[Krobot-commits] [SCM] krobot branch, master, updated. a9944f99ef133be4a4f19cb4855833c1648ef6d3

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit a9944f99ef133be4a4f19cb4855833c1648ef6d3
Author: Jérémie Dimino <je...@di...>
Date:   Sun Mar 7 00:48:58 2010 +0100

    High-level commands to control the grip

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

Changes:
diff --git a/PC_Mainboard/clients/script.ml b/PC_Mainboard/clients/script.ml
index f57651b..55dfb13 100644
--- a/PC_Mainboard/clients/script.ml
+++ b/PC_Mainboard/clients/script.ml
@@ -274,7 +274,7 @@ let () =
 
   let id = int "id"
   and position = int "position"
-  and velocity = int ~default:50 "velocity"
+  and velocity = int ~default:Config.ax12_default_velocity "velocity"
   and timeout = int ~default:100 "timeout"
   and goto_mode = keyword ~default:`Now "mode" [("now", `Now); ("action", `Action)] in
 
@@ -311,6 +311,18 @@ let () =
        return ());
   register ~path:["ax12"] "action" (f1 (int ~default:254 "id"))
     (fun logger krobot id ->
-       Krobot_unsafe.AX12.action krobot id)
+       Krobot_unsafe.AX12.action krobot id);
+
+  (* +---------------------------------------------------------------+
+     | Grip                                                          |
+     +---------------------------------------------------------------+ *)
+
+  register ~path:["grip"] "up" f0
+    (fun logger krobot ->
+       Krobot.grip_up krobot);
+  register ~path:["grip"] "down" f0
+    (fun logger krobot ->
+       Krobot.grip_down krobot)
+
 
 let () = Script_unsafe.register ()
diff --git a/PC_Mainboard/common/config.ml b/PC_Mainboard/common/config.ml
index c248d6e..c05aaf8 100644
--- a/PC_Mainboard/common/config.ml
+++ b/PC_Mainboard/common/config.ml
@@ -13,3 +13,8 @@ let initial_position = 200
 let bus_address = "unix:abstract=krobot"
 let update_delay = 0.05
 let reopen_delay = 1.0
+
+let ax12_grip_up_down = 1
+let grip_up_position = 880
+let grip_down_position = 580
+let ax12_default_velocity = 50
diff --git a/PC_Mainboard/common/config.mli b/PC_Mainboard/common/config.mli
index 645ac10..66cd249 100644
--- a/PC_Mainboard/common/config.mli
+++ b/PC_Mainboard/common/config.mli
@@ -26,3 +26,8 @@ val update_delay : float
 
 val reopen_delay : float
   (** Time to wait before retrying to open a card *)
+
+val ax12_grip_up_down : int
+val grip_up_position : int
+val grip_down_position : int
+val ax12_default_velocity : int
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index 9fb42d4..a7f256e 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -121,6 +121,12 @@ struct
     in
     USB_commands.AX12.action dev.card ~id:0xfe
 
+  OL_method GripUp : unit = fun dev ->
+    set_ax12 dev [{ aa_id = Config.ax12_grip_up_down; aa_position = Config.grip_up_position; aa_velocity = Config.ax12_default_velocity }]
+
+  OL_method GripDown : unit = fun dev ->
+    set_ax12 dev [{ aa_id = Config.ax12_grip_up_down; aa_position = Config.grip_down_position; aa_velocity = Config.ax12_default_velocity }]
+
   let make card path =
     return {
       obus = OBus.make ~interfaces:[Unsafe.interface; interface] path;
diff --git a/PC_Mainboard/lib_krobot/krobot.ml b/PC_Mainboard/lib_krobot/krobot.ml
index 62a7c10..7a845d7 100644
--- a/PC_Mainboard/lib_krobot/krobot.ml
+++ b/PC_Mainboard/lib_krobot/krobot.ml
@@ -11,6 +11,7 @@ module Log = Lwt_log.Make(struct let section = "krobot" end)
 
 open OBus_pervasives
 open Lwt
+open Types
 
 (* +-----------------------------------------------------------------+
    | Types                                                           |
@@ -175,6 +176,8 @@ module AX12 = Make_device(struct let name = "AX12" end)
 OP_interface(AX12) "fr.krobot.Device.AX12"
 
 OP_method SetAX12 : Types.ax12_action structure list -> unit
+OP_method GripUp : unit
+OP_method GripDown : unit
 
 (* +-----------------------------------------------------------------+
    | Motors                                                          |
diff --git a/PC_Mainboard/lib_krobot/krobot.mli b/PC_Mainboard/lib_krobot/krobot.mli
index 4dde27c..19b8c34 100644
--- a/PC_Mainboard/lib_krobot/krobot.mli
+++ b/PC_Mainboard/lib_krobot/krobot.mli
@@ -68,6 +68,9 @@ val set_ax12 : t -> Types.ax12_action list -> unit Lwt.t
   (** [set_ax12 krobot actions] move all given ax12 at the same
       time. *)
 
+val grip_up : t -> unit Lwt.t
+val grip_down : t -> unit Lwt.t
+
 (** {6 Motors} *)
 
 val motors_state : t -> string Lwt.t


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