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[Krobot-commits] [SCM] krobot branch, master, updated. d3193fa311b9c329e7b009ac3eadf26602f3628f
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From: Jérémie D. <Ba...@us...> - 2010-02-09 21:29:07
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from 47ce2657ec649f47a042dd2bb2dc6d18cdb14d56 (commit)
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- Log -----------------------------------------------------------------
commit d3193fa311b9c329e7b009ac3eadf26602f3628f
Author: Jérémie Dimino <je...@di...>
Date: Tue Feb 9 22:27:12 2010 +0100
remove old stuff
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/clients/lib-krobot/krobot.ml b/PC_Mainboard/clients/lib-krobot/krobot.ml
index 02352ac..25d225c 100644
--- a/PC_Mainboard/clients/lib-krobot/krobot.ml
+++ b/PC_Mainboard/clients/lib-krobot/krobot.ml
@@ -149,38 +149,7 @@ let jack krobot =
include MakeDevice(struct let name = "AX12" end)
-OP_method OpenClaw : unit
-OP_method CloseClaw : unit
-OP_method OpenCylinder : unit
-OP_method CloseCylinder : unit
-
-(* +-----------------------------------------------------------------+
- | Elevator |
- +-----------------------------------------------------------------+ *)
-
-include MakeDevice(struct let name = "Elevator" end)
-
-OP_method ElevatorUp : int -> int -> unit
-OP_method ElevatorDown : int -> int -> unit
-
-let opt = function
- | Some d -> d
- | None -> -1
-
-let elevator_up krobot ?speed ?delay () =
- elevator_up krobot (opt speed) (opt delay)
-
-let elevator_down krobot ?speed ?delay () =
- elevator_down krobot (opt speed) (opt delay)
-
-(* +-----------------------------------------------------------------+
- | Grip |
- +-----------------------------------------------------------------+ *)
-
-include MakeDevice(struct let name = "Grip" end)
-
-OP_method OpenGrip : unit
-OP_method CloseGrip : unit
+OP_method AX12Goto : id : int -> pos : int -> speed : int -> unit
(* +-----------------------------------------------------------------+
| Motors |
diff --git a/PC_Mainboard/clients/lib-krobot/krobot.mli b/PC_Mainboard/clients/lib-krobot/krobot.mli
index 065439c..9d0134e 100644
--- a/PC_Mainboard/clients/lib-krobot/krobot.mli
+++ b/PC_Mainboard/clients/lib-krobot/krobot.mli
@@ -50,21 +50,7 @@ val range_finders : t -> int array React.signal
(** {6 Manipulation of AX12s} *)
-val open_claw : t -> unit Lwt.t
-val close_claw : t -> unit Lwt.t
-
-val open_cylinder : t -> unit Lwt.t
-val close_cylinder : t -> unit Lwt.t
-
-(** {6 Manipulation of the elevator} *)
-
-val elevator_up : t -> ?speed : int -> ?delay : int -> unit -> unit Lwt.t
-val elevator_down : t -> ?speed : int -> ?delay : int -> unit -> unit Lwt.t
-
-(** {6 Manipulation of the grip} *)
-
-val open_grip : t -> unit Lwt.t
-val close_grip : t -> unit Lwt.t
+val ax12_goto : t -> id : int -> pos : int -> speed : int -> unit Lwt.t
(** {6 Motors} *)
diff --git a/PC_Mainboard/driver/src/driver.ml b/PC_Mainboard/driver/src/driver.ml
index 46d8587..5d8b294 100644
--- a/PC_Mainboard/driver/src/driver.ml
+++ b/PC_Mainboard/driver/src/driver.ml
@@ -152,110 +152,16 @@ struct
include OBus.MakeInterface(struct let name = "fr.krobot.Device.AX12" end)
- let ax12_goto card id pos speed =
+ let ax12_goto dev id pos speed =
let data = Card.make_buffer () in
RW.set_uint8 data 0 Protocol.ax12_goto;
RW.set_uint8 data 1 id;
RW.set_uint16 data 2 pos;
RW.set_uint16 data 4 speed;
- lwt _ = Card.send_request card Protocol.cmd_ax12 data in
+ lwt _ = Card.send_request dev.card Protocol.cmd_ax12 data in
return ()
- OL_method OpenClaw : unit = fun dev ->
- ax12_goto dev.card 1 1023 0
-
- OL_method CloseClaw : unit = fun dev ->
- ax12_goto dev.card 1 770 0
-
- OL_method OpenCylinder : unit = fun dev ->
- ax12_goto dev.card 2 154 0
-
- OL_method CloseCylinder : unit = fun dev ->
- ax12_goto dev.card 2 579 0
-
- let make card path = {
- obus = OBus_object.make path;
- card = card;
- }
-end
-
-(* +-----------------------------------------------------------------+
- | Elevator |
- +-----------------------------------------------------------------+ *)
-
-module Elevator =
-struct
- type t = {
- obus : OBus_object.t;
- card : Card.t;
- }
-
- module OBus = OBus_object.Make(struct
- type obj = t
- let get obj = obj.obus
- end)
-
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.Elevator" end)
-
- let motor_move card sens speed duration =
- let data = Card.make_buffer () in
- RW.set_uint8 data 0 Protocol.motor_move;
- RW.set_uint8 data 1 Protocol.motor_right;
- RW.set_uint8 data 2 (if sens < 0 then 200 else sens);
- RW.set_uint8 data 3 (if speed < 0 then 2000 else speed);
- RW.set_uint32 data 4 duration;
- Card.send_command card Protocol.cmd_motor data
-
- OL_method ElevatorUp : int -> int -> unit = fun dev speed delay ->
- motor_move dev.card 0 speed delay
-
- OL_method ElevatorDown : int -> int -> unit = fun dev speed delay ->
- motor_move dev.card 1 speed delay
-
- let make card path = {
- obus = OBus_object.make path;
- card = card;
- }
-end
-
-(* +-----------------------------------------------------------------+
- | Grip |
- +-----------------------------------------------------------------+ *)
-
-module Grip =
-struct
- type t = {
- obus : OBus_object.t;
- card : Card.t;
- }
-
- module OBus = OBus_object.Make(struct
- type obj = t
- let get obj = obj.obus
- end)
-
-
- include OBus.MakeInterface(struct let name = "fr.krobot.Device.Grip" end)
-
- let set_servo_state card angles =
- let data = Card.make_buffer () in
- RW.set_uint8 data 0 Protocol.set_servo_state;
- RW.set_uint8 data 1 (List.fold_left (fun acc (s, _) -> acc lor (1 lsl s)) 0 angles);
- List.iter (fun (s, a) -> RW.set_uint8 data (2 + s) a) angles;
- Card.send_command card Protocol.cmd_set data
-
- let left = 1
- let right = 2
-
- OL_method OpenGrip : unit = fun dev ->
- lwt () = set_servo_state dev.card [(left, 45); (right, -5)] in
- lwt () = Lwt_unix.sleep 0.5 in
- set_servo_state dev.card [(left, 10); (right, 45)]
-
- OL_method CloseGrip : unit = fun dev ->
- lwt () = set_servo_state dev.card [(right, -10)] in
- lwt () = Lwt_unix.sleep 0.2 in
- set_servo_state dev.card [(left, 50)]
+ OL_method AX12Goto : int -> int -> int -> unit
let make card path = {
obus = OBus_object.make path;
@@ -634,8 +540,6 @@ lwt () =
(* Interface card *)
Compass.OBus.export bus (Compass.make card_interface ["fr"; "krobot"; "Devices"; "Compass"]);
AX12.OBus.export bus (AX12.make card_interface ["fr"; "krobot"; "Devices"; "AX12"]);
- Elevator.OBus.export bus (Elevator.make card_interface ["fr"; "krobot"; "Devices"; "Elevator"]);
- Grip.OBus.export bus (Grip.make card_interface ["fr"; "krobot"; "Devices"; "Grip"]);
(* Sensor card *)
LogicSensors.OBus.export bus (LogicSensors.make card_sensor ["fr"; "krobot"; "Devices"; "LogicSensors"]);
hooks/post-receive
--
krobot
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