krobot-commits

[Pierre C. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 74be0d4bea5261dc4196f4d9e3c6a9850ea9aa7e
Author: chicco <cha...@cr...>
Date:   Thu May 10 00:24:06 2012 +0200

    [krobot_dump_ax12] add option to ax12 recording

-----------------------------------------------------------------------

Changes:
diff --git a/info/control2011/src/tools/krobot_ax12_control.ml b/info/control2011/src/tools/krobot_ax12_control.ml
index 853ba44..d50c324 100644
--- a/info/control2011/src/tools/krobot_ax12_control.ml
+++ b/info/control2011/src/tools/krobot_ax12_control.ml
@@ -41,6 +41,7 @@ let run = function
 let rec go = function
   | [] -> Lwt.return ()
   | t::q ->
+    Printf.printf "go\n%!";
     lwt () = run t in
     go q
 
@@ -76,5 +77,7 @@ lwt () =
   match !run_file with
     | None -> go (List.rev !commands)
     | Some f ->
+      Printf.printf "run file\n%!";
       let actions = to_actions (read (open_in f)) in
+      Printf.printf "truc %i\n%!" (List.length actions);
       go actions
diff --git a/info/control2011/src/tools/krobot_dump_ax12.ml b/info/control2011/src/tools/krobot_dump_ax12.ml
index 80044c9..6bb9873 100644
--- a/info/control2011/src/tools/krobot_dump_ax12.ml
+++ b/info/control2011/src/tools/krobot_dump_ax12.ml
@@ -42,9 +42,22 @@ let log () =
            | _ -> ())
        (Krobot_bus.recv bus))
 
+let ax12_id = ref []
+let ax12_delay = ref 0.02
+let spec =
+  [ "-id", Arg.Int (fun i -> ax12_id := i::(!ax12_id)), "id of the recorded ax12";
+    "-delay", Arg.Set_float ax12_delay, "delay between to points"; ]
+
+let msg = "record ax12 movement ax12"
+let message _ = Arg.usage spec msg; flush stdout; exit 0
+let () = Arg.parse spec message msg
+
 let rec loop_request () =
-  lwt () = Lwt_unix.sleep 0.01 in
-  lwt () = Lwt_list.iter_s (fun i -> Krobot_bus.send bus (Unix.gettimeofday (), CAN (Info, Krobot_message.encode (Ax12_Request_State i)))) [1;2;3;4] in
+  (*lwt () = Lwt_unix.sleep 0.01 in*)
+  lwt () = Lwt_list.iter_s (fun i ->
+    lwt () = Krobot_bus.send bus (Unix.gettimeofday (), CAN (Info, Krobot_message.encode (Ax12_Request_State i))) in
+    Lwt_unix.sleep !ax12_delay)
+      !ax12_id in
   loop_request ()
 
 let t = loop_request ()


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