[Krobot-commits] [SCM] krobot branch, master, updated. 2cb0b2a1da174f7a32acebc769607b05a1cd4938

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 2cb0b2a1da174f7a32acebc769607b05a1cd4938
Author: Jérémie Dimino <je...@di...>
Date:   Wed Feb 10 22:27:21 2010 +0100

    [client-tools] added init_position.ml
    
    Program which put the robot into the initial position.
     enter the commit message for your changes. Lines starting

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

Changes:
diff --git a/PC_Mainboard/clients/common/config.ml b/PC_Mainboard/clients/common/config.ml
index ac92ae7..67926dd 100644
--- a/PC_Mainboard/clients/common/config.ml
+++ b/PC_Mainboard/clients/common/config.ml
@@ -9,3 +9,4 @@
 
 let back_sensors = [3; 6; 7; 10]
 let front_sensors = [0; 1; 2; 4; 5; 8; 9; 11; 12; 13; 14; 15]
+let initial_position = 200
diff --git a/PC_Mainboard/clients/common/config.mli b/PC_Mainboard/clients/common/config.mli
index ee9d807..47c3f27 100644
--- a/PC_Mainboard/clients/common/config.mli
+++ b/PC_Mainboard/clients/common/config.mli
@@ -14,3 +14,6 @@ val front_sensors : int list
 
 val back_sensors : int list
   (** List of back sensors *)
+
+val initial_position : int
+  (** Position to borders at the beginning of the match *)
diff --git a/PC_Mainboard/clients/common/util.ml b/PC_Mainboard/clients/common/util.ml
index 3edd854..b369bdc 100644
--- a/PC_Mainboard/clients/common/util.ml
+++ b/PC_Mainboard/clients/common/util.ml
@@ -11,7 +11,7 @@ let front_colide sensors =
   if Array.length sensors <> 16 then invalid_arg "Until.front_colide";
   let rec loop = function
     | 16 -> false
-    | n -> (sensors.(n) && List.mem n Config.front_sensors) || loop (n - 1)
+    | n -> (sensors.(n) && List.mem n Config.front_sensors) || loop (n + 1)
   in
   loop 0
 
@@ -19,6 +19,6 @@ let back_colide sensors =
   if Array.length sensors <> 16 then invalid_arg "Until.back_colide";
   let rec loop = function
     | 16 -> false
-    | n -> (sensors.(n) && List.mem n Config.back_sensors) || loop (n - 1)
+    | n -> (sensors.(n) && List.mem n Config.back_sensors) || loop (n + 1)
   in
   loop 0
diff --git a/PC_Mainboard/clients/myocamlbuild.ml b/PC_Mainboard/clients/myocamlbuild.ml
index 54d6a50..5da00b7 100644
--- a/PC_Mainboard/clients/myocamlbuild.ml
+++ b/PC_Mainboard/clients/myocamlbuild.ml
@@ -101,6 +101,7 @@ let _ =
           "remote/forward_dbus.native";
           "tools/joy_control.native";
           "security/hard_stop.native";
+          "tools/init_position.native";
         ];
 
         (* +---------------------------------------------------------+
diff --git a/PC_Mainboard/clients/tools/init_position.ml b/PC_Mainboard/clients/tools/init_position.ml
new file mode 100644
index 0000000..5ce1172
--- /dev/null
+++ b/PC_Mainboard/clients/tools/init_position.ml
@@ -0,0 +1,36 @@
+(*
+ * init_position.ml
+ * ----------------
+ * Copyright : (c) 2010, Jeremie Dimino <je...@di...>
+ * Licence   : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+(* Put the robot into its initial state *)
+
+open Lwt
+
+lwt () =
+  lwt krobot = Krobot.create () in
+  let colide = React.S.changes (React.S.map Util.back_colide (Krobot.logic_sensors krobot)) in
+
+  Log#notice "moving backward";
+  lwt () = Krobot.move krobot ~dist:(-1000) ~speed:100 ~acc:100 in
+  Log#notice "waiting for colision";
+  lwt _ = Lwt_event.next colide in
+  Log#notice "backward colisiton dectected";
+
+  Log#notice "going to initial position on first axis";
+  lwt () = Krobot.move krobot ~dist:Config.initial_position ~speed:400 ~acc:800 in
+
+  Log#notice "turning";
+  lwt () = Krobot.turn krobot ~angle:90 ~speed:400 ~acc:800 in
+  Log#notice "moving backward";
+  lwt () = Krobot.move krobot ~dist:(-1000) ~speed:100 ~acc:50 in
+  Log#notice "waiting for colision";
+  lwt _ = Lwt_event.next colide in
+  Log#notice "backward colisiton dectected";
+
+  Log#notice "going to initial position on second axis";
+  Krobot.move krobot ~dist:Config.initial_position ~speed:400 ~acc:800


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