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[Krobot-commits] [SCM] krobot branch, master, updated. 6f556df4ed198f82f795fbd18b86cf51e9275015
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From: Jérémie D. <Ba...@us...> - 2010-02-18 22:44:59
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- Log -----------------------------------------------------------------
commit 6f556df4ed198f82f795fbd18b86cf51e9275015
Author: Jérémie Dimino <je...@di...>
Date: Thu Feb 18 23:40:10 2010 +0100
Add commands for calibration
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/clients/init_position.ml b/PC_Mainboard/clients/init_position.ml
index 2217b76..4683c51 100644
--- a/PC_Mainboard/clients/init_position.ml
+++ b/PC_Mainboard/clients/init_position.ml
@@ -12,13 +12,13 @@
open Lwt
let move_backward_slowly krobot =
- Log#notice "moving backward";
+ lwt () = Log#notice "moving backward" in
Krobot.move krobot ~dist:(-1000) ~speed:100 ~acc:100 >>= function
| `OK ->
- Log#error "where am i ???";
+ lwt () = Log#error "where am i ???" in
exit 1
| `Stopped ->
- Log#notice "backward colisiton dectected";
+ lwt () = Log#notice "backward colisiton dectected" in
return ()
lwt () =
@@ -26,17 +26,17 @@ lwt () =
lwt () = move_backward_slowly krobot in
- Log#notice "going to initial position on first axis";
+ lwt () = Log#notice "going to initial position on first axis" in
lwt _ = Krobot.move krobot ~dist:Config.initial_position ~speed:400 ~acc:800 in
- Log#notice "turning";
+ lwt () = Log#notice "turning" in
lwt _ = Krobot.turn krobot ~angle:(-90) ~speed:400 ~acc:800 in
lwt () = move_backward_slowly krobot in
- Log#notice "going to initial position on second axis";
+ lwt () = Log#notice "going to initial position on second axis" in
lwt _ = Krobot.move krobot ~dist:Config.initial_position ~speed:400 ~acc:800 in
- Log#notice "turning";
+ lwt () = Log#notice "turning" in
lwt _ = Krobot.turn krobot ~angle:45 ~speed:400 ~acc:800 in
return ()
diff --git a/PC_Mainboard/clients/script.ml b/PC_Mainboard/clients/script.ml
index 1d147a3..a25c932 100644
--- a/PC_Mainboard/clients/script.ml
+++ b/PC_Mainboard/clients/script.ml
@@ -45,6 +45,12 @@ let commands = [
args = [("card", Arg_keyword ["interface"; "sensor"; "motor"])] };
{ name = "get-calibration";
args = [] };
+ { name = "calibration-start";
+ args = [("range-finder", Arg_int); ("skip-meas", Arg_keyword ["true"; "false"])] };
+ { name = "calibration-stop";
+ args = [] };
+ { name = "calibration-continue";
+ args = [] };
]
let set_of_list l = List.fold_left (fun set x -> TextSet.add x set) TextSet.empty l
@@ -167,6 +173,16 @@ let exec krobot line =
in
Log#notice "%s" (Buffer.contents buffer);
return ()
+ | "calibration-start" ->
+ Krobot.calibration_start krobot (arg_int "range-finder" 0)
+ (match arg_string "skip-meas" "false" with
+ | "true" -> true
+ | "false" -> false
+ | _ -> raise (Failure "invalid boolean value"))
+ | "calibration-continue" ->
+ Krobot.calibration_continue krobot
+ | "calibration-stop" ->
+ Krobot.calibration_stop krobot
| _ ->
Log#error "unknown command %S" action;
return ()
diff --git a/PC_Mainboard/driver/commands.ml b/PC_Mainboard/driver/commands.ml
index 44ce69d..97337c7 100644
--- a/PC_Mainboard/driver/commands.ml
+++ b/PC_Mainboard/driver/commands.ml
@@ -75,6 +75,23 @@ struct
RW.set_uint8 data 1 num;
lwt data = Card.send_request card Protocol.cmd_get data in
return (Array.init 8 (fun i -> RW.get_uint8 data i))
+
+ let calibration_start card num skip_meas =
+ let data = Card.make_buffer () in
+ RW.set_uint8 data 0 Protocol.cal_start;
+ RW.set_uint8 data 1 num;
+ RW.set_uint8 data 2 (if skip_meas then 1 else 0);
+ Card.send_command card Protocol.cmd_calibrate data
+
+ let calibration_continue card =
+ let data = Card.make_buffer () in
+ RW.set_uint8 data 0 Protocol.cal_continue;
+ Card.send_command card Protocol.cmd_calibrate data
+
+ let calibration_stop card =
+ let data = Card.make_buffer () in
+ RW.set_uint8 data 0 Protocol.cal_stop;
+ Card.send_command card Protocol.cmd_calibrate data
end
module Motor =
diff --git a/PC_Mainboard/driver/commands.mli b/PC_Mainboard/driver/commands.mli
index 1b7ff04..43fc243 100644
--- a/PC_Mainboard/driver/commands.mli
+++ b/PC_Mainboard/driver/commands.mli
@@ -31,6 +31,9 @@ end
module Range_finders : sig
val get : Card.t -> int array Lwt.t
val get_calibration : Card.t -> int -> int array Lwt.t
+ val calibration_start : Card.t -> int -> bool -> unit Lwt.t
+ val calibration_continue : Card.t -> unit Lwt.t
+ val calibration_stop : Card.t -> unit Lwt.t
end
module Motor : sig
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index c9563e4..37379f1 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -152,6 +152,13 @@ struct
OL_method GetCalibration : int -> int array = fun dev num ->
Commands.Range_finders.get_calibration dev.card num
+ OL_method CalibrationStart : int -> bool -> unit = fun dev num skip_meas ->
+ Commands.Range_finders.calibration_start dev.card num skip_meas
+ OL_method CalibrationStop : unit = fun dev ->
+ Commands.Range_finders.calibration_stop dev.card
+ OL_method CalibrationContinue : unit = fun dev ->
+ Commands.Range_finders.calibration_continue dev.card
+
let rec loop dev =
lwt data = Commands.Range_finders.get dev.card in
if data <> dev.data then begin
diff --git a/PC_Mainboard/lib_krobot/krobot.ml b/PC_Mainboard/lib_krobot/krobot.ml
index 8d2ec2e..fd4a1a1 100644
--- a/PC_Mainboard/lib_krobot/krobot.ml
+++ b/PC_Mainboard/lib_krobot/krobot.ml
@@ -88,7 +88,7 @@ let get_bus () =
match try Some(Sys.getenv "KROBOT") with Not_found -> None with
| Some command -> begin
try_lwt
- Log#info "connecting to the krobot with command %S" command;
+ lwt () = Log#info "connecting to the krobot with command %S" command in
let process = Lwt_process.open_process (Lwt_process.shell command) in
let transport =
OBus_transport.make
@@ -101,15 +101,15 @@ let get_bus () =
lwt () = OBus_bus.register_connection connection in
return connection
with exn ->
- Log#exn exn "failed to create remote transport";
+ lwt () = Log#exn exn "failed to create remote transport" in
fail exn
end
| None ->
try_lwt
- Log#info "connecting to the krobot with the local krobot bus";
+ lwt () = Log#info "connecting to the krobot with the local krobot bus" in
Lazy.force bus
with exn ->
- Log#exn exn "failed to connect to the local krobot bus";
+ lwt () = Log#exn exn "failed to connect to the local krobot bus" in
fail exn
let create ?peer () =
@@ -163,6 +163,9 @@ let jack krobot =
include MakeDevice(struct let name = "RangeFinders" end)
OP_method GetCalibration : int -> int array
+OP_method CalibrationStart : int -> bool -> unit
+OP_method CalibrationStop : unit
+OP_method CalibrationContinue : unit
(* +-----------------------------------------------------------------+
| AX12 |
diff --git a/PC_Mainboard/lib_krobot/krobot.mli b/PC_Mainboard/lib_krobot/krobot.mli
index 86e6b08..cb468bb 100644
--- a/PC_Mainboard/lib_krobot/krobot.mli
+++ b/PC_Mainboard/lib_krobot/krobot.mli
@@ -55,6 +55,10 @@ val get_calibration : t -> int -> int array Lwt.t
(** [get_calibration krobot num] returns the calibration of the
given range finder. *)
+val calibration_start : t -> int -> bool -> unit Lwt.t
+val calibration_continue : t -> unit Lwt.t
+val calibration_stop : t -> unit Lwt.t
+
(** {6 Manipulation of AX12s} *)
val ax12_goto : t -> id : int -> pos : int -> speed : int -> unit Lwt.t
hooks/post-receive
--
krobot
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