[Krobot-commits] [SCM] krobot branch, master, updated. cf6fd012353bccafa22317d7ee087475af2b1f82

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit cf6fd012353bccafa22317d7ee087475af2b1f82
Author: Jérémie Dimino <je...@di...>
Date:   Thu Feb 11 23:00:52 2010 +0100

    [controller] change the default stop mode

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

Changes:
diff --git a/PC_Mainboard/clients/script.ml b/PC_Mainboard/clients/script.ml
index ef69fe9..99810ee 100644
--- a/PC_Mainboard/clients/script.ml
+++ b/PC_Mainboard/clients/script.ml
@@ -123,7 +123,7 @@ let exec krobot line =
       | "stop-motors" ->
           Krobot.stop_motors krobot
             ~motor:(motor_of_string (arg_string "motor" "both"))
-            ~mode:(match arg_string "mode" "off" with
+            ~mode:(match arg_string "mode" "smooth" with
                      | "off" -> `Off
                      | "abrupt" -> `Abrupt
                      | "smooth" -> `Smooth
diff --git a/PC_Mainboard/myocamlbuild.ml b/PC_Mainboard/myocamlbuild.ml
index d70ead8..b23d4cf 100644
--- a/PC_Mainboard/myocamlbuild.ml
+++ b/PC_Mainboard/myocamlbuild.ml
@@ -78,6 +78,7 @@ let targets = List.filter_opt (function (true, target) -> Some target | (false,
 
   (* Tests *)
   (have_lwt_unix && have_obus, "tests/double_move.best");
+  (have_lwt_unix && have_obus, "tests/stop_and_restart.best");
 ]
 
 (* +-----------------------------------------------------------------+
diff --git a/PC_Mainboard/tests/stop_and_restart.ml b/PC_Mainboard/tests/stop_and_restart.ml
new file mode 100644
index 0000000..8632258
--- /dev/null
+++ b/PC_Mainboard/tests/stop_and_restart.ml
@@ -0,0 +1,23 @@
+(*
+ * stop_and_restart.ml
+ * -------------------
+ * Copyright : (c) 2010, Jeremie Dimino <je...@di...>
+ * Licence   : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+open Lwt
+
+lwt () =
+  lwt krobot = Krobot.create () in
+  print_endline "moving forward";
+  let t = Krobot.move krobot ~dist:1000 ~speed:100 ~acc:200 in
+  lwt () = Lwt_unix.sleep 2.0 in
+  print_endline "stopping motors";
+  lwt () = Krobot.stop_motors krobot `Both `Smooth in
+  print_endline "waiting for trajectory to terminates";
+  lwt _ = t in
+  print_endline "mobing backward";
+  lwt _ = Krobot.move krobot ~dist:(-200) ~speed:100 ~acc:200 in
+  return ()


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