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[Krobot-commits] [SCM] krobot branch, master, updated. 6c6fc54b41b825a7fd7a7c4e3b66b5991e92b084
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From: Jérémie D. <Ba...@us...> - 2010-02-03 21:01:15
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- Log -----------------------------------------------------------------
commit 6c6fc54b41b825a7fd7a7c4e3b66b5991e92b084
Author: Jérémie Dimino <je...@di...>
Date: Wed Feb 3 22:00:25 2010 +0100
fixes command parsing
commit 42ea7b3fc3549e99b5dd1f690acbd4e2973c7471
Author: Jérémie Dimino <je...@di...>
Date: Wed Feb 3 21:59:47 2010 +0100
enable lm629 on motor card
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/clients/tools/script.ml b/PC_Mainboard/clients/tools/script.ml
index a23183a..3fc468c 100644
--- a/PC_Mainboard/clients/tools/script.ml
+++ b/PC_Mainboard/clients/tools/script.ml
@@ -96,41 +96,31 @@ let motor_of_string = function
| _ -> failwith "Script.motor_of_strig: invalid motor"
let exec krobot line =
- match Text.words line with
- | [] ->
+ let action, args = Script_lexer.whole_command (Lexing.from_string line) in
+ let arg_int key default = try int_of_string (List.assoc key args) with Not_found -> default in
+ let arg_string key default = try List.assoc key args with Not_found -> default in
+ match action with
+ | "forward" ->
+ Krobot.move krobot ~dist:(arg_int "dist" 100) ~speed:(arg_int "speed" 400) ?acc:(arg_int "acc" 800)
+ | "backward" ->
+ Krobot.move krobot ~dist:(-(arg_int "dist" 100)) ~speed:(arg_int "speed" 400) ?acc:(arg_int "acc" 800)
+ | "left" ->
+ Krobot.turn krobot ~angle:(arg_int "dist" 100) ~speed:(arg_int "speed" 400) ?acc:(arg_int "acc" 800)
+ | "right" ->
+ Krobot.turn krobot ~angle:(-(arg_int "dist" 100)) ~speed:(arg_int "speed" 400) ?acc:(arg_int "acc" 800)
+ | "stop-motors" ->
+ Krobot.stop_motors krobot
+ ~motor:(motor_of_string (arg_string "motor" "both"))
+ ~mode:(match arg_string "mode" "off" with
+ | "off" -> `Off
+ | "abrupt" -> `Abrupt
+ | "smooth" -> `Smooth
+ | _ -> failwith "Script.exec: invalid stop mode")
+ | "set-speed" ->
+ Krobot.set_speed krobot
+ ~motor:(motor_of_string (arg_string "motor" "both"))
+ ~speed:(arg_int "speed" 100)
+ ~acc:(arg_int "acc" 800)
+ | _ ->
return ()
- | action :: args ->
- let rec make_args acc = function
- | [] | [_] ->
- acc
- | key :: value :: rest ->
- make_args ((key, value) :: acc) rest
- in
- let args = make_args [] args in
- let arg_int key default = try int_of_string (List.assoc key args) with Not_found -> default in
- let arg_string key default = try List.assoc key args with Not_found -> default in
- match action with
- | "forward" ->
- Krobot.move krobot ~dist:(arg_int "dist" 100) ~speed:(arg_int "speed" 400) ?acc:(arg_int "acc" 800)
- | "backward" ->
- Krobot.move krobot ~dist:(-(arg_int "dist" 100)) ~speed:(arg_int "speed" 400) ?acc:(arg_int "acc" 800)
- | "left" ->
- Krobot.turn krobot ~angle:(arg_int "dist" 100) ~speed:(arg_int "speed" 400) ?acc:(arg_int "acc" 800)
- | "right" ->
- Krobot.turn krobot ~angle:(-(arg_int "dist" 100)) ~speed:(arg_int "speed" 400) ?acc:(arg_int "acc" 800)
- | "stop-motors" ->
- Krobot.stop_motors krobot
- ~motor:(motor_of_string (arg_string "motor" "both"))
- ~mode:(match arg_string "mode" "off" with
- | "off" -> `Off
- | "abrupt" -> `Abrupt
- | "smooth" -> `Smooth
- | _ -> failwith "Script.exec: invalid stop mode")
- | "set-speed" ->
- Krobot.set_speed krobot
- ~motor:(motor_of_string (arg_string "motor" "both"))
- ~speed:(arg_int "speed" 100)
- ~acc:(arg_int "acc" 800)
- | _ ->
- return ()
diff --git a/PC_Mainboard/clients/tools/script_lexer.mll b/PC_Mainboard/clients/tools/script_lexer.mll
index fea99ef..a32c26e 100644
--- a/PC_Mainboard/clients/tools/script_lexer.mll
+++ b/PC_Mainboard/clients/tools/script_lexer.mll
@@ -56,3 +56,15 @@ and arguments buf = parse
(TextSet.add key set, x) }
| ""
{ (TextSet.empty, `Nothing) }
+
+and whole_command = parse
+ | blank* (ident as command)
+ { (command, whole_arguments lexbuf) }
+ | ""
+ { raise Exit }
+
+and whole_arguments = parse
+ | blank+ (ident as key) blank* "=" blank* (value as value)
+ { (key, value) :: whole_arguments lexbuf }
+ | blank* eof
+ { [] }
diff --git a/PC_Mainboard/driver/src/driver.ml b/PC_Mainboard/driver/src/driver.ml
index 93aca19..2defde7 100644
--- a/PC_Mainboard/driver/src/driver.ml
+++ b/PC_Mainboard/driver/src/driver.ml
@@ -59,14 +59,20 @@ let motor_enable card =
RW.set_uint8 data 1 Protocol.motor_both;
Card.send_command card Protocol.cmd_motor data
+let init_lm629 card =
+ Log#info "enabling lm629 on %s card" (Card.name card);
+ let data = Card.make_buffer () in
+ RW.set_uint8 data 0 Protocol.traj_init;
+ Card.send_command card Protocol.cmd_traj data
+
(* Enable motors when a card comes up *)
-let enable_motor_on_running card =
+let on_running card f =
let stop = ref ignore in
let notifier =
Lwt_signal.notify_p
(function
| Card.Running ->
- motor_enable card
+ f card
| Card.Opening ->
return ()
| Card.Closed ->
@@ -77,8 +83,9 @@ let enable_motor_on_running card =
stop := (fun () -> Lwt_signal.disable notifier)
let () =
- enable_motor_on_running card_interface;
- enable_motor_on_running card_motor
+ on_running card_interface motor_enable;
+ on_running card_motor
+ (fun card -> motor_enable card <&> init_lm629 card)
(* +-----------------------------------------------------------------+
| Compass |
hooks/post-receive
--
krobot
|
