[Krobot-commits] [SCM] krobot branch, master, updated. fdb6a0d68539867257a8498a43564647205aa20e

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit fdb6a0d68539867257a8498a43564647205aa20e
Author: Jérémie Dimino <je...@di...>
Date:   Mon Feb 15 21:57:08 2010 +0100

    Do not inverse directions in joy_control

commit 1def6218a057d6844c344042d595424dd891f396
Author: Olivier BICHLER <oli...@en...>
Date:   Mon Feb 15 21:54:26 2010 +0100

    Inverse directions for the right motor.

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

Changes:
diff --git a/PC_Mainboard/clients/joy_control.ml b/PC_Mainboard/clients/joy_control.ml
index b36a9de..8c01b87 100644
--- a/PC_Mainboard/clients/joy_control.ml
+++ b/PC_Mainboard/clients/joy_control.ml
@@ -132,7 +132,7 @@ let parent_loop krobot pipe =
           return ()
       | JoyRAxis n ->
           if not !rstop then
-            lwt () = try_call "set-speed-right" (fun () -> Krobot.set_speed krobot ~motor:`Right ~speed:((-n) * axis_coef) ~acc:acceleration) in
+            lwt () = try_call "set-speed-right" (fun () -> Krobot.set_speed krobot ~motor:`Right ~speed:(n * axis_coef) ~acc:acceleration) in
             loop ()
           else
             loop ()
diff --git a/PC_Mainboard/driver/commands.ml b/PC_Mainboard/driver/commands.ml
index 5404b77..c298091 100644
--- a/PC_Mainboard/driver/commands.ml
+++ b/PC_Mainboard/driver/commands.ml
@@ -93,9 +93,11 @@ struct
       backend Protocol.traj_tr card angle speed acc
 
   (* Values comming from lm629.h *)
-  let int_of_direction = function
-    | `Forward -> 1
-    | `Backward -> -1
+  let int_of_direction motor dir = match motor, dir with
+    | `Right, `Forward -> -1
+    | `Right, `Backward -> 1
+    | _, `Forward -> 1
+    | _, `Backward -> -1
 
   let int_of_motor = function
     | `Left -> Protocol.motor_left
@@ -113,7 +115,7 @@ struct
     RW.set_uint8 data 1 (int_of_motor motor);
     RW.set_int16 data 2 speed;
     RW.set_int16 data 4 acc;
-    RW.set_uint8 data 6 (int_of_direction dir);
+    RW.set_uint8 data 6 (int_of_direction motor dir);
     Card.send_command card Protocol.cmd_traj data
 
   let traj_change_velocity card ~motor ~speed ~dir =
@@ -121,7 +123,7 @@ struct
     RW.set_uint8 data 0 Protocol.traj_change_velocity;
     RW.set_uint8 data 1 (int_of_motor motor);
     RW.set_int16 data 2 speed;
-    RW.set_uint8 data 4 (int_of_direction dir);
+    RW.set_uint8 data 4 (int_of_direction motor dir);
     Card.send_command card Protocol.cmd_traj data
 
   let traj_start card ~motor =


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