[Krobot-commits] [SCM] krobot branch, master, updated. d36204afda2e453843002b5941b805ad5d71ec49

[Jérémie D. <Ba...@us...>]

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       via  d36204afda2e453843002b5941b805ad5d71ec49 (commit)
      from  2cb0b2a1da174f7a32acebc769607b05a1cd4938 (commit)

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- Log -----------------------------------------------------------------
commit d36204afda2e453843002b5941b805ad5d71ec49
Author: Jérémie Dimino <je...@di...>
Date:   Wed Feb 10 22:31:15 2010 +0100

    Stop motors in smooth mode

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

Changes:
diff --git a/PC_Mainboard/clients/security/hard_stop.ml b/PC_Mainboard/clients/security/hard_stop.ml
index 124230c..a5559cc 100644
--- a/PC_Mainboard/clients/security/hard_stop.ml
+++ b/PC_Mainboard/clients/security/hard_stop.ml
@@ -31,7 +31,7 @@ let handle_colide krobot sensors =
        lwt () = Krobot.inhibit_forward krobot duration in
        if !state_forward = OK then begin
          state_forward := Stopped;
-         Krobot.stop_motors krobot ~motor:`Both ~mode:`Off;
+         Krobot.stop_motors krobot ~motor:`Both ~mode:`Smooth;
        end else
          return ()
      end else begin
@@ -42,7 +42,7 @@ let handle_colide krobot sensors =
        lwt () = Krobot.inhibit_backward krobot duration in
        if !state_backward = OK then begin
          state_backward := Stopped;
-         Krobot.stop_motors krobot ~motor:`Both ~mode:`Off;
+         Krobot.stop_motors krobot ~motor:`Both ~mode:`Smooth;
        end else
          return ()
      end else begin


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