[Krobot-commits] [SCM] krobot branch, master, updated. ba76d82676dc69f2b4d19d4ebb879c01cf839090

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit ba76d82676dc69f2b4d19d4ebb879c01cf839090
Author: Jérémie Dimino <je...@di...>
Date:   Sun May 9 19:13:16 2010 +0200

    add a test which compute an average value for the infrared sensors

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

Changes:
diff --git a/info/control/myocamlbuild.ml b/info/control/myocamlbuild.ml
index e436a62..4efa331 100644
--- a/info/control/myocamlbuild.ml
+++ b/info/control/myocamlbuild.ml
@@ -86,6 +86,7 @@ let targets = List.filter_opt (function (true, target) -> Some target | (false,
   (have_lwt_unix && have_obus, "tests/trajectories.best");
   (have_lwt_unix && have_obus, "tests/move.best");
   (have_lwt_unix && have_obus, "tests/scan_infrared.best");
+  (have_lwt_unix && have_obus, "tests/infrared.best");
 ]
 
 (* +-----------------------------------------------------------------+
diff --git a/info/control/tests/infrared.ml b/info/control/tests/infrared.ml
new file mode 100644
index 0000000..8b3a8f2
--- /dev/null
+++ b/info/control/tests/infrared.ml
@@ -0,0 +1,22 @@
+(*
+ * infrared.ml
+ * -----------
+ * Copyright : (c) 2010, Jeremie Dimino <je...@di...>
+ * Licence   : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+open Lwt
+
+lwt () =
+  lwt krobot = Krobot.create () in
+  lwt infrareds = OBus_property.monitor (Krobot.Infrared.states krobot) in
+  let rec loop acc1 acc2 n =
+    let i1, i2 = React.S.value infrareds in
+    let acc1 = acc1 + i1 and acc2 = acc2 + i2 in
+    lwt () = Lwt_io.printlf "%d %d" (acc1 / n) (acc2 / n) in
+    lwt () = Lwt_unix.sleep 0.05 in
+    loop acc1 acc2 (n + 1)
+  in
+  loop 0 0 1


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