[Krobot-commits] [SCM] krobot branch, master, updated. 6641c373d1d83375e9beb62bc56987533f89a32a

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 6641c373d1d83375e9beb62bc56987533f89a32a
Author: Jérémie Dimino <je...@di...>
Date:   Sun May 9 23:32:47 2010 +0200

    compute a medium value in the infrared recorder

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

Changes:
diff --git a/info/control/clients/record_infrared.ml b/info/control/clients/record_infrared.ml
index f850fe5..c95081e 100644
--- a/info/control/clients/record_infrared.ml
+++ b/info/control/clients/record_infrared.ml
@@ -14,6 +14,18 @@ open Lwt_io
 
 let step = 10
 
+let measure_infrareds krobot infrareds =
+  let rec loop acc1 acc2 = function
+    | 0 ->
+        return (acc1 / 20, acc2 / 20)
+    | n ->
+        let i1, i2 = React.S.value infrareds in
+        let acc1 = acc1 + i1 and acc2 = acc2 + i2 in
+        lwt () = Lwt_unix.sleep 0.05 in
+        loop acc1 acc2 (n - 1)
+  in
+  loop 0 0 20
+
 lwt () =
   lwt () = printl "type Ctrl+C to stop" in
   lwt krobot = Krobot.create () in
@@ -21,7 +33,7 @@ lwt () =
   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 i1, i2 = measure_infrareds krobot 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


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