);
List.iter (print (path ^ Name.uid name ^ ".") (indent ^ " ")) items;
printf "%send\n" indent
hooks/post-receive
--
krobot
|
|
From: Jérémie D. <Ba...@us...> - 2010-02-24 23:59:28
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via dd313e5ea3e145e3516b4765ab9028d78f8d0dc7 (commit)
from 085efdbed4f0703aa3d6a2e3be36ed0cc993c32d (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit dd313e5ea3e145e3516b4765ab9028d78f8d0dc7
Author: Jérémie Dimino <je...@di...>
Date: Thu Feb 25 00:58:41 2010 +0100
[controller] fix completion on paths
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/clients/script.ml b/PC_Mainboard/clients/script.ml
index 614e73c..166ce54 100644
--- a/PC_Mainboard/clients/script.ml
+++ b/PC_Mainboard/clients/script.ml
@@ -44,15 +44,20 @@ let args_of_command name =
let rec after_prefix prefix path =
match prefix, path with
- | [], p -> Some p
- | e1 :: p1, e2 :: p2 when e1 = e2 -> after_prefix p1 p2
- | _ -> None
+ | [], path ->
+ Some path
+ | e1 :: p1, e2 :: p2 when e1 = e2 ->
+ after_prefix p1 p2
+ | [e1], e2 :: p2 when Text.starts_with e2 e1 ->
+ Some path
+ | _ ->
+ None
let complete ~before ~after =
try
match Script_lexer.partial_command (Lexing.from_string before) with
| `Command(before, name) -> begin
- let full_path, path, name =
+ let full_path, path, basename =
match Text.rev_split ~sep:"." ~max:2 name with
| [] ->
("", [], "")
@@ -75,12 +80,15 @@ let complete ~before ~after =
(TextSet.add name paths, names))
(TextSet.empty, TextSet.empty) !commands)
in
- let prefix, words = Lwt_read_line.lookup name names in
+ let prefix, words = Lwt_read_line.lookup basename (TextSet.union paths names) in
match TextSet.cardinal words with
| 0 ->
- Lwt_read_line.complete ~suffix:"." (before ^ full_path) name after paths
+ { Lwt_read_line.comp_state = (before ^ name, after);
+ Lwt_read_line.comp_words = words }
| 1 ->
- { Lwt_read_line.comp_state = (before ^ full_path ^ prefix ^ " ", after);
+ { Lwt_read_line.comp_state = (before ^ full_path ^ prefix ^
+ (if TextSet.mem (TextSet.choose words) paths then "." else " "),
+ after);
Lwt_read_line.comp_words = words }
| _ ->
{ Lwt_read_line.comp_state = (before ^ full_path ^ prefix, after);
@@ -183,12 +191,13 @@ let () =
register "right" (f3 angle velocity acceleration)
(fun logger krobot angle velocity acceleration ->
Krobot.turn krobot (-angle) velocity acceleration >>= move_result logger);
- register "goto" (f6
- (int ~default:0 "x") (int ~default:0 "y") velocity acceleration
- (keyword ~default:`Straight "mode" [("straight", `Straight);
- ("curve-left", `Curve_left);
- ("curve-right", `Curve_right)])
- (int ~default:0 "bypass-distance"))
+ register"goto"
+ (f6
+ (int ~default:0 "x") (int ~default:0 "y") velocity acceleration
+ (keyword ~default:`Straight "mode" [("straight", `Straight);
+ ("curve-left", `Curve_left);
+ ("curve-right", `Curve_right)])
+ (int ~default:0 "bypass-distance"))
(fun logger krobot x y velocity acceleration mode bypass ->
Krobot.goto krobot x y velocity acceleration mode bypass >>= move_result logger);
@@ -224,18 +233,18 @@ let () =
("motor", `Motor);
("sensor", `Sensor)] in
- register "bootloader" (f1 card)
+ register ~path:["card"] "bootloader" (f1 card)
(fun logger -> Krobot.Card.bootloader);
- register "reset" (f1 card)
+ register ~path:["card"] "reset" (f1 card)
(fun logger -> Krobot.Card.reset);
- register "test" (f1 card)
+ register ~path:["card"] "test" (f1 card)
(fun logger -> Krobot.Card.test);
(* +---------------------------------------------------------------+
| Range finders |
+---------------------------------------------------------------+ *)
- register "get-calibration" f0
+ register ~path:["calibration"] "get" f0
(fun logger krobot ->
lwt cals = Lwt_list.map_p (Krobot.get_calibration krobot) [0; 1; 2; 3; 4; 5; 6; 7] in
let rec loop i = function
@@ -252,11 +261,11 @@ let () =
in
loop 0 cals);
- register "calibration-start" (f2 (int "range-finder") (keyword "skip-meas" [("true", true); ("false", false)]))
+ register ~path:["calibration"] "start" (f2 (int "range-finder") (keyword "skip-meas" [("true", true); ("false", false)]))
(fun logger -> Krobot.calibration_start);
- register "calibration-stop" f0
+ register ~path:["calibration"] "stop" f0
(fun logger -> Krobot.calibration_stop);
- register "calibration-continue" f0
+ register ~path:["calibration"] "continue" f0
(fun logger -> Krobot.calibration_continue);
(* +---------------------------------------------------------------+
hooks/post-receive
--
krobot
|
|
From: Xavier L. <Ba...@us...> - 2010-02-24 22:47:33
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, motor-nurbs has been updated
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- Log -----------------------------------------------------------------
commit 03ce4e475cf42b892c90fc4f9278e7866c82911d
Author: Xavier Lagorce <Xav...@cr...>
Date: Wed Feb 24 23:46:19 2010 +0100
Building new firmware after fixing merge errors
commit d3e48b7aed5c05658abf5cd9c7465f3990f4b9e4
Merge: c72950af55e8c202c2aa7fab117b946af69b1c45 085efdbed4f0703aa3d6a2e3be36ed0cc993c32d
Author: Xavier Lagorce <Xav...@cr...>
Date: Wed Feb 24 23:34:11 2010 +0100
Merge branch 'master' into motor-nurbs
Conflicts:
USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw
USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof
USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
USB_Module/Motor_Controller/Firmware/output/Motor_controller.map
-> keeping binary files from the master branch
(/!\ Firmwares need recompilation)
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/_tags b/PC_Mainboard/_tags
index 818fd97..2b3245a 100644
--- a/PC_Mainboard/_tags
+++ b/PC_Mainboard/_tags
@@ -25,8 +25,7 @@
<clients/**>: pkg_lwt.unix, pkg_obus
<clients/joy_control.*>: pkg_sdl
<clients/controller.*>: pkg_lwt.text
-<clients/script_lexer.*>: pkg_text
-<clients/script.*>: pkg_text
+<clients/script*>: pkg_text
# +------------------------------------------------------------------+
# | Services |
@@ -39,8 +38,8 @@
# | Common |
# +------------------------------------------------------------------+
-<common/types.{ml,mli}>: syntax_camlp4o, pkg_obus.syntax
-<common/types.*>: pkg_obus
+<common/{types,util}.{ml,mli}>: syntax_camlp4o, pkg_obus.syntax, pkg_lwt.syntax
+<common/{types,util}.*>: pkg_obus
# +------------------------------------------------------------------+
# | Driver |
diff --git a/PC_Mainboard/card_tools/bootloader.ml b/PC_Mainboard/card_tools/bootloader.ml
index 28044cc..35b407e 100644
--- a/PC_Mainboard/card_tools/bootloader.ml
+++ b/PC_Mainboard/card_tools/bootloader.ml
@@ -54,8 +54,8 @@ let close k =
let open_card () =
let handle = USB.open_device_with
- ~vendor_id:Protocol.usb_vid
- ~product_id:Protocol.usb_pid_bootloader
+ ~vendor_id:PcInterface.usb_vid
+ ~product_id:PcInterface.usb_pid_bootloader
in
let kernel_active = USB.kernel_driver_active handle 0 in
if kernel_active then USB.detach_kernel_driver handle 0;
@@ -109,7 +109,7 @@ let get_flash k ~address ~length =
let length = min increment total_length in
let response_length = length+header_length in
let address = address+offset in
- put_message send_buffer Protocol.read_flash length address "";
+ put_message send_buffer PcInterface.read_flash length address "";
lwt () = send_receive_packet k send_buffer header_length receive_buffer response_length 1. 3. in
let receive_header = String.sub receive_buffer 0 header_length in
if receive_header <> send_buffer then
@@ -132,10 +132,10 @@ let erase_flash k ~address ~length =
return ()
else begin
let address = address+offset in
- put_message send_buffer Protocol.erase_flash 1 address "";
+ put_message send_buffer PcInterface.erase_flash 1 address "";
lwt () = send_receive_packet k send_buffer header_length receive_buffer response_length 1. 5. in
- if int_of_char receive_buffer.[0] <> Protocol.erase_flash then
- failwith (UnexpectedReply (receive_buffer, String.make 1 (char_of_int Protocol.erase_flash)))
+ if int_of_char receive_buffer.[0] <> PcInterface.erase_flash then
+ failwith (UnexpectedReply (receive_buffer, String.make 1 (char_of_int PcInterface.erase_flash)))
else
loop (offset+increment) (total_length-increment);
end
@@ -162,10 +162,10 @@ let write_flash k ~address data offset length =
loop (address+increment) (offset+increment) (total_length-increment)
end else begin
(* lwt () = printf "Processing address 0x%06X...\n" address in *)
- put_message send_buffer Protocol.write_flash increment address packet;
+ put_message send_buffer PcInterface.write_flash increment address packet;
lwt () = send_receive_packet k send_buffer send_length receive_buffer receive_length 0.5 1. in
- if int_of_char receive_buffer.[0] <> Protocol.write_flash then
- failwith (UnexpectedReply (receive_buffer, String.make 1 (char_of_int Protocol.erase_flash)))
+ if int_of_char receive_buffer.[0] <> PcInterface.write_flash then
+ failwith (UnexpectedReply (receive_buffer, String.make 1 (char_of_int PcInterface.erase_flash)))
else begin
lwt written = get_flash k ~address ~length:increment in
if written <> packet then
@@ -179,6 +179,6 @@ let write_flash k ~address data offset length =
let reset_board k =
let send_buffer = String.create 64 and receive_buffer = String.create 64 in
- send_buffer.[0] <- char_of_int Protocol.reset;
+ send_buffer.[0] <- char_of_int PcInterface.reset;
lwt () = send_receive_packet k send_buffer 1 receive_buffer 64 5. 5. in
return ()
diff --git a/PC_Mainboard/clients/controller.ml b/PC_Mainboard/clients/controller.ml
index 1d45d75..a253a34 100644
--- a/PC_Mainboard/clients/controller.ml
+++ b/PC_Mainboard/clients/controller.ml
@@ -116,13 +116,14 @@ let rec loop krobot history =
let line = Text.strip (Engine.all_input (React.S.value engine_state)) in
if line = "exit" then
save_history history
- else begin
+ else if line <> "" then begin
let history = Lwt_read_line.add_entry line history in
set_engine_state (Engine.init history);
lwt () = Log.notice line in
ignore (Script.exec ~krobot ~logger:(fun line -> log_add_line line; return ()) ~command:line);
loop krobot history
- end
+ end else
+ loop krobot history
| Command.Complete ->
let engine_state = Engine.reset (React.S.value engine_state) in
let before, after = Engine.edition_state engine_state in
@@ -134,6 +135,21 @@ let rec loop krobot history =
loop krobot history
(* +-----------------------------------------------------------------+
+ | Service monitoring |
+ +-----------------------------------------------------------------+ *)
+
+let services, set_services = React.S.create ~eq:TextSet.equal TextSet.empty
+
+let check_services bus =
+ lwt l = OBus_bus.list_names bus in
+ set_services (List.fold_left (fun set name ->
+ if Text.starts_with name "fr.krobot." then
+ TextSet.add (String.sub name 10 (String.length name - 10)) set
+ else
+ set) TextSet.empty l);
+ return ()
+
+(* +-----------------------------------------------------------------+
| Drawing |
+-----------------------------------------------------------------+ *)
@@ -173,6 +189,8 @@ let rec draw krobot =
fg line_color; text " ]─┬─[ ";
fg name_color; text "Logic Sensors";
fg line_color; text " ]─┬─[ ";
+ fg name_color; text "Services";
+ fg line_color; text " ]─┬─[ ";
fg name_color; text "Status";
fg line_color; text " ]─"];
points.(9).(0) <- { line with char = "├" };
@@ -182,9 +200,10 @@ let rec draw krobot =
done;
for i = 1 to 8 do
points.(i).(20) <- { line with char = "│" };
- points.(i).(40) <- { line with char = "│" }
+ points.(i).(40) <- { line with char = "│" };
+ points.(i).(55) <- { line with char = "│" }
done;
- Draw.textc screen 1 9 [fg line_color; text "───────────────────┴───────────────────┴"];
+ Draw.textc screen 1 9 [fg line_color; text "───────────────────┴───────────────────┴──────────────┴"];
let zone = Zone.inner screen in
@@ -200,8 +219,18 @@ let rec draw krobot =
(j + 0) (if logic_sensors.(j + 0) then "O" else ".")
(j + 1) (if logic_sensors.(j + 1) then "O" else ".")
done;
- let x = 40 in
+ let zone' = Zone.sub ~zone ~x:40 ~y:0 ~width:14 ~height:8 in
+ let rec loop y = function
+ | [] ->
+ ()
+ | name :: rest ->
+ Draw.text ~zone:zone' ~x:0 ~y ~text:name;
+ loop (y + 1) rest
+ in
+ loop 0 (TextSet.elements (React.S.value services));
+
+ let x = 55 in
Draw.textf zone x 0 "team = %s" (match React.S.value (Krobot.team krobot) with
| Krobot.Team_red -> "red"
| Krobot.Team_green -> "green");
@@ -344,6 +373,7 @@ let refresh krobot =
lwt () =
lwt () = Log.notice "connecting to the krobot bus..." in
+ lwt bus = Lazy.force Krobot.bus in
lwt krobot = Krobot.create () in
(* Put the terminal into drawing mode: *)
@@ -362,6 +392,10 @@ lwt () =
Lwt_main.exit_hooks
in
+ (* Service monitoring *)
+ lwt () = check_services bus in
+ Lwt_event.always_notify_p (fun _ -> check_services bus) (OBus_bus.name_owner_changed bus)#event;
+
(* Minimum delay to wait between two screen redrawing *)
let delay = 1.0 /. (float_of_int refresh_rate) in
(* Event which refresh the screen when it occurs: *)
@@ -384,6 +418,7 @@ lwt () =
notify (Krobot.Card.state krobot `Interface);
notify (Krobot.Card.state krobot `Sensor);
notify (Krobot.Card.state krobot `Motor);
+ notify services;
(* Redraw immedlatly the screen when [signal] changes: *)
let urgent signal = Lwt_signal.always_notify_p (fun _ -> refresh krobot) signal in
diff --git a/PC_Mainboard/clients/init_position.ml b/PC_Mainboard/clients/init_position.ml
index 94073a3..0a4e6d9 100644
--- a/PC_Mainboard/clients/init_position.ml
+++ b/PC_Mainboard/clients/init_position.ml
@@ -15,7 +15,7 @@ open Lwt
let move_backward_slowly krobot =
lwt () = Log.notice "moving backward" in
- Krobot.move krobot ~dist:(-1000) ~speed:100 ~acc:100 >>= function
+ Krobot.move krobot ~distance:(-1000) ~velocity:100 ~acceleration:100 >>= function
| `OK ->
lwt () = Log.error "where am i ???" in
exit 1
@@ -28,16 +28,16 @@ lwt () =
lwt () = move_backward_slowly krobot in
lwt () = Log.notice "going to initial position on first axis" in
- lwt _ = Krobot.move krobot ~dist:Config.initial_position ~speed:400 ~acc:800 in
+ lwt _ = Krobot.move krobot ~distance:Config.initial_position ~velocity:400 ~acceleration:800 in
lwt () = Log.notice "turning" in
- lwt _ = Krobot.turn krobot ~angle:(-90) ~speed:400 ~acc:800 in
+ lwt _ = Krobot.turn krobot ~angle:(-90) ~velocity:400 ~acceleration:800 in
lwt () = move_backward_slowly krobot in
lwt () = Log.notice "going to initial position on second axis" in
- lwt _ = Krobot.move krobot ~dist:Config.initial_position ~speed:400 ~acc:800 in
+ lwt _ = Krobot.move krobot ~distance:Config.initial_position ~velocity:400 ~acceleration:800 in
lwt () = Log.notice "turning" in
- lwt _ = Krobot.turn krobot ~angle:45 ~speed:400 ~acc:800 in
+ lwt _ = Krobot.turn krobot ~angle:45 ~velocity:400 ~acceleration:800 in
return ()
diff --git a/PC_Mainboard/clients/joy_control.ml b/PC_Mainboard/clients/joy_control.ml
index 7c84d21..a31a0b7 100644
--- a/PC_Mainboard/clients/joy_control.ml
+++ b/PC_Mainboard/clients/joy_control.ml
@@ -128,7 +128,8 @@ let child_loop pipe joy =
let axis_coef = 6
let axis_coef_turn = 4
-let acceleration = 800
+let accelerations = (800, 800)
+let duration = 0.2
let try_call action f =
try_lwt
@@ -137,38 +138,34 @@ let try_call action f =
lwt () = Log.error_f "action %s failed with: %s" action msg in
return ()
-let rec set_speed action krobot motor speed abort_waiter =
- lwt () = choose [abort_waiter; try_call action (fun () -> Krobot.set_speed krobot ~motor ~speed ~acc:acceleration)] in
- if speed = 0 then
+let rec set_velocities krobot velocities =
+ lwt () = Log.info_f "set-velocities: left=%d right=%d" (fst velocities) (snd velocities) in
+ lwt () =
+ try_call "set-velocities"
+ (fun () ->
+ Krobot.set_velocities krobot ~velocities ~accelerations ~duration)
+ in
+ if velocities = (0, 0) then
return ()
else begin
- lwt () = select [abort_waiter; Lwt_unix.sleep (Config.stop_motors_delay /. 2.)] in
- set_speed action krobot motor speed abort_waiter
+ lwt () = Lwt_unix.sleep (duration /. 2.) in
+ set_velocities krobot velocities
end
let parent_loop krobot pipe =
- let rstop = ref false and lstop = ref false in
- let rthread = ref (return ()) and lthread = ref (return ()) in
- let rabort_wakener = ref None and labort_wakener = ref None in
+ let stop = ref false in
+ let thread = ref (return ()) in
let raxis_h = ref 0
and raxis_v = ref 0
and laxis_h = ref 0
and laxis_v = ref 0 in
- let set_speeds () =
- begin match !labort_wakener with
- | None -> ()
- | Some w -> wakeup_exn w Exit
- end;
- begin match !rabort_wakener with
- | None -> ()
- | Some w -> wakeup_exn w Exit
- end;
- let waiter, wakener = Lwt.wait () in
- labort_wakener := Some wakener;
- lthread := set_speed "set-speed-left" krobot `Left (!laxis_v * axis_coef - !raxis_h * axis_coef_turn) waiter;
- let waiter, wakener = Lwt.wait () in
- rabort_wakener := Some wakener;
- rthread := set_speed "set-speed-right" krobot `Right (!laxis_v * axis_coef + !raxis_h * axis_coef_turn) waiter
+ let set_velocities () =
+ cancel !thread;
+ if not !stop then
+ thread :=
+ set_velocities krobot
+ (!laxis_v * axis_coef - !raxis_h * axis_coef_turn,
+ !laxis_v * axis_coef + !raxis_h * axis_coef_turn)
in
let rec loop () =
Lwt_io.read_value pipe >>= function
@@ -176,35 +173,27 @@ let parent_loop krobot pipe =
return ()
| JoyLAxisV n ->
laxis_v := n;
- set_speeds ();
+ set_velocities ();
loop ()
| JoyLAxisH n ->
laxis_h := n;
- set_speeds ();
+ set_velocities ();
loop ()
| JoyRAxisV n ->
raxis_v := n;
- set_speeds ();
+ set_velocities ();
loop ()
| JoyRAxisH n ->
raxis_h := n;
- set_speeds ();
- loop ()
- | JoyButtonPressed ButtonL2 ->
- lstop := true;
- cancel !lthread;
- lwt () = try_call "stop-left-motor" (fun () -> Krobot.stop_motors krobot ~motor:`Left ~mode:`Abrupt) in
- ignore (lwt () = Lwt_unix.sleep 1.0 in lstop := false; return ());
+ set_velocities ();
loop ()
- | JoyButtonPressed ButtonR2 ->
- rstop := true;
- cancel !rthread;
- lwt () = try_call "stop-right-motor" (fun () -> Krobot.stop_motors krobot ~motor:`Right ~mode:`Abrupt) in
- ignore (lwt () = Lwt_unix.sleep 1.0 in rstop := false; return ());
+ | JoyButtonPressed ButtonSquare ->
+ stop := true;
+ cancel !thread;
+ lwt () = try_call "stop-motors" (fun () -> Krobot.stop_motors krobot ~mode:`Abrupt) in
loop ()
- | JoyButtonReleased ButtonCircle ->
- rstop := false;
- lstop := false;
+ | JoyButtonReleased ButtonSquare ->
+ stop := false;
loop ()
| _ ->
loop ()
@@ -234,6 +223,6 @@ let () =
Unix.close fd_w;
Lwt_main.run begin
lwt krobot = Krobot.create () in
- lwt() = Log.notice "ready to process event" in
+ lwt () = Log.notice "ready to process event" in
parent_loop krobot (Lwt_io.of_unix_fd ~mode:Lwt_io.input fd_r)
end
diff --git a/PC_Mainboard/clients/script.ml b/PC_Mainboard/clients/script.ml
index 2d6a19b..614e73c 100644
--- a/PC_Mainboard/clients/script.ml
+++ b/PC_Mainboard/clients/script.ml
@@ -9,133 +9,86 @@
open Lwt
open Lwt_term
+open Script_commands
module TextSet = Set.Make(Text)
let set_of_list l = List.fold_left (fun set x -> TextSet.add x set) TextSet.empty l
(* +-----------------------------------------------------------------+
- | Commands |
- +-----------------------------------------------------------------+ *)
-
-type logger = Lwt_term.styled_text -> unit Lwt.t
-
-(* Type of an argument *)
-type arg_type =
- | Int
- | Keyword of string list
-
-type command = {
- c_name : string;
- (* The command name *)
-
- c_exec : (string * string) list -> logger -> Krobot.t -> unit Lwt.t;
- (* The command implementation. It takes as argument the list of
- parameters. *)
-
- c_args : (string * arg_type) list;
- (* Argument description, used for completion. *)
-}
-
-(* An argument description *)
-type 'a arg = {
- a_type : arg_type;
- a_name : string;
- a_cast : string -> 'a;
- a_default : 'a option;
-}
-
-(* A function description *)
-type 'a func = {
- f_args : (string * arg_type) list;
- (* Arguments of the function, for completion *)
-
- f_func : (string * string) list -> 'a -> unit Lwt.t;
- (* [f_func args f] parses arguments [args] and apply them to [f] *)
-}
-
-(* All registred commands *)
-let commands = ref []
-
-(* Register a command *)
-let register name func f =
- let command = {
- c_name = name;
- c_exec = (fun args logger krobot -> func.f_func args (f logger krobot));
- c_args = func.f_args;
- } in
- commands := command :: !commands
-
-exception Argument_error of string
- (* Exception raised when there is a problem with an argument *)
-
-let arg_error msg = raise (Argument_error msg)
-
-(* Returns the value associated to [key] if any, and the list without
- the first occurence of [key] *)
-let rec assoc_remove key = function
- | [] ->
- (None, [])
- | (key', value) :: rest when key = key' ->
- (Some value, rest)
- | pair :: rest ->
- let result, l = assoc_remove key rest in
- (result, pair :: l)
-
-let ( --> ) arg func = {
- f_args = (arg.a_name, arg.a_type) :: func.f_args;
- f_func =
- fun args f ->
- let result, args = assoc_remove arg.a_name args in
- match result with
- | Some str ->
- func.f_func args (f (arg.a_cast str))
- | None ->
- match arg.a_default with
- | Some value ->
- func.f_func args (f value)
- | None ->
- Printf.ksprintf arg_error "argument '%s' is mandatory" arg.a_name
-}
-
-let f0 = {
- f_args = [];
- f_func =
- fun args f ->
- match args with
- | [] ->
- f
- | (key, _) :: _ ->
- Printf.ksprintf arg_error "unused argument '%s'" key
-}
-
-let f1 arg0 = arg0 --> f0
-let f2 arg0 arg1 = arg0 --> (f1 arg1)
-let f3 arg0 arg1 arg2 = arg0 --> (f2 arg1 arg2)
-let f4 arg0 arg1 arg2 arg3 = arg0 --> (f3 arg1 arg2 arg3)
-let f5 arg0 arg1 arg2 arg3 arg4 = arg0 --> (f4 arg1 arg2 arg3 arg4)
-let f6 arg0 arg1 arg2 arg3 arg4 arg5 = arg0 --> (f5 arg1 arg2 arg3 arg4 arg5)
-
-(* +-----------------------------------------------------------------+
| Completion |
+-----------------------------------------------------------------+ *)
-let rec args_of_command command = function
- | { c_name = name; c_args = args } :: _ when name = command ->
- Some args
- | _ :: rest ->
- args_of_command command rest
- | [] ->
- None
+let decompose name =
+ match Text.rev_split ~sep:"." ~max:2 name with
+ | [] ->
+ ([], "")
+ | [name] ->
+ ([], name)
+ | [path; name] ->
+ (Text.split ~sep:"." path, name)
+ | _ ->
+ assert false
+
+let args_of_command name =
+ let path, name = decompose name in
+ let rec loop = function
+ | cmd :: _ when cmd.c_path = path && cmd.c_name = name ->
+ Some cmd.c_args
+ | _ :: rest ->
+ loop rest
+ | [] ->
+ None
+ in
+ loop !commands
+
+let rec after_prefix prefix path =
+ match prefix, path with
+ | [], p -> Some p
+ | e1 :: p1, e2 :: p2 when e1 = e2 -> after_prefix p1 p2
+ | _ -> None
let complete ~before ~after =
try
match Script_lexer.partial_command (Lexing.from_string before) with
- | `Command(before, name) ->
- Lwt_read_line.complete ~suffix:" " before name after
- (set_of_list (List.map (fun command -> command.c_name) !commands))
+ | `Command(before, name) -> begin
+ let full_path, path, name =
+ match Text.rev_split ~sep:"." ~max:2 name with
+ | [] ->
+ ("", [], "")
+ | [name] ->
+ ("", [], name)
+ | [path; name] ->
+ (path ^ ".", Text.split ~sep:"." path, name)
+ | _ ->
+ assert false
+ in
+ let paths, names =
+ (List.fold_left
+ (fun (paths, names) command ->
+ match after_prefix path command.c_path with
+ | None ->
+ (paths, names)
+ | Some [] ->
+ (paths, TextSet.add command.c_name names)
+ | Some (name :: rest) ->
+ (TextSet.add name paths, names))
+ (TextSet.empty, TextSet.empty) !commands)
+ in
+ let prefix, words = Lwt_read_line.lookup name names in
+ match TextSet.cardinal words with
+ | 0 ->
+ Lwt_read_line.complete ~suffix:"." (before ^ full_path) name after paths
+ | 1 ->
+ { Lwt_read_line.comp_state = (before ^ full_path ^ prefix ^ " ", after);
+ Lwt_read_line.comp_words = words }
+ | _ ->
+ { Lwt_read_line.comp_state = (before ^ full_path ^ prefix, after);
+ Lwt_read_line.comp_words = words }
+ end
+
| `Arg(before, name, args, `Key key) -> begin
- match args_of_command name !commands with
+ match args_of_command name with
| None ->
raise Exit
| Some args' ->
@@ -145,7 +98,7 @@ let complete ~before ~after =
Lwt_read_line.complete ~suffix:"=" before key after args
end
| `Arg(before, name, args, `Value(key, value)) -> begin
- match args_of_command name !commands with
+ match args_of_command name with
| None ->
raise Exit
| Some args' ->
@@ -175,11 +128,12 @@ let exec ~krobot ~logger ~command =
| `Fail exn ->
logger [fg lred; textf "parse failure: %s" (Printexc.to_string exn)]
| `OK(name, args) ->
- try
+ let path, name = decompose name in
+ try_lwt
let rec search = function
| [] ->
logger [fg lred; textf "unknown command '%s'" name]
- | cmd :: rest when cmd.c_name <> name ->
+ | cmd :: rest when cmd.c_path <> path || cmd.c_name <> name ->
search rest
| cmd :: _ ->
cmd.c_exec args logger krobot
@@ -194,32 +148,6 @@ let exec ~krobot ~logger ~command =
logger [fg lred; textf "command '%s' failed with: %s" name (Printexc.to_string exn)]
(* +-----------------------------------------------------------------+
- | Arguments |
- +-----------------------------------------------------------------+ *)
-
-let int ?default name = {
- a_name = name;
- a_type = Int;
- a_cast = (fun str ->
- try
- int_of_string str
- with Failure _ ->
- Printf.ksprintf arg_error "invalid value for argument '%s': an integer was expected" name);
- a_default = default;
-}
-
-let keyword ?default name keywords = {
- a_name = name;
- a_type = Keyword(List.map fst keywords);
- a_cast = (fun key ->
- try
- List.assoc key keywords
- with Not_found ->
- Printf.ksprintf arg_error "invalid value for '%s'" name);
- a_default = default;
-}
-
-(* +-----------------------------------------------------------------+
| All commands |
+-----------------------------------------------------------------+ *)
@@ -231,10 +159,10 @@ let () =
| Movement |
+---------------------------------------------------------------+ *)
- let dist = int ~default:100 "dist"
+ let distance = int ~default:100 "distance"
and angle = int ~default:90 "angle"
- and speed = int ~default:400 "speed"
- and acc = int ~default:800 "acc" in
+ and velocity = int ~default:400 "velocity"
+ and acceleration = int ~default:800 "acceleration" in
let move_result logger = function
| `OK ->
@@ -243,40 +171,50 @@ let () =
logger [fg lyellow; text "move stopped"]
in
- register "forward" (f3 dist speed acc)
- (fun logger krobot dist speed acc ->
- Krobot.move krobot dist speed acc >>= move_result logger);
- register "backward" (f3 dist speed acc)
- (fun logger krobot dist speed acc ->
- Krobot.move krobot (-dist) speed acc >>= move_result logger);
- register "left" (f3 angle speed acc)
- (fun logger krobot angle speed acc ->
- Krobot.turn krobot angle speed acc >>= move_result logger);
- register "right" (f3 angle speed acc)
- (fun logger krobot angle speed acc ->
- Krobot.turn krobot (-angle) speed acc >>= move_result logger);
+ register "forward" (f3 distance velocity acceleration)
+ (fun logger krobot distance velocity acceleration ->
+ Krobot.move krobot distance velocity acceleration >>= move_result logger);
+ register "backward" (f3 distance velocity acceleration)
+ (fun logger krobot distance velocity acceleration ->
+ Krobot.move krobot (-distance) velocity acceleration >>= move_result logger);
+ register "left" (f3 angle velocity acceleration)
+ (fun logger krobot angle velocity acceleration ->
+ Krobot.turn krobot angle velocity acceleration >>= move_result logger);
+ register "right" (f3 angle velocity acceleration)
+ (fun logger krobot angle velocity acceleration ->
+ Krobot.turn krobot (-angle) velocity acceleration >>= move_result logger);
register "goto" (f6
- (int ~default:0 "x") (int ~default:0 "y") speed acc
+ (int ~default:0 "x") (int ~default:0 "y") velocity acceleration
(keyword ~default:`Straight "mode" [("straight", `Straight);
("curve-left", `Curve_left);
("curve-right", `Curve_right)])
- (int ~default:0 "bypass-dist"))
- (fun logger krobot x y speed acc mode bypass ->
- Krobot.goto krobot x y speed acc mode bypass >>= move_result logger);
+ (int ~default:0 "bypass-distance"))
+ (fun logger krobot x y velocity acceleration mode bypass ->
+ Krobot.goto krobot x y velocity acceleration mode bypass >>= move_result logger);
(* +---------------------------------------------------------------+
| Motors low-level conrol |
+---------------------------------------------------------------+ *)
- let motor = keyword ~default:`Both "motor"
- [("left", `Left); ("right", `Right); ("both", `Both)]
- and stop_mode = keyword ~default:`Smooth "stop-mode"
- [("off", `Off); ("abrupt", `Abrupt); ("smooth", `Smooth)] in
+ let stop_mode = keyword ~default:`Smooth "stop-mode"
+ [("off", `Off); ("abrupt", `Abrupt); ("smooth", `Smooth)]
+ and duration = float ~default:1.0 "duration"
+ and velocity motor = int ~default:400 ("velocity" ^ motor)
+ and acceleration motor = int ~default:800 ("acceleration" ^ motor) in
- register "stop-motors" (f2 motor stop_mode)
- (fun logger krobot motor mode -> Krobot.stop_motors krobot ~motor ~mode);
- register "set-speed" (f3 motor speed acc)
- (fun logger krobot motor speed acc -> Krobot.set_speed krobot ~motor ~speed ~acc);
+ register "motors-state" f0
+ (fun logger krobot ->
+ lwt state = Krobot.motors_state krobot in
+ logger [text "motors state: "; text state]);
+ register "stop-motors" (f1 stop_mode)
+ (fun logger krobot mode ->
+ Krobot.stop_motors krobot ~mode);
+ register "set-velocities" (f5 (velocity "-left") (velocity "-right") (acceleration "-left") (acceleration "-right") duration)
+ (fun logger krobot velocity_left velocity_right acceleration_left acceleration_right duration ->
+ Krobot.set_velocities krobot
+ ~velocities:(velocity_left, velocity_right)
+ ~accelerations:(acceleration_left, acceleration_right)
+ ~duration);
(* +---------------------------------------------------------------+
| Cards control |
@@ -316,9 +254,9 @@ let () =
register "calibration-start" (f2 (int "range-finder") (keyword "skip-meas" [("true", true); ("false", false)]))
(fun logger -> Krobot.calibration_start);
- register "calibartion-stop" f0
+ register "calibration-stop" f0
(fun logger -> Krobot.calibration_stop);
- register "calibartion-continue" f0
+ register "calibration-continue" f0
(fun logger -> Krobot.calibration_continue);
(* +---------------------------------------------------------------+
@@ -326,64 +264,44 @@ let () =
+---------------------------------------------------------------+ *)
let id = int "id"
- and pos = int "pos"
- and speed = int ~default:50 "speed"
+ and position = int "position"
+ and velocity = int ~default:50 "velocity"
and timeout = int ~default:100 "timeout"
- and reg = int "reg"
- and value = int "value"
- and now = keyword ~default:true "now" [("true", true); ("false", false)] in
+ and goto_mode = keyword ~default:`Now "mode" [("now", `Now); ("action", `Action)] in
- register "ax12-goto" (f4 id pos speed now)
- (fun logger krobot id pos speed now ->
- Krobot.AX12.goto krobot id pos speed now);
- register "ax12-ping" (f2 id timeout)
+ register ~path:["ax12"] "goto" (f4 id position velocity goto_mode)
+ (fun logger krobot id position velocity goto_mode ->
+ Krobot_unsafe.AX12.goto krobot id position velocity goto_mode);
+ register ~path:["ax12"] "ping" (f2 id timeout)
(fun logger krobot id timeout ->
- Krobot.AX12.ping krobot id timeout >>= function
- | 0 -> logger [textf "ax12-ping[%d] reply: " id; fg lred; text "timeout"]
- | _ -> logger [textf "ax12-ping[%d] reply: " id; fg lgreen; text "success"]);
- register "ax12-read8" (f3 id reg timeout)
- (fun logger krobot id reg timeout ->
- lwt x = Krobot.AX12.read8 krobot id reg timeout in
- logger [textf "ax12-read8[%d] reply: %d" id x]);
- register "ax12-read16" (f3 id reg timeout)
- (fun logger krobot id reg timeout ->
- lwt x = Krobot.AX12.read16 krobot id reg timeout in
- logger [textf "ax12-read16[%d] reply: %d" id x]);
- register "ax12-write8" (f3 id reg value)
- (fun logger krobot id reg value ->
- Krobot.AX12.write8 krobot id reg value);
- register "ax12-write16" (f3 id reg value)
- (fun logger krobot id reg value ->
- Krobot.AX12.write16 krobot id reg value);
- register "ax12-get-pos" (f2 id timeout)
+ Krobot_unsafe.AX12.ping krobot id timeout >>= function
+ | 0 -> logger [textf "ping[%d] reply: " id; fg lred; text "timeout"]
+ | _ -> logger [textf "ping[%d] reply: " id; fg lgreen; text "success"]);
+ register ~path:["ax12"] "get-position" (f2 id timeout)
(fun logger krobot id timeout ->
- lwt x = Krobot.AX12.get_pos krobot id timeout in
- logger [textf "ax12-position[%d]: %d" id x]);
- register "ax12-get-speed" (f2 id timeout)
+ lwt x = Krobot_unsafe.AX12.get_position krobot id timeout in
+ logger [textf "positionition[%d]: %d" id x]);
+ register ~path:["ax12"] "get-velocity" (f2 id timeout)
(fun logger krobot id timeout ->
- lwt x = Krobot.AX12.get_speed krobot id timeout in
- logger [textf "ax12-speed[%d]: %d" id x]);
- register "ax12-get-load" (f2 id timeout)
+ lwt x = Krobot_unsafe.AX12.get_velocity krobot id timeout in
+ logger [textf "velocity[%d]: %d" id x]);
+ register ~path:["ax12"] "get-load" (f2 id timeout)
(fun logger krobot id timeout ->
- lwt x = Krobot.AX12.get_load krobot id timeout in
- logger [textf "ax12-load[%d]: %d" id x]);
- register "ax12-stats" (f2 id timeout)
+ lwt x = Krobot_unsafe.AX12.get_load krobot id timeout in
+ logger [textf "load[%d]: %d" id x]);
+ register ~path:["ax12"] "get-stats" (f2 id timeout)
(fun logger krobot id timeout ->
- lwt stats = Krobot.AX12.stats krobot id timeout in
+ lwt stats = Krobot_unsafe.AX12.get_stats krobot id timeout in
lwt () = logger [textf "ax12[%d] position = %d" id stats.Types.ax12_position] in
- lwt () = logger [textf "ax12[%d] speed = %d" id stats.Types.ax12_speed] in
+ lwt () = logger [textf "ax12[%d] velocity = %d" id stats.Types.ax12_velocity] in
lwt () = logger [textf "ax12[%d] torque = %d" id stats.Types.ax12_torque] in
lwt () = logger [textf "ax12[%d] voltage = %d" id stats.Types.ax12_voltage] in
lwt () = logger [textf "ax12[%d] temperature = %d" id stats.Types.ax12_temperature] in
lwt () = logger [textf "ax12[%d] cw-angle-limit = %d" id stats.Types.ax12_cw_angle_limit] in
lwt () = logger [textf "ax12[%d] ccw-angle-limit = %d" id stats.Types.ax12_ccw_angle_limit] in
return ());
- register "ax12-write-reg8" (f3 id reg value)
- (fun logger krobot id reg value ->
- Krobot.AX12.write_reg8 krobot id reg value);
- register "ax12-write-reg16" (f3 id reg value)
- (fun logger krobot id reg value ->
- Krobot.AX12.write_reg16 krobot id reg value);
- register "ax12-action" (f1 (int ~default:254 "id"))
+ register ~path:["ax12"] "action" (f1 (int ~default:254 "id"))
(fun logger krobot id ->
- Krobot.AX12.action krobot id)
+ Krobot_unsafe.AX12.action krobot id)
+
+let () = Script_unsafe.register ()
diff --git a/PC_Mainboard/clients/script_commands.ml b/PC_Mainboard/clients/script_commands.ml
new file mode 100644
index 0000000..b7369a4
--- /dev/null
+++ b/PC_Mainboard/clients/script_commands.ml
@@ -0,0 +1,153 @@
+(*
+ * script_commands.ml
+ * ------------------
+ * Copyright : (c) 2010, Jeremie Dimino <je...@di...>
+ * Licence : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+
+(* +-----------------------------------------------------------------+
+ | Types |
+ +-----------------------------------------------------------------+ *)
+
+type logger = Lwt_term.styled_text -> unit Lwt.t
+
+(* Type of an argument *)
+type arg_type =
+ | Int
+ | Float
+ | Keyword of string list
+
+type command = {
+ c_name : string;
+ (* The command name *)
+
+ c_path : string list;
+ (* The path of the command *)
+
+ c_exec : (string * string) list -> logger -> Krobot.t -> unit Lwt.t;
+ (* The command implementation. It takes as argument the list of
+ parameters. *)
+
+ c_args : (string * arg_type) list;
+ (* Argument description, used for completion. *)
+}
+
+(* An argument description *)
+type 'a arg = {
+ a_type : arg_type;
+ a_name : string;
+ a_cast : string -> 'a;
+ a_default : 'a option;
+}
+
+(* A function description *)
+type 'a func = {
+ f_args : (string * arg_type) list;
+ (* Arguments of the function, for completion *)
+
+ f_func : (string * string) list -> 'a -> unit Lwt.t;
+ (* [f_func args f] parses arguments [args] and apply them to [f] *)
+}
+
+(* All registred commands *)
+let commands = ref []
+
+(* Register a command *)
+let register ?(path=[]) name func f =
+ let command = {
+ c_name = name;
+ c_path = path;
+ c_exec = (fun args logger krobot -> func.f_func args (f logger krobot));
+ c_args = func.f_args;
+ } in
+ commands := command :: !commands
+
+exception Argument_error of string
+ (* Exception raised when there is a problem with an argument *)
+
+let arg_error msg = raise (Argument_error msg)
+
+(* Returns the value associated to [key] if any, and the list without
+ the first occurence of [key] *)
+let rec assoc_remove key = function
+ | [] ->
+ (None, [])
+ | (key', value) :: rest when key = key' ->
+ (Some value, rest)
+ | pair :: rest ->
+ let result, l = assoc_remove key rest in
+ (result, pair :: l)
+
+let ( --> ) arg func = {
+ f_args = (arg.a_name, arg.a_type) :: func.f_args;
+ f_func =
+ fun args f ->
+ let result, args = assoc_remove arg.a_name args in
+ match result with
+ | Some str ->
+ func.f_func args (f (arg.a_cast str))
+ | None ->
+ match arg.a_default with
+ | Some value ->
+ func.f_func args (f value)
+ | None ->
+ Printf.ksprintf a
rg_error "argument '%s' is mandatory" arg.a_name
+}
+
+let f0 = {
+ f_args = [];
+ f_func =
+ fun args f ->
+ match args with
+ | [] ->
+ f
+ | (key, _) :: _ ->
+ Printf.ksprintf arg_error "unused argument '%s'" key
+}
+
+let f1 arg0 = arg0 --> f0
+let f2 arg0 arg1 = arg0 --> (f1 arg1)
+let f3 arg0 arg1 arg2 = arg0 --> (f2 arg1 arg2)
+let f4 arg0 arg1 arg2 arg3 = arg0 --> (f3 arg1 arg2 arg3)
+let f5 arg0 arg1 arg2 arg3 arg4 = arg0 --> (f4 arg1 arg2 arg3 arg4)
+let f6 arg0 arg1 arg2 arg3 arg4 arg5 = arg0 --> (f5 arg1 arg2 arg3 arg4 arg5)
+
+(* +-----------------------------------------------------------------+
+ | Arguments |
+ +-----------------------------------------------------------------+ *)
+
+let int ?default name = {
+ a_name = name;
+ a_type = Int;
+ a_cast = (fun str ->
+ try
+ int_of_string str
+ with Failure _ ->
+ Printf.ksprintf arg_error "invalid value for argument '%s': an integer was expected" name);
+ a_default = default;
+}
+
+let float ?default name = {
+ a_name = name;
+ a_type = Float;
+ a_cast = (fun str ->
+ try
+ float_of_string str
+ with Failure _ ->
+ Printf.ksprintf arg_error "invalid value for argument '%s': a float was expected" name);
+ a_default = default;
+}
+
+let keyword ?default name keywords = {
+ a_name = name;
+ a_type = Keyword(List.map fst keywords);
+ a_cast = (fun key ->
+ try
+ List.assoc key keywords
+ with Not_found ->
+ Printf.ksprintf arg_error "invalid value for '%s'" name);
+ a_default = default;
+}
diff --git a/PC_Mainboard/clients/script_lexer.mll b/PC_Mainboard/clients/script_lexer.mll
index 46d64fc..fa5a9a9 100644
--- a/PC_Mainboard/clients/script_lexer.mll
+++ b/PC_Mainboard/clients/script_lexer.mll
@@ -26,7 +26,7 @@ let xdigit = digit | ['a'-'f' 'A'-'F']
let space = blank | ['\n' '\x0b' '\x0c' '\r']
let identstart = [ 'A'-'Z' 'a'-'z' '_' ]
-let identbody = [ 'A'-'Z' 'a'-'z' '_' '-' '\'' '0' - '9' ]
+let identbody = [ 'A'-'Z' 'a'-'z' '_' '-' '\'' '0' - '9' '.' ]
let ident = identstart identbody*
let maybe_ident = "" | ident
diff --git a/PC_Mainboard/common/PcInterface.h b/PC_Mainboard/common/PcInterface.h
index 8fd98e0..e79e8fa 100644
--- a/PC_Mainboard/common/PcInterface.h
+++ b/PC_Mainboard/common/PcInterface.h
@@ -78,6 +78,7 @@ typedef struct _UP {
#define GET_CURRENT 12 ///< Valeur instantandu courant dtar la batterie [Battery Monitoring]
#define GET_POWER_STATE 13 ///< Etat de l'alimentation de puissance (On/Off) [Battery Monitoring]
#define GET_BATTERY_STATE 14 ///< Etat des batteries (Pleine charge/Charge moyenne/Charge faible) [Battery Monitoring]
+#define GET_CURRENT_SPEED 15 ///< Demande au PIC la valeur actuelle d'un moteur [Carte d'asservissement]
// CMD_ERR arguments
#define ERR_UNKNOWN_CMD 1 ///< Commande inconnue
diff --git a/PC_Mainboard/common/config.ml b/PC_Mainboard/common/config.ml
index 6c73d1d..c248d6e 100644
--- a/PC_Mainboard/common/config.ml
+++ b/PC_Mainboard/common/config.ml
@@ -13,4 +13,3 @@ let initial_position = 200
let bus_address = "unix:abstract=krobot"
let update_delay = 0.05
let reopen_delay = 1.0
-let stop_motors_delay = 0.2
diff --git a/PC_Mainboard/common/config.mli b/PC_Mainboard/common/config.mli
index f43c1eb..645ac10 100644
--- a/PC_Mainboard/common/config.mli
+++ b/PC_Mainboard/common/config.mli
@@ -26,7 +26,3 @@ val update_delay : float
val reopen_delay : float
(** Time to wait before retrying to open a card *)
-
-val stop_motors_delay : float
- (** Amount of time to wait after a set-speed command to stop the
- motors *)
diff --git a/PC_Mainboard/common/types.ml b/PC_Mainboard/common/types.ml
index 60ab4ce..3f970ca 100644
--- a/PC_Mainboard/common/types.ml
+++ b/PC_Mainboard/common/types.ml
@@ -43,10 +43,26 @@ let obus_goto_mode = OBus_type.mapping obus_int
type ax12_stats = {
ax12_position : int;
- ax12_speed : int;
+ ax12_velocity : int;
ax12_torque : int;
ax12_voltage : int;
ax12_temperature : int;
ax12_cw_angle_limit : int;
ax12_ccw_angle_limit : int;
} with obus
+
+type exec_mode = [ `Now | `Action ]
+
+let obus_exec_mode = OBus_type.mapping obus_int
+ [(`Now, 0); (`Action, 1)]
+
+type direction = [ `Forward | `Backward ]
+
+let obus_direction = OBus_type.mapping obus_int
+ [(`Forward, 0); (`Backward, 1)]
+
+type ax12_action = {
+ aa_id : int;
+ aa_position : int;
+ aa_velocity : int;
+} with obus
diff --git a/PC_Mainboard/common/types.mli b/PC_Mainboard/common/types.mli
index 164f85a..6fa04c8 100644
--- a/PC_Mainboard/common/types.mli
+++ b/PC_Mainboard/common/types.mli
@@ -25,18 +25,30 @@ type motor = [ `Left | `Right | `Both ] with obus(basic)
type stop_mode = [ `Off | `Abrupt | `Smooth ] with obus(basic)
(** Mode for stopping motors *)
+type direction = [ `Forward | `Backward ] with obus(basic)
+
type card_state = [ `Present | `Absent ] with obus(basic)
(** State of a card *)
type goto_mode = [ `Straight | `Curve_right | `Curve_left ] with obus(basic)
(** Form of the trajectory for the goto command *)
+type exec_mode = [ `Now | `Action ] with obus(basic)
+ (** Mode of execution of the goto command for ax12 *)
+
type ax12_stats = {
ax12_position : int;
- ax12_speed : int;
+ ax12_velocity : int;
ax12_torque : int;
ax12_voltage : int;
ax12_temperature : int;
ax12_cw_angle_limit : int;
ax12_ccw_angle_limit : int;
} with obus(sequence)
+
+(** Action on an AX12: *)
+type ax12_action = {
+ aa_id : int;
+ aa_position : int;
+ aa_velocity : int;
+} with obus(sequence)
diff --git a/PC_Mainboard/common/util.ml b/PC_Mainboard/common/util.ml
index c40e26f..705623f 100644
--- a/PC_Mainboard/common/util.ml
+++ b/PC_Mainboard/common/util.ml
@@ -7,6 +7,8 @@
* This file is a part of [kro]bot.
*)
+open Lwt
+
let front_collide sensors =
if Array.length sensors <> 16 then invalid_arg "Until.front_collide";
let rec loop = function
@@ -22,3 +24,23 @@ let back_collide sensors =
| n -> (sensors.(n) && List.mem n Config.back_sensors) || loop (n + 1)
in
loop 0
+
+let unexpected_reply name reply =
+ lwt () = Lwt_log.log_f ~level:Lwt_log.Fatal "unexpected reply for request_name(%S): %s" name reply in
+ exit 1
+
+let single_instance bus name =
+ Lwt_event.always_notify_p
+ (fun name ->
+ lwt () = Lwt_log.log ~level:Lwt_log.Notice "service restarted, exiting" in
+ exit 0)
+ (React.E.filter ((=) name) (OBus_bus.name_lost bus)#event);
+ OBus_bus.request_name bus ~allow_replacement:true ~replace_existing:true name >>= function
+ | `Primary_owner ->
+ return ()
+ | `In_queue ->
+ unexpected_reply name "in-queue"
+ | `Exists ->
+ unexpected_reply name "exists"
+ | `Already_owner ->
+ unexpected_reply name "already-owner"
diff --git a/PC_Mainboard/common/util.mli b/PC_Mainboard/common/util.mli
index f652bb8..36ad923 100644
--- a/PC_Mainboard/common/util.mli
+++ b/PC_Mainboard/common/util.mli
@@ -16,3 +16,9 @@ val front_collide : bool array -> bool
val back_collide : bool array -> bool
(** [front_collide sensors] returns whether on of the back sensors is
activated *)
+
+val single_instance : OBus_bus.t -> OBus_name.bus -> unit Lwt.t
+ (** [single_instance bus name] requests the bus name [name], and
+ exit the program when this name is lost. This permit to easily
+ restart the service and ensures that there is only one running
+ instance. *)
diff --git a/PC_Mainboard/driver/RW.ml b/PC_Mainboard/driver/RW.ml
index f7c417a..c43640f 100644
--- a/PC_Mainboard/driver/RW.ml
+++ b/PC_Mainboard/driver/RW.ml
@@ -7,31 +7,75 @@
* This file is a part of [kro]bot.
*)
-let get_uint8 data ofs = Char.code data.[ofs]
-let set_uint8 data ofs v = data.[ofs] <- Char.unsafe_chr v
-let get_int8 = get_uint8
-let set_int8 = set_uint8
-
-let get_int16 data ofs =
- (get_uint8 data ofs lsl 8)
- lor (get_uint8 data (ofs + 1))
-let get_uint16 = get_int16
-
-let set_int16 data ofs v =
- set_uint8 data ofs ((v lsr 8) land 0xff);
- set_uint8 data (ofs + 1) (v land 0xff)
-let set_uint16 = set_int16
-
-let get_int32 data ofs =
- (get_uint8 data ofs lsl 24)
- lor (get_uint8 data (ofs + 1) lsl 16)
- lor (get_uint8 data (ofs + 2) lsl 8)
- lor (get_uint8 data (ofs + 3))
-let get_uint32 = get_int32
-
-let set_int32 data ofs v =
- set_uint8 data ofs ((v lsr 24) land 0xff);
- set_uint8 data (ofs + 1) ((v lsr 16) land 0xff);
- set_uint8 data (ofs + 2) ((v lsr 8) land 0xff);
- set_uint8 data (ofs + 3) (v land 0xff)
-let set_uint32 = set_int32
+type pointer = {
+ mutable offset : int;
+ buffer : string;
+}
+
+type writer = pointer
+type reader = pointer
+
+let writer buffer = { buffer = buffer; offset = 0 }
+let reader buffer = { buffer = buffer; offset = 0 }
+
+let get_uint8 pointer =
+ let offset = pointer.offset in
+ pointer.offset <- offset + 1;
+ Char.code pointer.buffer.[offset]
+let put_uint8 pointer value =
+ let offset = pointer.offset in
+ pointer.offset <- offset + 1;
+ pointer.buffer.[offset] <- Char.unsafe_chr value
+let get_sint8 = get_uint8
+let put_sint8 = put_uint8
+
+let get_sint16 pointer =
+ let v0 = get_uint8 pointer in
+ let v1 = get_uint8 pointer in
+ (v0 lsl 8) lor v1
+let get_uint16 = get_sint16
+
+let put_sint16 pointer value =
+ put_uint8 pointer ((value lsr 8) land 0xff);
+ put_uint8 pointer (value land 0xff)
+let put_uint16 = put_sint16
+
+let get_sint32 pointer =
+ let v0 = get_uint8 pointer in
+ let v1 = get_uint8 pointer in
+ let v2 = get_uint8 pointer in
+ let v3 = get_uint8 pointer in
+ (v0 lsl 24) lor (v1 lsl 16) lor (v2 lsl 8) lor v3
+let get_uint32 = get_sint32
+
+let put_sint32 pointer value =
+ put_uint8 pointer ((value lsr 24) land 0xff);
+ put_uint8 pointer ((value lsr 16) land 0xff);
+ put_uint8 pointer ((value lsr 8) land 0xff);
+ put_uint8 pointer (value land 0xff)
+let put_uint32 = put_sint32
+
+let get_string pointer =
+ let index =
+ try
+ String.index_from pointer.buffer pointer.offset '\000'
+ with Not_found ->
+ String.length pointer.buffer
+ in
+ let offset = pointer.offset in
+ pointer.offset <- index + 1;
+ String.sub pointer.buffer offset (index - offset)
+
+let put_string pointer value =
+ let len = String.length value in
+ if len > String.length pointer.buffer - pointer.offset then
+ invalid_arg "RW.put_string: string too long"
+ else begin
+ String.blit value 0 pointer.buffer pointer.offset len;
+ let offset = pointer.offset + len in
+ if offset < String.length pointer.buffer then begin
+ pointer.buffer.[offset] <- '\x00';
+ pointer.offset <- offset + 1
+ end else
+ pointer.offset <- offset
+ end
diff --git a/PC_Mainboard/driver/RW.mli b/PC_Mainboard/driver/RW.mli
index 4fe39fa..92948c0 100644
--- a/PC_Mainboard/driver/RW.mli
+++ b/PC_Mainboard/driver/RW.mli
@@ -7,20 +7,38 @@
* This file is a part of [kro]bot.
*)
-val get_int8 : string -> int -> int
-val set_int8 : string -> int -> int -> unit
+(** Serialisation/deserialisation *)
-val get_int16 : string -> int -> int
-val set_int16 : string -> int -> int -> unit
+(** {6 Writing} *)
-val get_int32 : string -> int -> int
-val set_int32 : string -> int -> int -> unit
+type writer
-val get_uint8 : string -> int -> int
-val set_uint8 : string -> int -> int -> unit
+val writer : string -> writer
+ (** [writer buffer] creates a writer which writes into [buffer] *)
-val get_uint16 : string -> int -> int
-val set_uint16 : string -> int -> int -> unit
+val put_sint8 : writer -> int -> unit
+val put_sint16 : writer -> int -> unit
+val put_sint32 : writer -> int -> unit
-val get_uint32 : string -> int -> int
-val set_uint32 : string -> int -> int -> unit
+val put_uint8 : writer -> int -> unit
+val put_uint16 : writer -> int -> unit
+val put_uint32 : writer -> int -> unit
+
+val put_string : writer -> string -> unit
+
+(** {6 Reading} *)
+
+type reader
+
+val reader : string -> reader
+ (** [reader buffer] creates a reader which reads from [buffer] *)
+
+val get_sint8 : reader -> int
+val get_sint16 : reader -> int
+val get_sint32 : reader -> int
+
+val get_uint8 : reader -> int
+val get_uint16 : reader -> int
+val get_uint32 : reader -> int
+
+val get_string : reader -> string
diff --git a/PC_Mainboard/driver/card.ml b/PC_Mainboard/driver/card.ml
deleted file mode 100644
index 5ecf347..0000000
--- a/PC_Mainboard/driver/card.ml
+++ /dev/null
@@ -1,350 +0,0 @@
-(*
- * card.ml
- * -------
- * Copyright : (c) 2009, Jeremie Dimino <je...@di...>
- * Licence : BSD3
- *
- * This file is a part of [kro]bot.
- *)
-
-module Log = Lwt_log.Make(struct let section = "card" end)
-
-open Lwt
-
-(* +-----------------------------------------------------------------+
- | Messages |
- +-----------------------------------------------------------------+ *)
-
-let data_length = 52
- (* Taille en octet du corps d'un message *)
-
-type serial = int
- (* Type d'un numéro de série d'un message *)
-
-type message = {
- host_serial : serial;
- (* Le numéro de série du message, émis par l'ordinateur. Vaut 0 pour
- les messages émis par le PIC. *)
-
- device_serial : serial;
- (* Le numéro de série du message, émis par le PIC. Vaut 0 pour les
- messages émis par l'ordinateur. *)
-
- command : int;
- (* La commande, en fait c'est plutôt le type du message *)
-
- error : int;
- (* Si c'est un message d'erreur ce flag est non-nul *)
-
- data : string;
- (* Les données du messages, il y a 52 octets. *)
-}
-
-let make_buffer () = String.make data_length '\000'
-
-(* Parse un message depuis un buffer brut: *)
-let parse_message buf = {
- host_serial = Char.code buf.[Protocol.up_hseq];
- device_serial = Char.code buf.[Protocol.up_dseq];
- command = Char.code buf.[Protocol.up_cmd];
- error = Char.code buf.[Protocol.up_err];
- data = String.sub buf Protocol.up_data 52;
-}
-
-(* Créé un buffer brut depuis un message: *)
-let forge_message msg =
- let buf = String.make 64 '\000' in
- buf.[Protocol.up_hseq] <- Char.chr msg.host_serial;
- buf.[Protocol.up_dseq] <- Char.chr msg.device_serial;
- buf.[Protocol.up_cmd] <- Char.chr msg.command;
- buf.[Protocol.up_err] <- Char.chr msg.error;
- if String.length msg.data > 52 then
- Printf.ksprintf invalid_arg "message body too big: %d > 52" (String.length msg.data)
- else begin
- String.blit msg.data 0 buf Protocol.up_data (String.length msg.data);
- buf
- end
-
-(* +-----------------------------------------------------------------+
- | Definitions |
- +-----------------------------------------------------------------+ *)
-
-exception Card_closed
-exception Card_crashed of string
-
-module Int_map = Map.Make(struct type t = int let compare = compare end)
-
-(* Type of a up and running card *)
-type card = {
- mutable serial_pool : serial list;
- (* Pool de serial disponibles, comme il n'y a que 256 serial
- disponibles on évite de juste incrémenter un compteur au pif. *)
-
- mutable reply_waiters : string Lwt.u Int_map.t;
- (* Threads en attente d'une réponse *)
-
- handle : USB.handle;
- (* Handle pour le périphérique usb *)
-
- kernel_active : bool;
- (* Est-ce qu'un driver noyau était attaché à la carte avant qu'on
- l'utilise ? *)
-
- mutex : Lwt_mutex.t;
- (* Mutex pour envoyer des commandes, les cartes n'aiment pas les
- appels parallèles. *)
-
- mutable events : (string -> unit) Lwt_sequence.t Int_map.t;
- (* Connected events *)
-
- abort_waiter : int Lwt.t;
- abort_wakener : int Lwt.u;
- (* Sleeping thread which is wakeup when the card is closed *)
-
- wrapper : wrapper;
- (* The associated wrapper *)
-}
-
-and state =
- | Opened of card
- | Closed of exn
-
-and wrapper = {
- mutable state : state;
- name : string;
- watch : [ `Error of exn | `Closed ] Lwt.t;
-}
-
-type t = wrapper
-
-let name wrapper = wrapper.name
-let closed wrapper = match wrapper.state with
- | Opened _ -> false
- | Closed _ -> true
-
-let watch wrapper = wrapper.watch
-
-(* Return a running card, if possible. *)
-let rec get_card wrapper = match wrapper.state with
- | Opened card ->
- return card
- | Closed exn ->
- fail exn
-
-(* +-----------------------------------------------------------------+
- | Aborting |
- +-----------------------------------------------------------------+ *)
-
-let abort wrapper exn =
- match wrapper.state with
- | Closed exn ->
- return exn
- | Opened card ->
- wrapper.state <- Closed exn;
- try_lwt
- lwt () = USB.release_interface card.handle 0 in
- if card.kernel_active then USB.attach_kernel_driver card.handle 0;
- USB.close card.handle;
- return exn
- finally
- wakeup_exn card.abort_wakener exn;
- Int_map.iter (fun serial w -> wakeup_exn w exn) card.reply_waiters;
- return ()
-
-(* +-----------------------------------------------------------------+
- | Dispatching |
- +-----------------------------------------------------------------+ *)
-
-let dropped typ msg =
- lwt () = Log.warning_f "%s dropped" typ in
- lwt () = Log.warning_f "=====
-host_serial = %d
-device_serial = %d
-command = %d
-error = %d
-data:" msg.host_serial msg.device_serial msg.command msg.error in
- Lwt_stream.iter_s (fun line -> Log.warning line) (Lwt_stream.hexdump (Lwt_stream.of_string msg.data))
-
-(* Dispatch incomming messages continously *)
-let rec dispatch card =
- let buffer = String.create 64 in
- begin
- try_lwt
- select [card.abort_waiter;
- USB.interrupt_recv
- ~handle:card.handle
- ~endpoint:1
- buffer 0 64] >|= fun len -> `OK len
- with exn ->
- return (`Error exn)
- end >>= function
- | `Error exn ->
- lwt () = Log.exn_f exn "stop dispatching on %s card" card.wrapper.name in
- lwt _ = abort card.wrapper exn in
- return ()
- | `OK len ->
- if len <> 64 then begin
- let msg = Printf.sprintf "read on %s card returned %d instead of 64" card.wrapper.name len in
- lwt () = Log.error msg in
- lwt _ = abort card.wrapper (Card_crashed msg) in
- return ()
- end else begin
- let msg = parse_message buffer in
- if msg.command = Protocol.cmd_respond then begin
- match try Some(Int_map.find msg.host_serial card.reply_waiters) with Not_found -> None with
- | Some wakener ->
- card.reply_waiters <- Int_map.remove msg.host_serial card.reply_waiters;
- card.serial_pool <- card.serial_pool @ [msg.host_serial];
- Lwt.wakeup wakener msg.data
- | None ->
- ignore (dropped "response" msg)
- end else begin
- match try Some(Int_map.find msg...
[truncated message content] |
|
From: Jérémie D. <Ba...@us...> - 2010-02-24 22:18:40
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 085efdbed4f0703aa3d6a2e3be36ed0cc993c32d (commit)
from f763bb5ede549e946affa6f5f8b1817de9656595 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 085efdbed4f0703aa3d6a2e3be36ed0cc993c32d
Author: Jérémie Dimino <je...@di...>
Date: Wed Feb 24 23:05:17 2010 +0100
Add get-positions
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/interface/interface.ml b/PC_Mainboard/interface/interface.ml
index 8d042dc..1d217fe 100644
--- a/PC_Mainboard/interface/interface.ml
+++ b/PC_Mainboard/interface/interface.ml
@@ -534,5 +534,12 @@ let interfaces = [
~repl:[Arg("right", sint32);
Arg("left", sint32)]
();
+ request
+ ~name:"get-positions"
+ ~code:PcInterface.cmd_get
+ ~args:[Cst(uint8, PcInterface.get_current_pos)]
+ ~repl:[Arg("right", sint32);
+ Arg("left", sint32)]
+ ();
]);
]
hooks/post-receive
--
krobot
|
|
From: Olivier B. <Ba...@us...> - 2010-02-24 22:16:17
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via f763bb5ede549e946affa6f5f8b1817de9656595 (commit)
from 4b6f331e6e1c0a2c4e91e5f13838a77ab7110ad7 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit f763bb5ede549e946affa6f5f8b1817de9656595
Author: Olivier BICHLER <oli...@gm...>
Date: Wed Feb 24 23:15:56 2010 +0100
Fixed goto()
-----------------------------------------------------------------------
Changes:
diff --git a/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw b/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw
index fd79bb8..0a02801 100644
Binary files a/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw and b/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw differ
diff --git a/USB_Module/Motor_Controller/Firmware/lm629.c b/USB_Module/Motor_Controller/Firmware/lm629.c
index c022818..426f9cf 100644
--- a/USB_Module/Motor_Controller/Firmware/lm629.c
+++ b/USB_Module/Motor_Controller/Firmware/lm629.c
@@ -765,7 +765,7 @@ void goTo(short x, short y, short vel, short acc, BYTE mode, short d) {
if (mode == GOTO_CURVE_LEFT) {
// angle2 = angle2 if we pass left
- turnLeft(90.0-angle2*180.0/PI, vel, acc);
+ turnRight(90.0-angle2*180.0/PI, vel, acc);
posRight = (r - (float) WHEELS_DIST/2.0)*angle3;
posLeft = (r + (float) WHEELS_DIST/2.0)*angle3;
@@ -776,7 +776,7 @@ void goTo(short x, short y, short vel, short acc, BYTE mode, short d) {
// If we pass right, we need to adjust the calculated angle
angle2 = 2.0*angle1 - angle2;
- turnLeft(90.0-angle2*180.0/PI, vel, acc);
+ turnRight(90.0-angle2*180.0/PI, vel, acc);
posRight = (r + (float) WHEELS_DIST/2.0)*angle3;
posLeft = (r - (float) WHEELS_DIST/2.0)*angle3;
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof
index 0a9c20b..2c0c916 100644
Binary files a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof and b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof differ
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
index 6ddce26..fc58abe 100644
--- a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
+++ b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
@@ -1,18 +1,18 @@
:020000040000FA
-:060000006AEF30F012006F
+:0600000064EF30F0120075
:0600080004EF04F01200F9
:060018000CEF04F01200E1
-:060800006AEF30F0120067
-:06080800FDEF0FF01200ED
-:0608180065EF10F0120074
-:06082A00040067610000FC
-:1008300026010000210000005F6100005F01000050
-:100840000800000051610000470100000E00000098
-:0C0850004E6100006A010000030000007F
-:04085C000BEC0DF0A4
+:0608000064EF30F012006D
+:06080800F7EF0FF01200F3
+:060818005FEF10F012007A
+:06082A0004005B61000008
+:100830002601000021000000536100005F0100005C
+:100840000800000045610000470100000E000000A4
+:0C085000426100006A010000030000008B
+:04085C000DEC0DF0A2
:10086000FE0EDB5006E1F80E96163C0E9416959897
:1008700008D0FE0EDB0405E1070E9612C30E94129B
-:10088000958810EF0DF0D9CFE6FFE1CFD9FFE65202
+:10088000958812EF0DF0D9CFE6FFE1CFD9FFE65200
:10089000010EE66EE3DFE552809AFE0EDB5004E0C7
:1008A000FE0EDB5002080FE1839C81880000839ECE
:1008B0000000000000008450010BDF6E838E0000FA
@@ -98,1374 +98,1372 @@
:100DB000F3CF00F08250400B01E0010E800DF350A4
:100DC0000010011002100310041005100610DF6E51
:100DD000838EDF5000D0E552E552E7CFD9FF1200F5
-:100DE0000BEC0DF0E652DF6A67EC0DF0DF6EFD0EE6
+:100DE0000DEC0DF0E652DF6A69EC0DF0DF6EFD0EE2
:100DF000DB50DF14DF6EDF5002E0010E01D0000E89
-:100E0000E55210EF0DF00BEC0DF01D0ED6EC0CF0D2
-:100E1000000E0EEC0FF010EF0DF00BEC0DF067EC88
-:100E20000DF084080FE067EC0DF0C4080BE0E66AF3
-:100E3000E3EC0EF0D9EC0EF0020EE66E3DEC30F075
-:100E4000E552EDD71C0ED6EC0CF00A0E0EEC0FF0AE
-:100E5000E7EC0DF067EC0DF0800804E067EC0DF0B6
-:100E6000C008E5E167EC0DF0C00802E1E7EC0DF029
-:100E70001E0ED6EC0CF00F0E0EEC0FF0C8EC0FF0BF
-:100E8000FA0EDBCFE6FFFB0E76EC0EF0F80EDBCFB2
-:100E9000E6FFF90E76EC0EF0F60EDBCFE6FFF70E6E
-:100EA00076EC0EF0040ED6EC0CF010EF0DF00BEC1F
-:100EB0000DF0080EE126010E08EC0DF0010EE7CF53
-:100EC000DBFF020E37EC0FF0DF6E030E08EC0DF0C7
-:100ED000030EE7CFDBFF040E08EC0DF0020EE7CFA8
-:100EE000DBFF050E08EC0DF0050EE7CFDBFF060E6D
-:100EF00008EC0DF0040EE7CFDBFF070E08EC0DF059
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-:100F8000020EE66EE66AD7EC0DF007E1020EE66EA1
-:100F9000010EE66ED7EC0DF002E0000E01D0010E5E
+:100E0000E55212EF0DF00DEC0DF01D0ED8EC0CF0CC
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+:100E20000DF084080FE069EC0DF0C4080BE0E66AF1
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-:10580000E12402E3E168E652E16ED950FA0FE96...
[truncated message content] |
|
From: Olivier B. <Ba...@us...> - 2010-02-24 22:06:41
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via 4b6f331e6e1c0a2c4e91e5f13838a77ab7110ad7 (commit)
from d5cabf5265f1cf7f5d47fd193ada0bd3b4c36e68 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 4b6f331e6e1c0a2c4e91e5f13838a77ab7110ad7
Author: Olivier BICHLER <oli...@gm...>
Date: Wed Feb 24 23:06:18 2010 +0100
Added missing break
-----------------------------------------------------------------------
Changes:
diff --git a/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw b/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw
index 59ac9e8..fd79bb8 100644
Binary files a/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw and b/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw differ
diff --git a/USB_Module/Motor_Controller/Firmware/main.c b/USB_Module/Motor_Controller/Firmware/main.c
index 8344746..f036db5 100644
--- a/USB_Module/Motor_Controller/Firmware/main.c
+++ b/USB_Module/Motor_Controller/Firmware/main.c
@@ -786,6 +786,7 @@ void ProcessIO(void) {
ToSendDataBuffer.DATA[5] = dword.byte.UB;
ToSendDataBuffer.DATA[6] = dword.byte.HB;
ToSendDataBuffer.DATA[7] = dword.byte.LB;
+ break;
default:
ToSendDataBuffer.ERR = ERR_UNKNOWN_GET;
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof
index aeb43bb..0a9c20b 100644
Binary files a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof and b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof differ
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
index 93d6151..6ddce26 100644
--- a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
+++ b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
@@ -1,14 +1,14 @@
:020000040000FA
-:0600000069EF30F0120070
+:060000006AEF30F012006F
:0600080004EF04F01200F9
:060018000CEF04F01200E1
-:0608000069EF30F0120068
+:060800006AEF30F0120067
:06080800FDEF0FF01200ED
:0608180065EF10F0120074
-:06082A00040065610000FE
-:1008300026010000210000005D6100005F01000052
-:10084000080000004F610000470100000E0000009A
-:0C0850004C6100006A0100000300000081
+:06082A00040067610000FC
+:1008300026010000210000005F6100005F01000050
+:100840000800000051610000470100000E00000098
+:0C0850004E6100006A010000030000007F
:04085C000BEC0DF0A4
:10086000FE0EDB5006E1F80E96163C0E9416959897
:1008700008D0FE0EDB0405E1070E9612C30E94129B
@@ -103,7 +103,7 @@
:100E0000E55210EF0DF00BEC0DF01D0ED6EC0CF0D2
:100E1000000E0EEC0FF010EF0DF00BEC0DF067EC88
:100E20000DF084080FE067EC0DF0C4080BE0E66AF3
-:100E3000E3EC0EF0D9EC0EF0020EE66E3CEC30F076
+:100E3000E3EC0EF0D9EC0EF0020EE66E3DEC30F075
:100E4000E552EDD71C0ED6EC0CF00A0E0EEC0FF0AE
:100E5000E7EC0DF067EC0DF0800804E067EC0DF0B6
:100E6000C008E5E167EC0DF0C00802E1E7EC0DF029
@@ -178,15 +178,15 @@
:1012B00049EC0FF0E66A9BEC0DF0FFEC0DF0CDDB96
:1012C000C3EF0EF0A8DB3C0EE12670EC0EF05FECF5
:1012D0000FF070EC0EF0B2EC0FF056EC0FF008C00F
-:1012E0002EF009C02FF00AC030F00BC031F080ECB6
+:1012E0002EF009C02FF00AC030F00BC031F081ECB5
:1012F00022F07EEC0FF0BEEC0EF068EC0FF087EC05
:101300000FF0BEEC0EF0A8EC0DF056EC0FF014C090
-:101310002EF015C02FF016C030F017C031F080EC61
-:1013200022F09FEC0EF075EC0FF097EC21F04DECF5
+:101310002EF015C02FF016C030F017C031F081EC60
+:1013200022F09FEC0EF075EC0FF098EC21F04DECF4
:101330000FF0336A346A800E356E40EC0FF0380ED1
:101340002EC0DBFF390E2FC0DBFF3A0E30C0DBFFB3
:101350003B0E31C0DBFF70EC0EF04DEC0FF0BCDB50
-:10136000BEEC0EF034DBB8DBDFEC2AF0086E080EC2
+:10136000BEEC0EF034DBB8DBE0EC2AF0086E080EC1
:10137000E15E0850080E2DC0DBFF090E2EC0DBFF1A
:101380000A0E2FC0DBFF0B0E30C0DBFFDBDBF60EDF
:10139000DB5007E0D950F40F12EC0FF0EE50ED10D7
@@ -200,16 +200,16 @@
:1014100033DF0A6E060EE15E0A50D4D1380EDBCF00
:1014200004F0390EDBCF05F03A0EDBCF06F03B0EB1
:10143000DBCF07F00C6A0D6A0E6A400E0F6E91DA70
-:1014400080EC22F03CEC0EF0F40EDBCF2FF0F50E2A
-:101450007FDB9EDB9CEC0EF097EC21F0140E2EC08F
+:1014400081EC22F03CEC0EF0F40EDBCF2FF0F50E29
+:101450007FDB9EDB9CEC0EF098EC21F0140E2EC08E
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-:0A5EC6002DD8FD0EDB50A86EA69E3D
-:105ED000A69CA684F250800B01E0010E01016F6FB9
-:105EE000F29E550EA76EAA0E...
[truncated message content] |
|
From: Jérémie D. <Ba...@us...> - 2010-02-24 21:54:50
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via d5cabf5265f1cf7f5d47fd193ada0bd3b4c36e68 (commit)
from c8338ac1db819595ad7883625879bc2180fe872c (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit d5cabf5265f1cf7f5d47fd193ada0bd3b4c36e68
Author: Olivier BICHLER <oli...@en...>
Date: Wed Feb 24 22:41:14 2010 +0100
[driver] stop motors on velocity=0
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index 1bc7bc8..eae08a2 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -443,27 +443,27 @@ struct
let date = Unix.gettimeofday () in
if (((direction_l = `Forward && velocity_l > 0) || (direction_r = `Forward && velocity_r > 0)) && date < dev.inhibit_forward_until)
|| (((direction_l = `Backward && velocity_l > 0) || (direction_r = `Backward && velocity_r > 0)) && date < dev.inhibit_backward_until) then
- fail (Failure "inhibited move")
+ fail (Failure "inhibited move")
else begin
- if velocity_l <> 0 || velocity_r <> 0 then
+ cancel stopper;
+ if velocity_l <> 0 || velocity_r <> 0 then begin
dev.state <- Manual(Lwt_unix.sleep duration >> stop_motors dev `Smooth,
{ velocity = velocity_l; acceleration = acceleration_l; direction = direction_l },
- { velocity = velocity_r; acceleration = acceleration_r; direction = direction_r })
- else
- dev.state <- Static;
- cancel stopper;
- lwt () =
- if acceleration_l <> settings_l.acceleration then
- USB_commands.Motors.traj_new_velocity dev.card `Left velocity_l acceleration_l direction_l
- else
- USB_commands.Motors.traj_change_velocity dev.card `Left velocity_l direction_l
- and () =
- if acceleration_r <> settings_r.acceleration then
- USB_commands.Motors.traj_new_velocity dev.card `Right velocity_r acceleration_r direction_r
- else
- USB_commands.Motors.traj_change_velocity dev.card `Right velocity_r direction_r
- in
- USB_commands.Motors.traj_start dev.card `Both
+ { velocity = velocity_r; acceleration = acceleration_r; direction = direction_r });
+ lwt () =
+ if acceleration_l <> settings_l.acceleration then
+ USB_commands.Motors.traj_new_velocity dev.card `Left velocity_l acceleration_l direction_l
+ else
+ USB_commands.Motors.traj_change_velocity dev.card `Left velocity_l direction_l
+ and () =
+ if acceleration_r <> settings_r.acceleration then
+ USB_commands.Motors.traj_new_velocity dev.card `Right velocity_r acceleration_r direction_r
+ else
+ USB_commands.Motors.traj_change_velocity dev.card `Right velocity_r direction_r
+ in
+ USB_commands.Motors.traj_start dev.card `Both
+ end else
+ stop_motors dev `Smooth
end
let set_velocities dev velocities accelerations duration =
hooks/post-receive
--
krobot
|
|
From: Olivier B. <Ba...@us...> - 2010-02-24 21:46:47
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via c8338ac1db819595ad7883625879bc2180fe872c (commit)
from ec6a88b803f8747e048f74bd305d67e32be01ac7 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit c8338ac1db819595ad7883625879bc2180fe872c
Author: Olivier BICHLER <oli...@gm...>
Date: Wed Feb 24 22:46:23 2010 +0100
Added missing resetInterrupt()
-----------------------------------------------------------------------
Changes:
diff --git a/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw b/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw
index 876b7ff..59ac9e8 100644
Binary files a/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw and b/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw differ
diff --git a/USB_Module/Motor_Controller/Firmware/main.c b/USB_Module/Motor_Controller/Firmware/main.c
index 41d3519..8344746 100644
--- a/USB_Module/Motor_Controller/Firmware/main.c
+++ b/USB_Module/Motor_Controller/Firmware/main.c
@@ -1032,10 +1032,11 @@ void ProcessIO(void) {
word3.byte.HB = ReceivedDataBuffer.DATA[6];
word3.byte.LB = ReceivedDataBuffer.DATA[7];
+ resetInterrupt(ReceivedDataBuffer.DATA[1]);
newPosition(ReceivedDataBuffer.DATA[1],
- (long) ((float) word1.Val * COEF_WHEEL),
- (long) ((float) word2.Val * COEF_WHEEL * CONST_VEL),
- (long) ((float) word3.Val * COEF_WHEEL * CONST_ACC));
+ (long) ((float) word1.Val * COEF_WHEEL),
+ (long) ((float) word2.Val * COEF_WHEEL * CONST_VEL),
+ (long) ((float) word3.Val * COEF_WHEEL * CONST_ACC));
break;
case TRAJ_NEW_VELOCITY:
@@ -1044,19 +1045,21 @@ void ProcessIO(void) {
word2.byte.HB = ReceivedDataBuffer.DATA[4];
word2.byte.LB = ReceivedDataBuffer.DATA[5];
+ resetInterrupt(ReceivedDataBuffer.DATA[1]);
newVelocity(ReceivedDataBuffer.DATA[1],
- (long) ((float) word1.Val * COEF_WHEEL * CONST_VEL),
- (long) ((float) word2.Val * COEF_WHEEL * CONST_ACC),
- ReceivedDataBuffer.DATA[6]);
+ (long) ((float) word1.Val * COEF_WHEEL * CONST_VEL),
+ (long) ((float) word2.Val * COEF_WHEEL * CONST_ACC),
+ ReceivedDataBuffer.DATA[6]);
break;
case TRAJ_CHANGE_VELOCITY:
word1.byte.HB = ReceivedDataBuffer.DATA[2];
word1.byte.LB = ReceivedDataBuffer.DATA[3];
+ resetInterrupt(ReceivedDataBuffer.DATA[1]);
changeVelocity(ReceivedDataBuffer.DATA[1],
- (long) ((float) word1.Val * COEF_WHEEL * CONST_VEL),
- ReceivedDataBuffer.DATA[4]);
+ (long) ((float) word1.Val * COEF_WHEEL * CONST_VEL),
+ ReceivedDataBuffer.DATA[4]);
break;
case TRAJ_START:
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof
index bf093d3..aeb43bb 100644
Binary files a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof and b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof differ
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
index 6480698..93d6151 100644
--- a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
+++ b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
@@ -1,14 +1,14 @@
:020000040000FA
-:060000005AEF30F012007F
+:0600000069EF30F0120070
:0600080004EF04F01200F9
:060018000CEF04F01200E1
-:060800005AEF30F0120077
+:0608000069EF30F0120068
:06080800FDEF0FF01200ED
:0608180065EF10F0120074
-:06082A000400476100001C
-:1008300026010000210000003F6100005F01000070
-:100840000800000031610000470100000E000000B8
-:0C0850002E6100006A010000030000009F
+:06082A00040065610000FE
+:1008300026010000210000005D6100005F01000052
+:10084000080000004F610000470100000E0000009A
+:0C0850004C6100006A0100000300000081
:04085C000BEC0DF0A4
:10086000FE0EDB5006E1F80E96163C0E9416959897
:1008700008D0FE0EDB0405E1070E9612C30E94129B
@@ -103,7 +103,7 @@
:100E0000E55210EF0DF00BEC0DF01D0ED6EC0CF0D2
:100E1000000E0EEC0FF010EF0DF00BEC0DF067EC88
:100E20000DF084080FE067EC0DF0C4080BE0E66AF3
-:100E3000E3EC0EF0D9EC0EF0020EE66E2DEC30F085
+:100E3000E3EC0EF0D9EC0EF0020EE66E3CEC30F076
:100E4000E552EDD71C0ED6EC0CF00A0E0EEC0FF0AE
:100E5000E7EC0DF067EC0DF0800804E067EC0DF0B6
:100E6000C008E5E167EC0DF0C00802E1E7EC0DF029
@@ -178,15 +178,15 @@
:1012B00049EC0FF0E66A9BEC0DF0FFEC0DF0CDDB96
:1012C000C3EF0EF0A8DB3C0EE12670EC0EF05FECF5
:1012D0000FF070EC0EF0B2EC0FF056EC0FF008C00F
-:1012E0002EF009C02FF00AC030F00BC031F071ECC5
+:1012E0002EF009C02FF00AC030F00BC031F080ECB6
:1012F00022F07EEC0FF0BEEC0EF068EC0FF087EC05
:101300000FF0BEEC0EF0A8EC0DF056EC0FF014C090
-:101310002EF015C02FF016C030F017C031F071EC70
-:1013200022F09FEC0EF075EC0FF088EC21F04DEC04
+:101310002EF015C02FF016C030F017C031F080EC61
+:1013200022F09FEC0EF075EC0FF097EC21F04DECF5
:101330000FF0336A346A800E356E40EC0FF0380ED1
:101340002EC0DBFF390E2FC0DBFF3A0E30C0DBFFB3
:101350003B0E31C0DBFF70EC0EF04DEC0FF0BCDB50
-:10136000BEEC0EF034DBB8DBD0EC2AF0086E080ED1
+:10136000BEEC0EF034DBB8DBDFEC2AF0086E080EC2
:10137000E15E0850080E2DC0DBFF090E2EC0DBFF1A
:101380000A0E2FC0DBFF0B0E30C0DBFFDBDBF60EDF
:10139000DB5007E0D950F40F12EC0FF0EE50ED10D7
@@ -200,16 +200,16 @@
:1014100033DF0A6E060EE15E0A50D4D1380EDBCF00
:1014200004F0390EDBCF05F03A0EDBCF06F03B0EB1
:10143000DBCF07F00C6A0D6A0E6A400E0F6E91DA70
-:1014400071EC22F03CEC0EF0F40EDBCF2FF0F50E39
-:101450007FDB9EDB9CEC0EF088EC21F0140E2EC09E
+:1014400080EC22F03CEC0EF0F40EDBCF2FF0F50E2A
+:101450007FDB9EDB9CEC0EF097EC21F0140E2EC08F
:10146000DBFF150E2FC0DBFF160E30C0DBFF170EA3
-:1014700032DA70EC0EF09CEC0EF071EC22F0180EEB
+:1014700032DA70EC0EF09CEC0EF080EC22F0180EDC
:101480002EC0DBFF190E2FC0DBFF1A0E30C0DBFFB2
:101490001B0E21DABEEC0EF068EC0FF09CEC0EF0A7
-:1014A00071EC22F01C0E2EC0DBFF1D0E2FC0DBFFE7
+:1014A00080EC22F01C0E2EC0DBFF1D0E2FC0DBFFD8
:1014B0001E0E30C0DBFF1F0E31C0DBFF1C0EDBCF6A
:1014C00000F01D0EDBCF01F01E0EDBCF02F01F0E71
-:1014D000DBCF03F088DB93EC0EF071EC22F0200EF2
+:1014D000DBCF03F088DB93EC0EF080EC22F0200EE3
:1014E0002EC0DBFF210E2FC0DBFF220E30C0DBFF42
:1014F000230E31C0DBFFD950180FE96EDACFEAFFB7
:10150000240EEECFDBFF250EEECFDBFF260EEECF57
@@ -222,35 +222,35 @@
:10157000E9DB2C0E2EC0DBFF2D0E2FC0DBFF2E0E65
:1015800030C0DBFF2F0E31C0DBFF2C0EDBCF04F0B1
:101590002D0EDBCF05F02E0EDBCF06F02F0EDBCFAE
-:1015A00007F021DB75EC0FF071EC22F078DA300EE9
+:1015A00007F021DB75EC0FF080EC22F078DA300EDA
:1015B0002EC0DBFF310E2FC0DBFF320E30C0DBFF51
:1015C000330E31C0DBFF280EDBCF2EF0290EDBCF30
:1015D0002FF02A0EDBCF30F02B0EDBCF31F05FDAAD
:1015E000340E2EC0DBFF350E2FC0DBFF360E30C0B1
:1015F000DBFF370E31C0DBFFD950300F6CDBD95029
-:10160000340F69DBD0EC2AF0006E080EE15E00506A
+:10160000340F69DBDFEC2AF0006E080EE15E00505B
:101610000C0E2DC0DBFF0D0E2EC0DBFF0E0E2FC0FB
:10162000DBFF0F0E30C0DBFF006A016A026A400E6A
:10163000036E00C0E6FF01C0E6FF02C0E6FFE66EF3
:101640003BDB5FEC0FF048DAD8EC0FF02DC014F064
:101650002EC015F02FC016F030C017F049EC0FF077
-:10166000D0EC2AF0186E080EE15E1850E552E7CF74
+:10166000DFEC2AF0186E080EE15E1850E552E7CF65
:1016700003F0E552E7CF02F0E552E7CF01F0E55283
:10168000E7CF00F02DC004F02EC005F02FC006F00B
-:1016900030C007F0AADB47DB71EC22F0100E2EC041
+:1016900030C007F0AADB47DB80EC22F0100E2EC032
:1016A000DBFF110E2FC0DBFF120E30C0DBFF130E6D
-:1016B00031C0DBFFF60EDB5002081BE123DB87ECB9
-:1016C00021F09CDB88EC21F075D94CDA060E2FC096
+:1016B00031C0DBFFF60EDB5002081BE123DB96ECAA
+:1016C00021F09CDB97EC21F075D94CDA060E2FC087
:1016D000DBFF070E30C0DBFFD7DB79D9020EDBCF93
:1016E0002FF0030EF2EC0FF0040E2FC0DBFF050EFF
:1016F0004ED02E6A2F6A306A400E316E080EDBCF54
:1017000033F0090EDBCF34F00A0EDBCF35F00B0ED1
:10171000C4EC0FF0C2DB0C0EDBCF04F00D0EDBCF00
:1017200005F00E0EDBCF06F00F0EDBCF07F004C086
-:1017300033F005C034F006C035F007C036F087EC52
+:1017300033F005C034F006C035F007C036F096EC43
:1017400021F00C0E2EC0DBFF0D0E2FC0DBFF0E0EA6
-:1017500030C0DBFF0F0E31C0DBFFD4DA88EC21F0A4
-:101760004DDB87EC21F026D9FDD9040E2FC0DBFF1D
+:1017500030C0DBFF0F0E31C0DBFFD4DA97EC21F095
+:101760004DDB96EC21F026D9FDD9040E2FC0DBFF0E
:10177000050E30C0DBFF020EDBCF2FF0030E27D9A2
:1017800083DBF2EC0FF0060E2FC0DBFF070E30C03C
:10179000DBFF59D805D9040EDBCF2FF0050E54DA44
@@ -270,9 +270,9 @@
:101870002DC018F02EC019F02FC01AF030C01BF088
:101880001200DBCF11F0336A346A340E356E430E2A
:10189000366E0EC02EF00FC02FF010C030F011C009
-:1018A00031F071EC22F02EC00AF02FC00BF030C0E6
+:1018A00031F080EC22F02EC00AF02FC00BF030C0D7
:1018B0000CF031C00DF0DB0E336E0F0E346E490E9E
-:1018C000356EDEDA89DAF2DA02C02EF0C2DA87EC9F
+:1018C000356EDEDA89DAF2DA02C02EF0C2DA96EC90
:1018D00021F0CCEF0EF031C0DBFF046A056A800E08
:1018E000066E3F0E076E0C6A0D6A0E6A400E0F6E92
:1018F00004C0E6FF05C0E6FF06C0E6FF07C0E6FF3E
@@ -281,17 +281,17 @@
:101920000DF0E552E7CF0CF0E552E7CF07F0E552B6
:10193000E7CF06F0E552E7CF05F0E552E7CF04F038
:101940002DC010F02EC011F02FC012F030C013F0D7
-:101950004CDA5BDA71EC22F03CEF0EF034DAABEFEC
+:101950004CDA5BDA80EC22F03CEF0EF034DAABEFDD
:101960000EF0F40EDBCF2FF0F50EB2DAE8D905EF6A
:101970000FF09CDA93EF0EF0140EDBCF00F0150E93
:10198000DBCF01F0160EDBCF02F0170EDBCF03F03A
:10199000336A346ADC0E356E420E366E93EF0EF00B
:1019A000F70EDBCF2FF0F80E43EF0EF0E66E0BDAFA
:1019B000D9EF0EF0100EDBCF33F0110EDBCF34F089
-:1019C000120EDBCF35F0130EDFDADEEF22F080DA15
+:1019C000120EDBCF35F0130EDFDAEDEF22F080DA06
:1019D0007EEF0FF0EE58096E06C02DF007C02EF016
-:1019E00008C02FF0306E6EEC21F02EC002F02FC038
-:1019F00003F030C004F031C005F06EDA1EEC22F0C6
+:1019E00008C02FF0306E7DEC21F02EC002F02FC029
+:1019F00003F030C004F031C005F06EDA2DEC22F0B7
:101A0000DCDA2FC0F3FF30C0F4FF040EE15C1200FB
:101A10002EDAE76E1200D9CFE6FFE1CFD9FF120030
:101A2000E552E7CFD9FF12009CD9026A036AB40ECF
@@ -303,7 +303,7 @@
:101A8000DBFFDBCFE6FF070EDBCFE6FF040EDBCF8D
:101A9000E6FF050EDBCFE6FF4EDADEEF0EF0140EAA
:101AA000DBCF33F0150EDBCF34F0160EDBCF35F085
-:101AB000170EDBCF36F01EEC22F04DEF0FF0E66E86
+:101AB000170EDBCF36F02DEC22F04DEF0FF0E66E77
:101AC000CFD9020EE66EE0EC08F0E55212007BD9A9
:101AD00090EC06F0E552120089DA31C0E6FF120000
:101AE000D950F60F9FD9040EEECFDBFF050EEECFD7
@@ -326,31 +326,31 @@
:101BF000366E1200126E060EE15E1250120027DEE3
:101C00002EC024F02FC025F030C026F031C027F0C0
:101C1000350E336EFA0E346E0E0E356E3C0E366E89
-:101C200071EC22F02EC020F02FC021F030C022F045
+:101C200080EC22F02EC020F02FC021F030C022F036
:101C300031C023F0336A346A5C0E356E430E366E63
-:101C400071EC22F02EEF0CF043D961D945D971EC3B
+:101C400080EC22F02EEF0CF043D961D945D980EC1D
:101C500022F091D9BD0E336E370E346E860E356E7E
:101C6000410E366EB6D92DC00CF02EC00DF02FC02F
-:101C70000EF030C00FF0120022D918D936D91EEC60
-:101C800022F04DEF0FF024D91AD926D971EC22F0A9
+:101C70000EF030C00FF0120022D918D936D92DEC51
+:101C800022F04DEF0FF024D91AD926D980EC22F09A
:101C900035D9CC0E336EBC0E346E8C0E356E3B0EC9
:101CA000366E97D92DC000F02EC001F02FC002F083
:101CB00030C003F049EF0FF0140EDBCF0CF0150E1F
:101CC000DBCF0DF0160EDBCF0EF0170EDBCF0FF0D3
-:101CD00048DE87EF21F0E96EDACFEAFFA9EF0FF0D7
+:101CD00048DE96EF21F0E96EDACFEAFFA9EF0FF0C8
:101CE000FD0EDBCF2FF0FE0E68EF0FF0DBCFE6FF2F
-:101CF000AEEF0CF069D9ECD835D93BDE71EC22F0AF
-:101D0000DEEF22F091DE0C0EDBCF0EF00D0EDBCFFE
+:101CF000AEEF0CF069D9ECD835D93BDE80EC22F0A0
+:101D0000EDEF22F091DE0C0EDBCF0EF00D0EDBCFEF
:101D10000FF00E0EDBCF10F00F0EB3DD56EC09F016
:101D200069DFBCEF0CF000C02EF001C02FF002C044
:101D300030F003C031F01200EAD8B9EF0CF01BD933
-:101D400056EF0FF021D9BBD814DE87EF21F0C0D8B1
+:101D400056EF0FF021D9BBD814DE96EF21F0C0D8A2
:101D500085DD49EF0FF0FDEC04F0E552E552E55268
:101D60001200F70EDBCFE6FFF80EDBCFE6FFF90E31
:101D7000DBCFE6FFFA0EDBCFE6FF1200FB0EDBCF78
:101D80002FF0FC0E1200010EE66ED5DE020EE66E9E
:101D9000E0EC08F0E55244D610D92FC0E6FF30C081
-:101DA000E6FF1200E3EC26F0E552E552E552E5527B
+:101DA000E6FF1200F2EC26F0E552E552E552E5526C
:101DB00012007EEC04F0E552E5521200DECFE6FFA1
:101DC000DDCFE6FF1200FE0EDBCFE6FF120023DEC2
:101DD000B9DE3DDD2EEF0CF02EC006F02FC007F06F
@@ -363,13 +363,13 @@
:101E4000E5521200DBCF03F0005001100210031026
:101E5000120003C02FF004C030F005C031F01200B2
:101E6000DAEC07F0206E0D0EE15E20501200E66EF7
-:101E700074EC2FF0E5521200CEDD040EE1261200C4
-:101E8000400E366E1EEF22F0000EDFCF2FF0010E57
+:101E700083EC2FF0E5521200CEDD040EE1261200B5
+:101E8000400E366E2DEF22F0000EDFCF2FF0010E48
:101E900012002DC0E6FFF6EF0FF02EC000F02FC0AD
:101EA00001F030C002F031C003F012002EC033F058
:101EB0002FC034F030C035F031C036F012002EC0E3
:101EC00008F02FC009F030C00AF031C00BF012004A
-:101ED000DBCF30F059EF21F0A60E336E280E346EB2
+:101ED000DBCF30F068EF21F0A60E336E280E346EA3
:101EE000940E356E3F0E366E120004C02EF005C003
:101EF0002FF006C030F007C031F012002EC004F001
:101F00002FC005F030C006F031C007F012002EC01F
@@ -380,12 +380,12 @@
:101F50000EF0EECFE6FFEECFE6FFEECFE6FFEFCFDF
:101F6000E6FF12002EC00CF02FC00DF030C00EF0B6
:101F700031C00FF012002EC010F02FC011F030C091
-:101F800012F031C013F01200DBCF36F071EF22F007
+:101F800012F031C013F01200DBCF36F080EF22F0F8
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[truncated message content] |
|
From: Jérémie D. <Ba...@us...> - 2010-02-24 21:26:59
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "krobot".
The branch, master has been updated
via ec6a88b803f8747e048f74bd305d67e32be01ac7 (commit)
from 0a529d96f005d2befe3919348127e415a4bbd8bc (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit ec6a88b803f8747e048f74bd305d67e32be01ac7
Author: Jérémie Dimino <je...@di...>
Date: Wed Feb 24 22:23:07 2010 +0100
Add a command to retreive the driver motors state
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/clients/script.ml b/PC_Mainboard/clients/script.ml
index ec111c8..614e73c 100644
--- a/PC_Mainboard/clients/script.ml
+++ b/PC_Mainboard/clients/script.ml
@@ -202,6 +202,10 @@ let () =
and velocity motor = int ~default:400 ("velocity" ^ motor)
and acceleration motor = int ~default:800 ("acceleration" ^ motor) in
+ register "motors-state" f0
+ (fun logger krobot ->
+ lwt state = Krobot.motors_state krobot in
+ logger [text "motors state: "; text state]);
register "stop-motors" (f1 stop_mode)
(fun logger krobot mode ->
Krobot.stop_motors krobot ~mode);
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index 1ccb0b4..1bc7bc8 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -257,6 +257,28 @@ struct
include OBus.MakeInterface(struct let name = "fr.krobot.Device.Motors" end)
+ let string_of_direction = function
+ | `Forward -> "forward"
+ | `Backward -> "backward"
+
+ OL_method GetState : string = fun dev ->
+ return (match dev.state with
+ | Static ->
+ "static"
+ | Trajectory traj ->
+ Printf.sprintf "trajectory: trajectory=%s stopped=%B"
+ (match traj.trajectory with
+ | `Forward -> "forward"
+ | `Backward -> "backward"
+ | `Left -> "left"
+ | `Right -> "right"
+ | `Goto -> "goto")
+ traj.stopped
+ | Manual(_, settings_l, settings_r) ->
+ Printf.sprintf "manual: left={ direction=%s; velocity=%d; acceleration=%d } right={ direction=%s; velocity=%d; acceleration=%d }"
+ (string_of_direction settings_l.direction) settings_l.velocity settings_l.acceleration
+ (string_of_direction settings_r.direction) settings_r.velocity settings_r.acceleration)
+
(* +---------------------------------------------------------------+
| High-level movement |
+---------------------------------------------------------------+ *)
diff --git a/PC_Mainboard/lib_krobot/krobot.ml b/PC_Mainboard/lib_krobot/krobot.ml
index bec637f..60d4cd4 100644
--- a/PC_Mainboard/lib_krobot/krobot.ml
+++ b/PC_Mainboard/lib_krobot/krobot.ml
@@ -189,6 +189,7 @@ OP_method StopMotors : mode : Types.stop_mode -> unit
OP_method SetVelocities : velocities : int * int -> accelerations : int * int -> duration : float -> unit
OP_method InhibitForward : float -> unit
OP_method InhibitBackward : float -> unit
+OP_method GetState as motors_state : string
(* +-----------------------------------------------------------------+
| Cards |
diff --git a/PC_Mainboard/lib_krobot/krobot.mli b/PC_Mainboard/lib_krobot/krobot.mli
index ea2e27a..0dbb1c6 100644
--- a/PC_Mainboard/lib_krobot/krobot.mli
+++ b/PC_Mainboard/lib_krobot/krobot.mli
@@ -70,6 +70,9 @@ val set_ax12 : t -> Types.ax12_action list -> unit Lwt.t
(** {6 Motors} *)
+val motors_state : t -> string Lwt.t
+ (** Return a string describing the current state of motors *)
+
val turn : t -> angle : int -> velocity : int -> acceleration : int -> Types.move_result Lwt.t
val move : t -> distance : int -> velocity : int -> acceleration : int -> Types.move_result Lwt.t
val goto : t ->
hooks/post-receive
--
krobot
|
