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[Krobot-commits] [SCM] krobot branch, master, updated. 32305d14f1b6e3b39f5641e3a84fe452666eb6c0
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From: Jérémie D. <Ba...@us...> - 2010-05-09 16:02:14
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- Log -----------------------------------------------------------------
commit 32305d14f1b6e3b39f5641e3a84fe452666eb6c0
Author: Jérémie Dimino <je...@di...>
Date: Sun May 9 18:01:36 2010 +0200
make check more verbose
commit 0927b83a2a2326fb5a54fbba5990a67761b59aab
Author: Jérémie Dimino <je...@di...>
Date: Sun May 9 17:57:25 2010 +0200
Fix reply for Go* methods
commit 5f13c2909df77c032ae09c65822b00f58b457f8c
Author: Jérémie Dimino <je...@di...>
Date: Sun May 9 17:42:53 2010 +0200
AX12_GOTO does not returns a reply
commit 495382eb3d762fa1b48a9a94a24a18e56f8011a9
Author: Jérémie Dimino <je...@di...>
Date: Sun May 9 17:39:46 2010 +0200
use goto instead of set_ax12 for moving the infrared sensors
commit da74a25ae06c5de0fef21380a06409f99debe82d
Author: Jérémie Dimino <je...@di...>
Date: Sun May 9 17:06:21 2010 +0200
reorganize lib-krobot/Krobot into sub-modules + add commands for the
ax12 of the infrared sensors
-----------------------------------------------------------------------
Changes:
diff --git a/info/control/_tags b/info/control/_tags
index 6cd01b3..303b53b 100644
--- a/info/control/_tags
+++ b/info/control/_tags
@@ -30,6 +30,7 @@
<clients/controller.*>: pkg_lwt.text
<clients/script{.*,_lexer.*}>: pkg_text
<clients/ax12_control.*>: pkg_lwt.text
+<clients/check.*>: pkg_lwt.text
# +------------------------------------------------------------------+
# | Services |
diff --git a/info/control/clients/check.ml b/info/control/clients/check.ml
index ebea3d0..6a5f87b 100644
--- a/info/control/clients/check.ml
+++ b/info/control/clients/check.ml
@@ -9,27 +9,70 @@
open Lwt
open Lwt_io
+open Lwt_term
+
+let test name f =
+ lwt () = printlf "=[ testing %s ]%s" name (String.make (React.S.value columns - 13 - String.length name) '=') in
+ try_lwt
+ lwt () = f () in
+ printlf "test succeed"
+ with exn ->
+ printlc [fg lred; textf "test failed with: %s" (Printexc.to_string exn)]
lwt () =
lwt krobot = Krobot.create () in
- lwt () = printl "testing the gate" in
- lwt () = Krobot.Gate.enable krobot in
- lwt () = Krobot.Gate.release krobot in
- lwt () = Lwt_unix.sleep 0.5 in
- lwt () = Krobot.Gate.close krobot in
- lwt () = Lwt_unix.sleep 0.5 in
-
- lwt () = printl "testing the claws" in
- lwt () = Krobot.claws_enable krobot in
- lwt () = Krobot.claws_open krobot in
- lwt () = Lwt_unix.sleep 0.5 in
- lwt () = Krobot.claws_close krobot in
-
- lwt () = printl "testing the grip" in
- lwt () = Krobot.grip_open krobot in
- lwt () = Lwt_unix.sleep 1.0 in
- lwt () = Krobot.grip_close krobot in
- lwt () = Lwt_unix.sleep 1.0 in
+ lwt () =
+ test "gate"
+ (fun () ->
+ lwt () = Krobot.Gate.enable krobot in
+ lwt () = printl "opening the gate" in
+ lwt () = Krobot.Gate.release krobot in
+ lwt () = Lwt_unix.sleep 0.5 in
+ lwt () = printl "closing the gate" in
+ lwt () = Krobot.Gate.close krobot in
+ lwt () = Lwt_unix.sleep 0.5 in
+ return ())
+ in
+
+ lwt () =
+ test "claws"
+ (fun () ->
+ lwt () = Krobot.Claws.enable krobot in
+ lwt () = printl "opening the claws" in
+ lwt () = Krobot.Claws.open_ krobot in
+ lwt () = Lwt_unix.sleep 0.5 in
+ lwt () = printl "closing the claws" in
+ lwt () = Krobot.Claws.close krobot in
+ lwt () = Lwt_unix.sleep 0.5 in
+ return ())
+ in
+
+ lwt () =
+ test "grip"
+ (fun () ->
+ lwt () = printl "opening the grip" in
+ lwt () = Krobot.Grip.open_ krobot in
+ lwt () = Lwt_unix.sleep 1.0 in
+ lwt () = printl "closing the grip" in
+ lwt () = Krobot.Grip.close krobot in
+ lwt () = Lwt_unix.sleep 1.0 in
+ return ())
+ in
+
+ lwt () =
+ test "infrared"
+ (fun () ->
+ lwt () = printl "going to the left" in
+ lwt () = Krobot.Infrared.go_left krobot in
+ lwt () = Lwt_unix.sleep 1.5 in
+ lwt () = printl "going to the right" in
+ lwt () = Krobot.Infrared.go_right krobot in
+ lwt () = Lwt_unix.sleep 1.5 in
+ lwt () = printl "going to the center" in
+ lwt () = Krobot.Infrared.go_center krobot in
+ lwt () = Lwt_unix.sleep 1.0 in
+ return ())
+ in
return ()
diff --git a/info/control/clients/controller.ml b/info/control/clients/controller.ml
index 4d90632..13a7d93 100644
--- a/info/control/clients/controller.ml
+++ b/info/control/clients/controller.ml
@@ -223,7 +223,7 @@ let draw krobot =
lwt () =
if driver && devices.Krobot.dev_range_finders then begin
- lwt range_finders = OBus_property.get (Krobot.range_finders krobot) in
+ lwt range_finders = OBus_property.get (Krobot.Range_finders.measures krobot) in
for i = 0 to 7 do
Draw.textc zone 0 i [textf "%d : " i; text (Text.repeat (range_finders.(i) * 14 / 3146) "=")]
done;
@@ -238,7 +238,7 @@ let draw krobot =
lwt () =
if driver && devices.Krobot.dev_logic_sensors then begin
- lwt logic_sensors = OBus_property.get (Krobot.logic_sensors krobot) in
+ lwt logic_sensors = OBus_property.get (Krobot.Logic_sensors.states krobot) in
for i = 0 to 7 do
let j = i * 2 in
Draw.textf zone 20 i "%02d : %s %02d : %s"
@@ -291,7 +291,7 @@ let draw krobot =
let x = x + 12 in
lwt () =
if driver && devices.Krobot.dev_compass then begin
- lwt compass = OBus_property.get (Krobot.compass krobot) in
+ lwt compass = OBus_property.get (Krobot.Compass.measure krobot) in
Draw.textf zone x 2 "compass = %d" compass;
return ()
end else begin
@@ -308,8 +308,8 @@ let draw krobot =
in
lwt () =
if driver && devices.Krobot.dev_motor then begin
- lwt forward = OBus_property.get (Krobot.inhibit_forward_until krobot)
- and backward = OBus_property.get (Krobot.inhibit_backward_until krobot) in
+ lwt forward = OBus_property.get (Krobot.Motors.inhibit_forward_until krobot)
+ and backward = OBus_property.get (Krobot.Motors.inhibit_backward_until krobot) in
Draw.textc zone x 3 (text_of_motor_state "move forward: " forward);
Draw.textc zone x 4 (text_of_motor_state "move backward: " backward);
return ()
@@ -322,7 +322,7 @@ let draw krobot =
in
lwt () =
if driver && devices.Krobot.dev_infrared then begin
- lwt i1, i2 = OBus_property.get (Krobot.infrared_states krobot) in
+ lwt i1, i2 = OBus_property.get (Krobot.Infrared.states krobot) in
Draw.textc zone x 5 [textf "infrared 1: %d" i1];
Draw.textc zone x 6 [textf "infrared 2: %d" i2];
return ()
@@ -335,7 +335,7 @@ let draw krobot =
in
lwt () =
if driver && devices.Krobot.dev_power then begin
- lwt current = OBus_property.get (Krobot.current_voltage krobot) in
+ lwt current = OBus_property.get (Krobot.Power.current krobot) in
Draw.textc zone x 7 [textf "current: %d mA" current];
return ()
end else begin
@@ -513,18 +513,18 @@ lwt () =
(function
| true ->
join [
- notify_property (Krobot.compass krobot);
- notify_property (Krobot.logic_sensors krobot);
- notify_property (Krobot.range_finders krobot);
- notify_property (Krobot.inhibit_forward_until krobot);
- notify_property (Krobot.inhibit_backward_until krobot);
+ notify_property (Krobot.Compass.measure krobot);
+ notify_property (Krobot.Logic_sensors.states krobot);
+ notify_property (Krobot.Range_finders.measures krobot);
+ notify_property (Krobot.Motors.inhibit_forward_until krobot);
+ notify_property (Krobot.Motors.inhibit_backward_until krobot);
notify_property (Krobot.Card.state krobot `Interface);
notify_property (Krobot.Card.state krobot `Sensor);
notify_property (Krobot.Card.state krobot `Motor);
notify_property (Krobot.Card.state krobot `Monitoring);
notify_property (Krobot.devices_status krobot);
- notify_property (Krobot.infrared_states krobot);
- notify_property (Krobot.current_voltage krobot);
+ notify_property (Krobot.Infrared.states krobot);
+ notify_property (Krobot.Power.current krobot);
]
| false ->
List.iter Lwt_signal.disable !notifiers;
diff --git a/info/control/clients/init_position.ml b/info/control/clients/init_position.ml
index 16aa2e0..e8870ee 100644
--- a/info/control/clients/init_position.ml
+++ b/info/control/clients/init_position.ml
@@ -13,7 +13,7 @@ open Lwt
let move_backward_slowly krobot =
lwt () = Lwt_log.notice "moving backward" in
- Krobot.move krobot ~distance:(-1000) ~velocity:100 ~acceleration:100 >>= function
+ Krobot.Motors.move krobot ~distance:(-1000) ~velocity:100 ~acceleration:100 >>= function
| `OK ->
lwt () = Lwt_log.error "where am i ???" in
exit 1
@@ -26,16 +26,16 @@ lwt () =
lwt () = move_backward_slowly krobot in
lwt () = Lwt_log.notice "going to initial position on first axis" in
- lwt _ = Krobot.move krobot ~distance:Config.initial_position ~velocity:400 ~acceleration:800 in
+ lwt _ = Krobot.Motors.move krobot ~distance:Config.initial_position ~velocity:400 ~acceleration:800 in
lwt () = Lwt_log.notice "turning" in
- lwt _ = Krobot.turn krobot ~angle:(-90) ~velocity:400 ~acceleration:800 in
+ lwt _ = Krobot.Motors.turn krobot ~angle:(-90) ~velocity:400 ~acceleration:800 in
lwt () = move_backward_slowly krobot in
lwt () = Lwt_log.notice "going to initial position on second axis" in
- lwt _ = Krobot.move krobot ~distance:Config.initial_position ~velocity:400 ~acceleration:800 in
+ lwt _ = Krobot.Motors.move krobot ~distance:Config.initial_position ~velocity:400 ~acceleration:800 in
lwt () = Lwt_log.notice "turning" in
- lwt _ = Krobot.turn krobot ~angle:45 ~velocity:400 ~acceleration:800 in
+ lwt _ = Krobot.Motors.turn krobot ~angle:45 ~velocity:400 ~acceleration:800 in
return ()
diff --git a/info/control/clients/joy_control.ml b/info/control/clients/joy_control.ml
index e903844..0bf7de7 100644
--- a/info/control/clients/joy_control.ml
+++ b/info/control/clients/joy_control.ml
@@ -141,7 +141,7 @@ let rec set_velocities krobot velocities =
lwt () =
try_call "set-velocities"
(fun () ->
- Krobot.set_velocities krobot ~velocities ~accelerations ~duration)
+ Krobot.Motors.set_velocities krobot ~velocities ~accelerations ~duration)
in
if velocities = (0, 0) then
return ()
@@ -188,7 +188,7 @@ let parent_loop krobot pipe =
| JoyButtonPressed ButtonSquare ->
stop := true;
cancel !thread;
- lwt () = try_call "stop-motors" (fun () -> Krobot.stop_motors krobot ~mode:`Abrupt) in
+ lwt () = try_call "stop-motors" (fun () -> Krobot.Motors.stop krobot ~mode:`Abrupt) in
loop ()
| JoyButtonReleased ButtonSquare ->
stop := false;
diff --git a/info/control/clients/script.ml b/info/control/clients/script.ml
index cd5e65a..d78724a 100644
--- a/info/control/clients/script.ml
+++ b/info/control/clients/script.ml
@@ -332,16 +332,16 @@ let () =
register "forward" (f3 distance velocity acceleration)
(fun logger krobot distance velocity acceleration ->
- Krobot.move krobot distance velocity acceleration >>= move_result logger);
+ Krobot.Motors.move krobot distance velocity acceleration >>= move_result logger);
register "backward" (f3 distance velocity acceleration)
(fun logger krobot distance velocity acceleration ->
- Krobot.move krobot (-distance) velocity acceleration >>= move_result logger);
+ Krobot.Motors.move krobot (-distance) velocity acceleration >>= move_result logger);
register "left" (f3 angle velocity acceleration)
(fun logger krobot angle velocity acceleration ->
- Krobot.turn krobot angle velocity acceleration >>= move_result logger);
+ Krobot.Motors.turn krobot angle velocity acceleration >>= move_result logger);
register "right" (f3 angle velocity acceleration)
(fun logger krobot angle velocity acceleration ->
- Krobot.turn krobot (-angle) velocity acceleration >>= move_result logger);
+ Krobot.Motors.turn krobot (-angle) velocity acceleration >>= move_result logger);
register"goto"
(f6
(int ~default:0 "x") (int ~default:0 "y") velocity acceleration
@@ -350,7 +350,7 @@ let () =
("curve-right", `Curve_right)])
(int ~default:0 "bypass-distance"))
(fun logger krobot x y velocity acceleration mode bypass ->
- Krobot.goto krobot x y velocity acceleration mode bypass >>= move_result logger);
+ Krobot.Motors.goto krobot x y velocity acceleration mode bypass >>= move_result logger);
(* +---------------------------------------------------------------+
| Motors low-level conrol |
@@ -364,14 +364,14 @@ let () =
register "motors-state" f0
(fun logger krobot ->
- lwt state = OBus_property.get (Krobot.motors_state krobot) in
+ lwt state = OBus_property.get (Krobot.Motors.state krobot) in
logger [text "motors state: "; text state]);
register "stop-motors" (f1 stop_mode)
(fun logger krobot mode ->
- Krobot.stop_motors krobot ~mode);
+ Krobot.Motors.stop krobot ~mode);
register "set-velocities" (f5 (velocity "-left") (velocity "-right") (acceleration "-left") (acceleration "-right") duration)
(fun logger krobot velocity_left velocity_right acceleration_left acceleration_right duration ->
- Krobot.set_velocities krobot
+ Krobot.Motors.set_velocities krobot
~velocities:(velocity_left, velocity_right)
~accelerations:(acceleration_left, acceleration_right)
~duration);
@@ -398,7 +398,7 @@ let () =
register ~path:["calibration"] "get" f0
(fun logger krobot ->
- lwt cals = Lwt_list.map_p (Krobot.get_calibration krobot) [0; 1; 2; 3; 4; 5; 6; 7] in
+ lwt cals = Lwt_list.map_p (Krobot.Range_finders.get_calibration krobot) [0; 1; 2; 3; 4; 5; 6; 7] in
let rec loop i = function
| [] ->
return ()
@@ -414,11 +414,11 @@ let () =
loop 0 cals);
register ~path:["calibration"] "start" (f2 (int "range-finder") (keyword "skip-meas" [("true", true); ("false", false)]))
- (fun logger -> Krobot.calibration_start);
+ (fun logger -> Krobot.Range_finders.calibration_start);
register ~path:["calibration"] "stop" f0
- (fun logger -> Krobot.calibration_stop);
+ (fun logger -> Krobot.Range_finders.calibration_stop);
register ~path:["calibration"] "continue" f0
- (fun logger -> Krobot.calibration_continue);
+ (fun logger -> Krobot.Range_finders.calibration_continue);
(* +---------------------------------------------------------------+
| AX12 |
@@ -473,19 +473,19 @@ let () =
register ~path:["grip"] "up" f0
(fun logger krobot ->
- Krobot.grip_up krobot);
+ Krobot.Grip.up krobot);
register ~path:["grip"] "down" f0
(fun logger krobot ->
- Krobot.grip_down krobot);
+ Krobot.Grip.down krobot);
register ~path:["grip"] "open" f0
(fun logger krobot ->
- Krobot.grip_open krobot);
+ Krobot.Grip.open_ krobot);
register ~path:["grip"] "close" f0
(fun logger krobot ->
- Krobot.grip_close krobot);
+ Krobot.Grip.close krobot);
register ~path:["grip"] "release" f0
(fun logger krobot ->
- Krobot.grip_release krobot);
+ Krobot.Grip.release krobot);
(* +---------------------------------------------------------------+
| Claws |
@@ -493,19 +493,19 @@ let () =
register ~path:["claws"] "open" f0
(fun logger krobot ->
- Krobot.claws_open krobot);
+ Krobot.Claws.open_ krobot);
register ~path:["claws"] "close" f0
(fun logger krobot ->
- Krobot.claws_close krobot);
+ Krobot.Claws.close krobot);
register ~path:["claws"] "enable" f0
(fun logger krobot ->
- Krobot.claws_enable krobot);
+ Krobot.Claws.enable krobot);
register ~path:["claws"] "disable" f0
(fun logger krobot ->
- Krobot.claws_disable krobot);
+ Krobot.Claws.disable krobot);
register ~path:["claws"] "take" f0
(fun logger krobot ->
- Krobot.claws_take krobot);
+ Krobot.Claws.take krobot);
(* +---------------------------------------------------------------+
| Gate |
@@ -536,7 +536,21 @@ let () =
register ~path:["power"] "set-buzzer-state" (f1 (keyword "state" [("true", true); ("false", false)]))
(fun logger krobot state ->
- Krobot.set_buzzer_state krobot state)
+ Krobot.Power.set_buzzer_state krobot state);
+
+ (* +---------------------------------------------------------------+
+ | Infrared sensors |
+ +---------------------------------------------------------------+ *)
+
+ register ~path:["infrared"] "left" f0
+ (fun logger krobot ->
+ Krobot.Infrared.go_left krobot);
+ register ~path:["infrared"] "right" f0
+ (fun logger krobot ->
+ Krobot.Infrared.go_right krobot);
+ register ~path:["infrared"] "center" f0
+ (fun logger krobot ->
+ Krobot.Infrared.go_center krobot)
(* +-----------------------------------------------------------------+
| Unsafe commands |
diff --git a/info/control/driver/driver.ml b/info/control/driver/driver.ml
index b48af48..a2bf6d9 100644
--- a/info/control/driver/driver.ml
+++ b/info/control/driver/driver.ml
@@ -158,31 +158,6 @@ struct
}]
end
-
-(* +-----------------------------------------------------------------+
- | Infrared |
- +-----------------------------------------------------------------+ *)
-
-module Infrared =
-struct
- include Service(struct let name = "Infrared" end)
-
- open Krobot_interfaces.Fr_krobot_Device_Infrared
-
- let states =
- poll card (0, 0)
- (fun card ->
- lwt ar = USBCard.call Commands.Infrared.get_state card () in
- return (ar.(0), ar.(1)))
-
- let () =
- OBus_object.add_interfaces obus
- [make ~notify_mode
- {
- p_States = (fun () -> React.S.map (fun (i1, i2) -> (Int32.of_int i1, Int32.of_int i2)) states);
- }]
-end
-
(* +-----------------------------------------------------------------+
| Compass |
+-----------------------------------------------------------------+ *)
@@ -386,19 +361,6 @@ struct
OBus_object.add_interfaces obus
[make ~notify_mode
{
- m_SetAX12 = (
- fun ctx () positions ->
- let positions =
- List.map
- (fun (x1, x2, x3) ->
- { aa_id = Int32.to_int x1;
- aa_position = Int32.to_int x2;
- aa_velocity = Int32.to_int x3 })
- positions
- in
- lwt () = set_ax12 positions in
- OBus_method.return ctx ()
- );
m_GripUp = (
fun ctx obj () ->
lwt result = grip_up obj in
@@ -428,6 +390,54 @@ struct
end
(* +-----------------------------------------------------------------+
+ | Infrared |
+ +-----------------------------------------------------------------+ *)
+
+module Infrared =
+struct
+ include Service(struct let name = "Infrared" end)
+
+ open Krobot_interfaces.Fr_krobot_Device_Infrared
+
+ let states =
+ poll card (0, 0)
+ (fun card ->
+ lwt ar = USBCard.call Commands.Infrared.get_state card () in
+ return (ar.(0), ar.(1)))
+
+ let go_left () =
+ USBCard.call Commands.AX12.goto (get_card card_interface) (1, 750, 200, `Now)
+
+ let go_right () =
+ USBCard.call Commands.AX12.goto (get_card card_interface) (1, 250, 200, `Now)
+
+ let go_center () =
+ USBCard.call Commands.AX12.goto (get_card card_interface) (1, 550, 200, `Now)
+
+ let () =
+ OBus_object.add_interfaces obus
+ [make ~notify_mode
+ {
+ p_States = (fun () -> React.S.map (fun (i1, i2) -> (Int32.of_int i1, Int32.of_int i2)) states);
+ m_GoLeft = (
+ fun ctx () () ->
+ lwt () = go_left () in
+ OBus_method.return ctx ()
+ );
+ m_GoRight = (
+ fun ctx () () ->
+ lwt () = go_right () in
+ OBus_method.return ctx ()
+ );
+ m_GoCenter = (
+ fun ctx () () ->
+ lwt () = go_center () in
+ OBus_method.return ctx ()
+ );
+ }]
+end
+
+(* +-----------------------------------------------------------------+
| Logic sensors |
+-----------------------------------------------------------------+ *)
diff --git a/info/control/lib-krobot/krobot.ml b/info/control/lib-krobot/krobot.ml
index 9170d97..851a0ce 100644
--- a/info/control/lib-krobot/krobot.ml
+++ b/info/control/lib-krobot/krobot.ml
@@ -24,8 +24,6 @@ include OBus_peer.Private
type team = Team_red | Team_green
-type card = [ `Interface | `Sensor | `Motor | `Monitoring ]
-
let card krobot card =
OBus_proxy.make krobot
["fr"; "krobot"; "Cards"; (match card with
@@ -66,39 +64,42 @@ let devices_status krobot =
(OBus_proxy.make krobot ["fr"; "krobot"; "Manager"]))
(* +-----------------------------------------------------------------+
- | Reactive signals |
+ | Infrared |
+-----------------------------------------------------------------+ *)
-(*
-let team krobot =
- React.S.map (fun ls -> if ls.(14) then Team_red else Team_green) krobot.logic_sensors
+module Infrared =
+struct
+ open Krobot_interfaces.Fr_krobot_Device_Infrared
-let jack krobot =
- React.S.map (fun ls -> ls.(15)) krobot.logic_sensors
-*)
+ let states krobot =
+ OBus_property.map_r
+ (fun (i1, i2) -> (Int32.to_int i1, Int32.to_int i2))
+ (OBus_property.make ~notify_mode p_States (device krobot "Infrared"))
-(* +-----------------------------------------------------------------+
- | Infrared |
- +-----------------------------------------------------------------+ *)
+ let go_left krobot =
+ OBus_method.call m_GoLeft (device krobot "Infrared") ()
-open Krobot_interfaces.Fr_krobot_Device_Infrared
+ let go_right krobot =
+ OBus_method.call m_GoRight (device krobot "Infrared") ()
-let infrared_states krobot =
- OBus_property.map_r
- (fun (i1, i2) -> (Int32.to_int i1, Int32.to_int i2))
- (OBus_property.make ~notify_mode p_States (device krobot "Infrared"))
+ let go_center krobot =
+ OBus_method.call m_GoCenter (device krobot "Infrared") ()
+end
(* +-----------------------------------------------------------------+
| Power |
+-----------------------------------------------------------------+ *)
-open Krobot_interfaces.Fr_krobot_Device_Power
+module Power =
+struct
+ open Krobot_interfaces.Fr_krobot_Device_Power
-let set_buzzer_state krobot state =
- OBus_method.call m_SetBuzzerState (device krobot "Power") state
+ let set_buzzer_state krobot state =
+ OBus_method.call m_SetBuzzerState (device krobot "Power") state
-let current_voltage krobot =
- OBus_property.map_r Int32.to_int (OBus_property.make ~notify_mode p_Current (device krobot "Power"))
+ let current krobot =
+ OBus_property.map_r Int32.to_int (OBus_property.make ~notify_mode p_Current (device krobot "Power"))
+end
(* +-----------------------------------------------------------------+
| Gate |
@@ -131,158 +132,171 @@ end
| Compass |
+-----------------------------------------------------------------+ *)
-open Krobot_interfaces.Fr_krobot_Device_Compass
+module Compass =
+struct
+ open Krobot_interfaces.Fr_krobot_Device_Compass
-let compass krobot =
- OBus_property.map_r Int32.to_int (OBus_property.make p_Value ~notify_mode (device krobot "Compass"))
+ let measure krobot =
+ OBus_property.map_r Int32.to_int (OBus_property.make p_Value ~notify_mode (device krobot "Compass"))
+end
(* +-----------------------------------------------------------------+
| Logic sensors |
+-----------------------------------------------------------------+ *)
-open Krobot_interfaces.Fr_krobot_Device_LogicSensors
+module Logic_sensors =
+struct
+ open Krobot_interfaces.Fr_krobot_Device_LogicSensors
-let logic_sensors krobot =
- OBus_property.map_r
- Array.of_list
- (OBus_property.make p_Value ~notify_mode (device krobot "LogicSensors"))
+ let states krobot =
+ OBus_property.map_r
+ Array.of_list
+ (OBus_property.make p_Value ~notify_mode (device krobot "LogicSensors"))
+end
(* +-----------------------------------------------------------------+
| LCD |
+-----------------------------------------------------------------+ *)
-open Krobot_interfaces.Fr_krobot_Device_LCD
+module LCD =
+struct
+ open Krobot_interfaces.Fr_krobot_Device_LCD
-let set_lcd krobot lines =
- OBus_method.call m_SetLCD (device krobot "LCD") lines
+ let set krobot lines =
+ OBus_method.call m_SetLCD (device krobot "LCD") lines
-let backlight_on krobot =
- OBus_method.call m_BacklightOn (device krobot "LCD") ()
+ let backlight_on krobot =
+ OBus_method.call m_BacklightOn (device krobot "LCD") ()
-let backlight_off krobot =
- OBus_method.call m_BacklightOff (device krobot "LCD") ()
+ let backlight_off krobot =
+ OBus_method.call m_BacklightOff (device krobot "LCD") ()
+end
(* +-----------------------------------------------------------------+
| Range finders |
+-----------------------------------------------------------------+ *)
-open Krobot_interfaces.Fr_krobot_Device_RangeFinders
+module Range_finders =
+struct
+ open Krobot_interfaces.Fr_krobot_Device_RangeFinders
-let range_finders krobot =
- OBus_property.map_r
- (fun l -> Array.of_list (List.map Int32.to_int l))
- (OBus_property.make p_Value ~notify_mode (device krobot "RangeFinders"))
+ let measures krobot =
+ OBus_property.map_r
+ (fun l -> Array.of_list (List.map Int32.to_int l))
+ (OBus_property.make p_Value ~notify_mode (device krobot "RangeFinders"))
-let get_calibration krobot id =
- lwt l = OBus_method.call m_GetCalibration (device krobot "RangeFinders") (Int32.of_int id) in
- return (Array.of_list (List.map Int32.to_int l))
+ let get_calibration krobot id =
+ lwt l = OBus_method.call m_GetCalibration (device krobot "RangeFinders") (Int32.of_int id) in
+ return (Array.of_list (List.map Int32.to_int l))
-let calibration_start krobot id skip_meas =
- OBus_method.call m_CalibrationStart (device krobot "RangeFinders") (Int32.of_int id, skip_meas)
+ let calibration_start krobot id skip_meas =
+ OBus_method.call m_CalibrationStart (device krobot "RangeFinders") (Int32.of_int id, skip_meas)
-let calibration_stop krobot =
- OBus_method.call m_CalibrationStop (device krobot "RangeFinders") ()
+ let calibration_stop krobot =
+ OBus_method.call m_CalibrationStop (device krobot "RangeFinders") ()
-let calibration_continue krobot =
- OBus_method.call m_CalibrationContinue (device krobot "RangeFinders") ()
+ let calibration_continue krobot =
+ OBus_method.call m_CalibrationContinue (device krobot "RangeFinders") ()
+end
(* +-----------------------------------------------------------------+
- | AX12 |
+ | Grip |
+-----------------------------------------------------------------+ *)
-open Krobot_interfaces.Fr_krobot_Device_AX12
-
-let set_ax12 krobot actions =
- OBus_method.call m_SetAX12 (device krobot "AX12")
- (List.map
- (fun aa -> (Int32.of_int aa.aa_id,
- Int32.of_int aa.aa_position,
- Int32.of_int aa.aa_velocity))
- actions)
+module Grip =
+struct
+ open Krobot_interfaces.Fr_krobot_Device_AX12
-let grip_up krobot =
- OBus_method.call m_GripUp (device krobot "AX12") ()
+ let up krobot =
+ OBus_method.call m_GripUp (device krobot "AX12") ()
-let grip_down krobot =
- OBus_method.call m_GripDown (device krobot "AX12") ()
+ let down krobot =
+ OBus_method.call m_GripDown (device krobot "AX12") ()
-let grip_open krobot =
- OBus_method.call m_GripOpen (device krobot "AX12") ()
+ let open_ krobot =
+ OBus_method.call m_GripOpen (device krobot "AX12") ()
-let grip_close krobot =
- OBus_method.call m_GripClose (device krobot "AX12") ()
+ let close krobot =
+ OBus_method.call m_GripClose (device krobot "AX12") ()
-let grip_release krobot =
- OBus_method.call m_GripRelease (device krobot "AX12") ()
+ let release krobot =
+ OBus_method.call m_GripRelease (device krobot "AX12") ()
+end
(* +-----------------------------------------------------------------+
- | Servo |
+ | Claws |
+-----------------------------------------------------------------+ *)
-open Krobot_interfaces.Fr_krobot_Device_Servo
+module Claws =
+struct
+ open Krobot_interfaces.Fr_krobot_Device_Servo
-let claws_enable krobot =
- OBus_method.call m_ClawsEnable (device krobot "Servo") ()
+ let enable krobot =
+ OBus_method.call m_ClawsEnable (device krobot "Servo") ()
-let claws_disable krobot =
- OBus_method.call m_ClawsDisable (device krobot "Servo") ()
+ let disable krobot =
+ OBus_method.call m_ClawsDisable (device krobot "Servo") ()
-let claws_open krobot =
- OBus_method.call m_ClawsOpen (device krobot "Servo") ()
+ let open_ krobot =
+ OBus_method.call m_ClawsOpen (device krobot "Servo") ()
-let claws_close krobot =
- OBus_method.call m_ClawsClose (device krobot "Servo") ()
+ let close krobot =
+ OBus_method.call m_ClawsClose (device krobot "Servo") ()
-let claws_take krobot =
- OBus_method.call m_ClawsTake (device krobot "Servo") ()
+ let take krobot =
+ OBus_method.call m_ClawsTake (device krobot "Servo") ()
+end
(* +-----------------------------------------------------------------+
| Motors |
+-----------------------------------------------------------------+ *)
-open Krobot_interfaces.Fr_krobot_Device_Motors
-
-let turn krobot ~angle ~velocity ~acceleration =
- OBus_method.call m_Turn (device krobot "Motors")
- (Int32.of_int angle,
- Int32.of_int velocity,
- Int32.of_int acceleration)
- >|= move_result_of_int32
-
-let move krobot ~distance ~velocity ~acceleration =
- OBus_method.call m_Move (device krobot "Motors")
- (Int32.of_int distance,
- Int32.of_int velocity,
- Int32.of_int acceleration)
- >|= move_result_of_int32
-
-let goto krobot ~x ~y ~velocity ~acceleration ~mode ~bypass_distance =
- OBus_method.call m_Goto (device krobot "Motors")
- (Int32.of_int x,
- Int32.of_int y,
- Int32.of_int velocity,
- Int32.of_int acceleration,
- int32_of_goto_mode mode,
- Int32.of_int bypass_distance)
- >|= move_result_of_int32
-
-let stop_motors krobot ~mode =
- OBus_method.call m_StopMotors (device krobot "Motors") (int32_of_stop_mode mode)
-
-let set_velocities krobot ~velocities:(vl, vr) ~accelerations:(al, ar) ~duration =
- OBus_method.call m_SetVelocities (device krobot "Motors")
- (Int32.of_int vl, Int32.of_int al,
- Int32.of_int vr, Int32.of_int ar,
- duration)
-
-let inhibit_forward_until krobot =
- OBus_property.make p_InhibitForwardUntil ~notify_mode (device krobot "Motors")
-
-let inhibit_backward_until krobot =
- OBus_property.make p_InhibitBackwardUntil ~notify_mode (device krobot "Motors")
-
-let motors_state krobot =
- OBus_property.make p_State ~notify_mode (device krobot "Motors")
+module Motors =
+struct
+ open Krobot_interfaces.Fr_krobot_Device_Motors
+
+ let turn krobot ~angle ~velocity ~acceleration =
+ OBus_method.call m_Turn (device krobot "Motors")
+ (Int32.of_int angle,
+ Int32.of_int velocity,
+ Int32.of_int acceleration)
+ >|= move_result_of_int32
+
+ let move krobot ~distance ~velocity ~acceleration =
+ OBus_method.call m_Move (device krobot "Motors")
+ (Int32.of_int distance,
+ Int32.of_int velocity,
+ Int32.of_int acceleration)
+ >|= move_result_of_int32
+
+ let goto krobot ~x ~y ~velocity ~acceleration ~mode ~bypass_distance =
+ OBus_method.call m_Goto (device krobot "Motors")
+ (Int32.of_int x,
+ Int32.of_int y,
+ Int32.of_int velocity,
+ Int32.of_int acceleration,
+ int32_of_goto_mode mode,
+ Int32.of_int bypass_distance)
+ >|= move_result_of_int32
+
+ let stop krobot ~mode =
+ OBus_method.call m_StopMotors (device krobot "Motors") (int32_of_stop_mode mode)
+
+ let set_velocities krobot ~velocities:(vl, vr) ~accelerations:(al, ar) ~duration =
+ OBus_method.call m_SetVelocities (device krobot "Motors")
+ (Int32.of_int vl, Int32.of_int al,
+ Int32.of_int vr, Int32.of_int ar,
+ duration)
+
+ let inhibit_forward_until krobot =
+ OBus_property.make p_InhibitForwardUntil ~notify_mode (device krobot "Motors")
+
+ let inhibit_backward_until krobot =
+ OBus_property.make p_InhibitBackwardUntil ~notify_mode (device krobot "Motors")
+
+ let state krobot =
+ OBus_property.make p_State ~notify_mode (device krobot "Motors")
+end
(* +-----------------------------------------------------------------+
| Raw USB calls |
@@ -338,6 +352,8 @@ module Card =
struct
open Krobot_interfaces.Fr_krobot_Card
+ type card = [ `Interface | `Sensor | `Motor | `Monitoring ]
+
let name = function
| `Interface -> "interface"
| `Sensor -> "sensor"
diff --git a/info/control/lib-krobot/krobot.mli b/info/control/lib-krobot/krobot.mli
index 9bc2768..f34db67 100644
--- a/info/control/lib-krobot/krobot.mli
+++ b/info/control/lib-krobot/krobot.mli
@@ -14,7 +14,7 @@
include OBus_peer.Private
val create : unit -> t Lwt.t
- (** [create ()] makes a Krobot valie *)
+ (** [create ()] makes a Krobot *)
val bus : unit -> OBus_bus.t Lwt.t
(** [bus ()] returns the bus used by the krobot.
@@ -24,15 +24,6 @@ val bus : unit -> OBus_bus.t Lwt.t
- otherwise it uses the local krobot bus
*)
-val device : t -> OBus_path.element -> OBus_proxy.t
- (** [device name] returns a proxy for the given device *)
-
-type card = [ `Interface | `Sensor | `Motor | `Monitoring ]
- (** Type of a card *)
-
-val card : t -> card -> OBus_proxy.t
- (** [card name] returns a proxy for the given card *)
-
(** {6 Devices} *)
type devices_status = {
@@ -49,15 +40,22 @@ type devices_status = {
val devices_status : t -> devices_status OBus_property.r
(** List of services with their status *)
-(** {6 Infrared} *)
+module Infrared : sig
+ val states : t -> (int * int) OBus_property.r
+ (** Property holding the state of the infrared sensors *)
-val infrared_states : t -> (int * int) OBus_property.r
-
-(** {6 Power} *)
+ val go_right : t -> unit Lwt.t
+ val go_left : t -> unit Lwt.t
+ val go_center : t -> unit Lwt.t
+end
-val set_buzzer_state : t -> bool -> unit Lwt.t
+module Power : sig
+ val set_buzzer_state : t -> bool -> unit Lwt.t
+ (** Enables or disables the buzzer *)
-val current_voltage : t -> int OBus_property.r
+ val current : t -> int OBus_property.r
+ (** Proeprty holding the current used by the robot *)
+end
(** {6 Gate} *)
@@ -81,106 +79,95 @@ module Gate : sig
(** Stop holding the gate *)
end
-(** {6 LCD} *)
-
-val set_lcd : t -> string list -> unit Lwt.t
- (** [set_lcd lines] set the lines displayed on the LCD. [lines] may
- contains at most 4 lines, of maximum length 20. *)
-
-val backlight_on : t -> unit Lwt.t
- (** Turn on the LCD backlight *)
-
-val backlight_off : t -> unit Lwt.t
- (** Turn off the LCD backlight *)
-
-(** {6 Compass} *)
-
-val compass : t -> int OBus_property.r
- (** Signal holding the current value of the compass. *)
-
-(** {6 Logic sensors} *)
-
-val logic_sensors : t -> bool array OBus_property.r
- (** Signal holding the current state of logic sensors. *)
-
-(** {6 Team/jack stuff} *)
-(*
-type team = Team_red | Team_green
-
-val team : t -> team OBus_property.r
- (** Signal holding the state of the team button *)
-
-val jack : t -> bool OBus_property.r
- (** Signal holding the status of the jack *)
-*)
-(** {6 Range finders} *)
-
-val range_finders : t -> int array OBus_property.r
- (** Signal holding the current range finders state *)
+module LCD : sig
+ val set : t -> string list -> unit Lwt.t
+ (** [set lines] set the lines displayed on the LCD. [lines] may
+ contains at most 4 lines, of maximum length 20. *)
-val get_calibration : t -> int -> int array Lwt.t
- (** [get_calibration krobot num] returns the calibration of the
- given range finder. *)
+ val backlight_on : t -> unit Lwt.t
+ (** Turn on the LCD backlight *)
-val calibration_start : t -> int -> bool -> unit Lwt.t
-val calibration_continue : t -> unit Lwt.t
-val calibration_stop : t -> unit Lwt.t
-
-(** {6 AX12s} *)
-
-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
-val grip_open : t -> unit Lwt.t
-val grip_close : t -> unit Lwt.t
-val grip_release : t -> unit Lwt.t
-
-(** {6 Servos} *)
+ val backlight_off : t -> unit Lwt.t
+ (** Turn off the LCD backlight *)
+end
-val claws_enable : t -> unit Lwt.t
-val claws_disable : t -> unit Lwt.t
-val claws_open : t -> unit Lwt.t
-val claws_close : t -> unit Lwt.t
-val claws_take : t -> unit Lwt.t
+module Compass : sig
+ val measure : t -> int OBus_property.r
+ (** Signal holding the current value of the compass. *)
+end
-(** {6 Motors} *)
+module Logic_sensors : sig
+ val states : t -> bool array OBus_property.r
+ (** Signal holding the current state of logic sensors. *)
+end
-val motors_state : t -> string OBus_property.r
- (** String describing the current state of motors *)
+module Range_finders : sig
+ val measures : t -> int array OBus_property.r
+ (** Signal holding the current range finders state *)
-val turn : t -> angle : int -> velocity : int -> acceleration : int -> Types.move_result Lwt.t
-val move : t -> distance : int -> velocity : int -> acceleration : int -> Types.move_result Lwt.t
-val goto : t ->
- x : int -> y : int ->
- velocity : int ->
- acceleration : int ->
- mode : Types.goto_mode ->
- bypass_distance : int -> Types.move_result Lwt.t
+ val get_calibration : t -> int -> int array Lwt.t
+ (** [get_calibration krobot num] returns the calibration of the
+ given range finder. *)
-val stop_motors : t -> mode : Types.stop_mode -> unit Lwt.t
- (** [stop_motorw t mode] stop the two motors. *)
+ val calibration_start : t -> int -> bool -> unit Lwt.t
+ val calibration_continue : t -> unit Lwt.t
+ val calibration_stop : t -> unit Lwt.t
+end
-val set_velocities : t ->
- velocities : int * int ->
- accelerations : int * int ->
- duration : float -> unit Lwt.t
- (** [set_velocities krobot ~velocities ~accelerations ~duration] set
- the velocities of each motors, then wait for [duration] seconds
- and stop the motors, unless [set_velocities] is called again
- before. *)
+module Grip : sig
+ val up : t -> unit Lwt.t
+ val down : t -> unit Lwt.t
+ val open_ : t -> unit Lwt.t
+ val close : t -> unit Lwt.t
+ val release : t -> unit Lwt.t
+end
-val inhibit_forward_until : t -> float OBus_property.rw
- (** The date until which the robot is reallowed to move forward *)
+module Claws : sig
+ val enable : t -> unit Lwt.t
+ val disable : t -> unit Lwt.t
+ val open_ : t -> unit Lwt.t
+ val close : t -> unit Lwt.t
+ val take : t -> unit Lwt.t
+end
-val inhibit_backward_until : t -> float OBus_property.rw
+module Motors : sig
+ val state : t -> string OBus_property.r
+ (** String describing the current state of motors *)
+
+ val turn : t -> angle : int -> velocity : int -> acceleration : int -> Types.move_result Lwt.t
+ val move : t -> distance : int -> velocity : int -> acceleration : int -> Types.move_result Lwt.t
+ val goto : t ->
+ x : int -> y : int ->
+ velocity : int ->
+ acceleration : int ->
+ mode : Types.goto_mode ->
+ bypass_distance : int -> Types.move_result Lwt.t
+
+ val stop : t -> mode : Types.stop_mode -> unit Lwt.t
+ (** [stop_motorw t mode] stop the two motors. *)
+
+ val set_velocities : t ->
+ velocities : int * int ->
+ accelerations : int * int ->
+ duration : float -> unit Lwt.t
+ (** [set_velocities krobot ~velocities ~accelerations ~duration]
+ set the velocities of each motors, then wait for [duration]
+ seconds and stop the motors, unless [set_velocities] is called
+ again before. *)
+
+ val inhibit_forward_until : t -> float OBus_property.rw
+ (** The date until which the robot is reallowed to move forward *)
+
+ val inhibit_backward_until : t -> float OBus_property.rw
(** The date until which the robot is reallowed to move backward *)
+end
(** {6 Cards} *)
module Card : sig
+ type card = [ `Interface | `Sensor | `Motor | `Monitoring ]
+ (** Type of a card *)
+
val name : card -> string
(** Returns the name of a card *)
diff --git a/info/control/myocamlbuild.ml b/info/control/myocamlbuild.ml
index 82ccc6b..f9dce15 100644
--- a/info/control/myocamlbuild.ml
+++ b/info/control/myocamlbuild.ml
@@ -74,7 +74,7 @@ let targets = List.filter_opt (function (true, target) -> Some target | (false,
(have_lwt_unix && have_obus && have_lwt_text, "clients/controller.best");
(have_lwt_unix && have_obus && have_sdl, "clients/joy_control.best");
(have_lwt_unix && have_obus && have_lwt_text, "clients/ax12_control.best");
- (have_lwt_unix && have_obus, "clients/check.best");
+ (have_lwt_unix && have_obus && have_lwt_text, "clients/check.best");
(* Services *)
(have_lwt_unix && have_obus, "services/hard_stop.best");
diff --git a/info/control/protocol/commands.ml b/info/control/protocol/commands.ml
index 59577e1..1e9dc6a 100644
--- a/info/control/protocol/commands.ml
+++ b/info/control/protocol/commands.ml
@@ -169,7 +169,7 @@ struct
let goto =
register {
name = "Goto";
- response = true;
+ response = false;
command = PcInterface.cmd_ax12;
request = Some PcInterface.ax12_goto;
send = (arg4
diff --git a/info/control/protocol/krobot.obus b/info/control/protocol/krobot.obus
index 7c3e775..9720c1e 100644
--- a/info/control/protocol/krobot.obus
+++ b/info/control/protocol/krobot.obus
@@ -23,6 +23,10 @@ interface "fr.krobot.Device.Power" {
interface "fr.krobot.Device.Infrared" {
property.r States : (int32 * int32) structure
+
+ method GoLeft : () -> ()
+ method GoRight : () -> ()
+ method GoCenter : () -> ()
}
interface "fr.krobot.Device.Gate" {
@@ -80,7 +84,6 @@ interface "fr.krobot.Device.Servo" {
}
interface "fr.krobot.Device.AX12" {
- method SetAX12 : (positions : (int32 * int32 * int32) structure array) -> ()
method GripUp : () -> ()
method GripDown : () -> ()
method GripOpen : () -> ()
diff --git a/info/control/services/hard_stop.ml b/info/control/services/hard_stop.ml
index 9c4c623..27547c5 100644
--- a/info/control/services/hard_stop.ml
+++ b/info/control/services/hard_stop.ml
@@ -27,12 +27,12 @@ let handle_collide krobot sensors =
join [
(if Util.front_collide sensors then begin
lwt () = Lwt_log.notice "front collision detected, inhibit motors" in
- OBus_property.set (Krobot.inhibit_forward_until krobot) duration
+ OBus_property.set (Krobot.Motors.inhibit_forward_until krobot) duration
end else
return ());
(if Util.back_collide sensors then begin
lwt () = Lwt_log.notice "back collision detected, inhibit motors" in
- OBus_property.set (Krobot.inhibit_backward_until krobot) duration
+ OBus_property.set (Krobot.Motors.inhibit_backward_until krobot) duration
end else
return ());
]
@@ -59,7 +59,7 @@ lwt () =
lwt krobot = Krobot.create () in
(* Stop motors as soon as possible: *)
- lwt logic_sensors = OBus_property.monitor (Krobot.logic_sensors krobot) in
+ lwt logic_sensors = OBus_property.monitor (Krobot.Logic_sensors.states krobot) in
Lwt_signal.always_notify_p (handle_collide krobot) logic_sensors;
(* Continue the inhibition: *)
diff --git a/info/control/tests/double_move.ml b/info/control/tests/double_move.ml
index 005147c..05b18e8 100644
--- a/info/control/tests/double_move.ml
+++ b/info/control/tests/double_move.ml
@@ -16,10 +16,10 @@ let print_result = function
lwt () =
lwt krobot = Krobot.create () in
print_endline "first move";
- lwt result = Krobot.move krobot ~distance:(-500) ~velocity:100 ~acceleration:200 in
+ lwt result = Krobot.Motors.move krobot ~distance:(-500) ~velocity:100 ~acceleration:200 in
print_result result;
print_endline "second move";
- lwt result = Krobot.move krobot ~distance:200 ~velocity:100 ~acceleration:200 in
+ lwt result = Krobot.Motors.move krobot ~distance:200 ~velocity:100 ~acceleration:200 in
print_result result;
print_endline "done";
return ()
diff --git a/info/control/tests/move.ml b/info/control/tests/move.ml
index 47b4563..3bd0a09 100644
--- a/info/control/tests/move.ml
+++ b/info/control/tests/move.ml
@@ -37,12 +37,12 @@ let rec loop krobot state =
| Some krobot ->
lwt () =
if angle <> 0 then
- lwt _ = Krobot.turn krobot ~angle ~velocity ~acceleration in
+ lwt _ = Krobot.Motors.turn krobot ~angle ~velocity ~acceleration in
return ()
else
return ()
in
- lwt _ = Krobot.move krobot ~distance ~velocity ~acceleration in
+ lwt _ = Krobot.Motors.move krobot ~distance ~velocity ~acceleration in
return ()
| None ->
return ()
diff --git a/info/control/tests/scan_infrared.ml b/info/control/tests/scan_infrared.ml
index 574d130..03a0b45 100644
--- a/info/control/tests/scan_infrared.ml
+++ b/info/control/tests/scan_infrared.ml
@@ -18,22 +18,16 @@ let rec print krobot infrared =
let delay = 1.5
-let action pos = {
- Types.aa_id = 1;
- Types.aa_position = pos;
- Types.aa_velocity = 200;
-}
-
lwt () =
lwt krobot = Krobot.create () in
let rec loop1 () =
- lwt () = Krobot.set_ax12 krobot [action 250] in
+ lwt () = Krobot.Infrared.go_left krobot in
lwt () = Lwt_unix.sleep delay in
loop2 ()
and loop2 () =
- lwt () = Krobot.set_ax12 krobot [action 750] in
+ lwt () = Krobot.Infrared.go_right krobot in
lwt () = Lwt_unix.sleep delay in
loop1 ()
in
- lwt infrared = OBus_property.monitor (Krobot.infrared_states krobot) in
+ lwt infrared = OBus_property.monitor (Krobot.Infrared.states krobot) in
join [loop1 (); print krobot infrared]
diff --git a/info/control/tests/stop_and_restart.ml b/info/control/tests/stop_and_restart.ml
index f04a368..ce35b12 100644
--- a/info/control/tests/stop_and_restart.ml
+++ b/info/control/tests/stop_and_restart.ml
@@ -12,12 +12,12 @@ open Lwt
lwt () =
lwt krobot = Krobot.create () in
print_endline "moving forward";
- let t = Krobot.move krobot ~distance:1000 ~velocity:100 ~acceleration:200 in
+ let t = Krobot.Motors.move krobot ~distance:1000 ~velocity:100 ~acceleration:200 in
lwt () = Lwt_unix.sleep 2.0 in
print_endline "stopping motors";
- lwt () = Krobot.stop_motors krobot `Smooth in
+ lwt () = Krobot.Motors.stop krobot `Smooth in
print_endline "waiting for trajectory to terminates";
lwt _ = t in
print_endline "mobing backward";
- lwt _ = Krobot.move krobot ~distance:(-200) ~velocity:100 ~acceleration:200 in
+ lwt _ = Krobot.Motors.move krobot ~distance:(-200) ~velocity:100 ~acceleration:200 in
return ()
diff --git a/info/control/tests/trajectories.ml b/info/control/tests/trajectories.ml
index 9a2cd01..0e5a1c1 100644
--- a/info/control/tests/trajectories.ml
+++ b/info/control/tests/trajectories.ml
@@ -14,6 +14,6 @@ open Lwt
lwt () =
lwt krobot = Krobot.create () in
- lwt _ = Krobot.move krobot 100 400 800 in
- lwt _ = Krobot.move krobot 100 400 800 in
+ lwt _ = Krobot.Motors.move krobot 100 400 800 in
+ lwt _ = Krobot.Motors.move krobot 100 400 800 in
return ()
hooks/post-receive
--
krobot
|
