[Krobot-commits] [SCM] krobot branch, master, updated. dfcfe7e5c9efe6b7648973249ff9b311f74eb3f4

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit dfcfe7e5c9efe6b7648973249ff9b311f74eb3f4
Author: Jérémie Dimino <je...@di...>
Date:   Mon Feb 8 15:39:20 2010 +0100

    modification of forward/backward
    
    forward: 0 --> 1
    backward: 4096 --> -1

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

Changes:
diff --git a/PC_Mainboard/driver/src/driver.ml b/PC_Mainboard/driver/src/driver.ml
index 2defde7..12b2eea 100644
--- a/PC_Mainboard/driver/src/driver.ml
+++ b/PC_Mainboard/driver/src/driver.ml
@@ -450,28 +450,28 @@ struct
     Card.send_command dev.card Protocol.cmd_traj data
 
   (* Values comming from lm629.h *)
-  let forward = 0
-  let backward = 4096
+  let forward = 1
+  let backward = -1
 
   let traj_new_velocity card motor vel acc dir =
-    let data = String.create 8 in
+    let data = Card.make_buffer () in
     RW.set_uint8 data 0 Protocol.traj_new_velocity;
     RW.set_uint8 data 1 (int_of_motor motor);
     RW.set_int16 data 2 vel;
     RW.set_int16 data 4 acc;
-    RW.set_int16 data 6 dir;
+    RW.set_uint8 data 6 dir;
     Card.send_command card Protocol.cmd_traj data
 
   let traj_change_velocity card motor vel dir =
-    let data = String.create 6 in
+    let data = Card.make_buffer () in
     RW.set_uint8 data 0 Protocol.traj_change_velocity;
     RW.set_uint8 data 1 (int_of_motor motor);
     RW.set_int16 data 2 vel;
-    RW.set_int16 data 4 dir;
+    RW.set_uint8 data 4 dir;
     Card.send_command card Protocol.cmd_traj data
 
   let traj_start card motor =
-    let data = String.create 2 in
+    let data = Card.make_buffer () in
     RW.set_uint8 data 0 Protocol.traj_start;
     RW.set_uint8 data 1 (int_of_motor motor);
     Card.send_command card Protocol.cmd_traj data


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