[Krobot-commits] [SCM] krobot branch, master, updated. d5cabf5265f1cf7f5d47fd193ada0bd3b4c36e68

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit d5cabf5265f1cf7f5d47fd193ada0bd3b4c36e68
Author: Olivier BICHLER <oli...@en...>
Date:   Wed Feb 24 22:41:14 2010 +0100

    [driver] stop motors on velocity=0

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

Changes:
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index 1bc7bc8..eae08a2 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -443,27 +443,27 @@ struct
     let date = Unix.gettimeofday () in
     if (((direction_l = `Forward && velocity_l > 0) || (direction_r = `Forward && velocity_r > 0)) && date < dev.inhibit_forward_until)
       || (((direction_l = `Backward  && velocity_l > 0) || (direction_r = `Backward && velocity_r > 0)) && date < dev.inhibit_backward_until) then
-      fail (Failure "inhibited move")
+        fail (Failure "inhibited move")
     else begin
-      if velocity_l <> 0 || velocity_r <> 0 then
+      cancel stopper;
+      if velocity_l <> 0 || velocity_r <> 0 then begin
         dev.state <- Manual(Lwt_unix.sleep duration >> stop_motors dev `Smooth,
                             { velocity = velocity_l; acceleration = acceleration_l; direction = direction_l },
-                            { velocity = velocity_r; acceleration = acceleration_r; direction = direction_r })
-      else
-        dev.state <- Static;
-      cancel stopper;
-      lwt () =
-        if acceleration_l <> settings_l.acceleration then
-          USB_commands.Motors.traj_new_velocity dev.card `Left velocity_l acceleration_l direction_l
-        else
-          USB_commands.Motors.traj_change_velocity dev.card `Left velocity_l direction_l
-      and () =
-        if acceleration_r <> settings_r.acceleration then
-          USB_commands.Motors.traj_new_velocity dev.card `Right velocity_r acceleration_r direction_r
-        else
-          USB_commands.Motors.traj_change_velocity dev.card `Right velocity_r direction_r
-      in
-      USB_commands.Motors.traj_start dev.card `Both
+                            { velocity = velocity_r; acceleration = acceleration_r; direction = direction_r });
+        lwt () =
+          if acceleration_l <> settings_l.acceleration then
+            USB_commands.Motors.traj_new_velocity dev.card `Left velocity_l acceleration_l direction_l
+          else
+            USB_commands.Motors.traj_change_velocity dev.card `Left velocity_l direction_l
+        and () =
+          if acceleration_r <> settings_r.acceleration then
+            USB_commands.Motors.traj_new_velocity dev.card `Right velocity_r acceleration_r direction_r
+          else
+            USB_commands.Motors.traj_change_velocity dev.card `Right velocity_r direction_r
+        in
+        USB_commands.Motors.traj_start dev.card `Both
+      end else
+        stop_motors dev `Smooth
     end
 
   let set_velocities dev velocities accelerations duration =


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