[Krobot-commits] [SCM] krobot branch, master, updated. ec4edc47e210a512d7cb447fb93b4428a5c93cf3

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit ec4edc47e210a512d7cb447fb93b4428a5c93cf3
Author: Jérémie Dimino <je...@di...>
Date:   Sat Mar 6 20:02:26 2010 +0100

    Add commands for servos

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

Changes:
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index 837f7b3..cfe4f0d 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -752,7 +752,7 @@ lwt () =
     ignore begin
       monitor_card ~name:"interace" ~vendor_id:PcInterface.usb_vid ~product_id:PcInterface.usb_pid_robot_interface ~set:set_card_interface
         (fun card ->
-           lwt () = USB_commands.Motors.enable card `Both in
+           lwt () = USB_commands.Servo.enable card `Both in
            lwt () = Compass.OBus.export bus =|< Compass.make card ["fr"; "krobot"; "Devices"; "Compass"]
            and () = AX12.OBus.export bus =|< AX12.make card ["fr"; "krobot"; "Devices"; "AX12"] in
            return ())
diff --git a/PC_Mainboard/interface/interface.ml b/PC_Mainboard/interface/interface.ml
index 1d217fe..d7269d5 100644
--- a/PC_Mainboard/interface/interface.ml
+++ b/PC_Mainboard/interface/interface.ml
@@ -542,4 +542,35 @@ let interfaces = [
                     Arg("left", sint32)]
              ();
          ]);
+
+  Module("servo", [
+           enum
+             ~name:"motor"
+             ~typ:uint8
+             ~keys:[("left", PcInterface.motor_left);
+                    ("both", PcInterface.motor_both);
+                    ("right", PcInterface.motor_right)]
+             ();
+           command
+             ~name:"enable"
+             ~code:PcInterface.cmd_motor
+             ~args:[Cst(uint8, PcInterface.motor_enable);
+                    Arg("motor", typ "motor")]
+             ();
+           command
+             ~name:"disable"
+             ~code:PcInterface.cmd_motor
+             ~args:[Cst(uint8, PcInterface.motor_disable);
+                    Arg("motor", typ "motor")]
+             ();
+           command
+             ~name:"move"
+             ~code:PcInterface.cmd_motor
+             ~args:[Cst(uint8, PcInterface.motor_move);
+                    Arg("motor", typ "motor");
+                    Arg("sens", uint8);
+                    Arg("velocity", uint8);
+                    Arg("duration", uint32)]
+             ();
+         ]);
 ]


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