[Krobot-commits] [SCM] krobot branch, master, updated. 973aff6d5670f48ceba7442182bcfbdd46e1cf33

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 973aff6d5670f48ceba7442182bcfbdd46e1cf33
Author: Jérémie Dimino <je...@di...>
Date:   Tue Mar 9 00:32:59 2010 +0100

    add request to get the motors configuration

commit 88400b5b6737719639fd1ee69fc4b1a9567ab6f3
Author: Jérémie Dimino <je...@di...>
Date:   Tue Mar 9 00:23:25 2010 +0100

    add the batttery monitoring card to the list of cards to close

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

Changes:
diff --git a/PC_Mainboard/common/krobot_types.ml b/PC_Mainboard/common/krobot_types.ml
index 0b5a297..b10800c 100644
--- a/PC_Mainboard/common/krobot_types.ml
+++ b/PC_Mainboard/common/krobot_types.ml
@@ -66,3 +66,10 @@ type ax12_action = {
   aa_position : int;
   aa_velocity : int;
 } with obus
+
+type motor_config = {
+  motor_kp : int;
+  motor_ki : int;
+  motor_kd : int;
+  motor_li : int;
+} with obus
diff --git a/PC_Mainboard/common/krobot_types.mli b/PC_Mainboard/common/krobot_types.mli
index c7c261f..56d042b 100644
--- a/PC_Mainboard/common/krobot_types.mli
+++ b/PC_Mainboard/common/krobot_types.mli
@@ -52,3 +52,11 @@ type ax12_action = {
   aa_position : int;
   aa_velocity : int;
 } with obus(sequence)
+
+(** Motor configuration *)
+type motor_config = {
+  motor_kp : int;
+  motor_ki : int;
+  motor_kd : int;
+  motor_li : int;
+} with obus(sequence)
diff --git a/PC_Mainboard/driver/driver.ml b/PC_Mainboard/driver/driver.ml
index 5d9c1ca..5e2ae19 100644
--- a/PC_Mainboard/driver/driver.ml
+++ b/PC_Mainboard/driver/driver.ml
@@ -643,21 +643,23 @@ struct
     | Some card ->
         Krobot_card.close card
 
-  OL_method CardStates : OBus_connection.t -> Krobot_types.card_state * Krobot_types.card_state * Krobot_types.card_state = fun manager connection ->
+  OL_method CardStates : OBus_connection.t -> Krobot_types.card_state * Krobot_types.card_state * Krobot_types.card_state * Krobot_types.card_state = fun manager connection ->
     let state card = match React.S.value card with
       | Some _ -> `Present
       | None -> `Absent
     in
     return (state card_interface,
             state card_sensor,
-            state card_motor)
+            state card_motor,
+            state card_monitoring)
 
   OL_method Shutdown : OBus_connection.t -> unit = fun manager connection ->
     lwt () = Log.info "exiting" in
     quit := true;
     lwt () = close card_interface
     and () = close card_sensor
-    and () = close card_motor in
+    and () = close card_motor
+    and () = close card_monitoring in
     lwt _ = OBus_bus.release_name connection "fr.krobot.Driver" in
     Lwt.wakeup done_wakener ();
     return ()
diff --git a/PC_Mainboard/interface/interface.ml b/PC_Mainboard/interface/interface.ml
index d4be097..9274bec 100644
--- a/PC_Mainboard/interface/interface.ml
+++ b/PC_Mainboard/interface/interface.ml
@@ -547,6 +547,21 @@ let interfaces = [
              ~repl:[Arg("right", sint32);
                     Arg("left", sint32)]
              ();
+           record
+             ~name:"motor-config"
+             ~prefix:"motor_"
+             ~args:[("kp", uint16);
+                    ("ki", uint16);
+                    ("kd", uint16);
+                    ("li", uint16)]
+             ();
+           request
+             ~name:"read-config"
+             ~code:PcInterface.cmd_traj
+             ~args:[Cst(uint8, PcInterface.traj_read_config)]
+             ~repl:[Arg("right", typ "motor-config");
+                    Arg("left", typ "motor-config")]
+             ();
          ]);
 
   Module("servo", [


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