[Krobot-commits] [SCM] krobot branch, master, updated. 52b5193323033b0809ef32a3a4dcd1c5eeda496f

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 52b5193323033b0809ef32a3a4dcd1c5eeda496f
Author: Jérémie Dimino <je...@di...>
Date:   Sun May 9 18:38:45 2010 +0200

    add a program to record value measured by the infrared sensors

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

Changes:
diff --git a/info/control/Makefile b/info/control/Makefile
index 55734c8..d0e971f 100644
--- a/info/control/Makefile
+++ b/info/control/Makefile
@@ -42,6 +42,8 @@ install:
 	install -m 0755 _build/driver/driver.best $(PREFIX)/bin/krobot-driver
 	install -m 0755 _build/clients/ax12_control.best $(PREFIX)/bin/krobot-ax12
 	install -m 0755 _build/clients/check.best $(PREFIX)/bin/krobot-check
+	install -m 0755 _build/clients/check.best $(PREFIX)/bin/krobot-check
+	install -m 0755 _build/clients/record_infrared.best $(PREFIX)/bin/krobot-record-infrared
 
 .PHONY: uninstall
 uninstall:
diff --git a/info/control/clients/record_infrared.ml b/info/control/clients/record_infrared.ml
new file mode 100644
index 0000000..f850fe5
--- /dev/null
+++ b/info/control/clients/record_infrared.ml
@@ -0,0 +1,31 @@
+(*
+ * record_infrared.ml
+ * ------------------
+ * Copyright : (c) 2010, Jeremie Dimino <je...@di...>
+ * Licence   : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+(* Record measures of the infrared sensors at each centimerters *)
+
+open Lwt
+open Lwt_io
+
+let step = 10
+
+lwt () =
+  lwt () = printl "type Ctrl+C to stop" in
+  lwt krobot = Krobot.create () in
+  lwt infrareds = OBus_property.monitor (Krobot.Infrared.states krobot) in
+  let oc = Lwt_io.open_file ~mode:Lwt_io.output "infrareds-record" in
+  let rec loop dist =
+    lwt () = Lwt_unix.sleep 1.0 in
+    let i1, i2 = React.S.value infrareds in
+    lwt () = printlf "at distance %d mm: i1 = %d, i2 = %d" dist i1 i2 in
+    lwt () = fprintlf oc "%d %d %d" dist i1 i2 in
+    lwt () = Lwt_io.flush oc in
+    lwt _ = Krobot.Motors.move krobot ~distance:(-step) ~velocity:200 ~acceleration:400 in
+    loop (dist + step)
+  in
+  loop 0
diff --git a/info/control/myocamlbuild.ml b/info/control/myocamlbuild.ml
index f9dce15..e436a62 100644
--- a/info/control/myocamlbuild.ml
+++ b/info/control/myocamlbuild.ml
@@ -75,6 +75,7 @@ let targets = List.filter_opt (function (true, target) -> Some target | (false,
   (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 && have_lwt_text, "clients/check.best");
+  (have_lwt_unix && have_obus, "clients/record_infrared.best");
 
   (* Services *)
   (have_lwt_unix && have_obus, "services/hard_stop.best");


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