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[Krobot-commits] [SCM] krobot branch, master, updated. 10395230bcd78851504981612ca1ed3b82bdc8e2
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From: Jérémie D. <Ba...@us...> - 2010-05-16 21:31:30
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The branch, master has been updated
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via 226c7f6a1f8e1459f91420c4cda486e6baa8ade0 (commit)
via 511fc9aeeba49d046121d2e1ea4d3fbe0f3bb055 (commit)
from 27883db5fcfe178511ac38c6f1fe9caaefe39b54 (commit)
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- Log -----------------------------------------------------------------
commit 10395230bcd78851504981612ca1ed3b82bdc8e2
Author: Jérémie Dimino <je...@di...>
Date: Sun May 16 23:30:34 2010 +0200
change the limit for deciding that an ear is a fake
commit 226c7f6a1f8e1459f91420c4cda486e6baa8ade0
Author: Jérémie Dimino <je...@di...>
Date: Sun May 16 23:21:08 2010 +0200
change ax12 positions for the close command
commit 511fc9aeeba49d046121d2e1ea4d3fbe0f3bb055
Author: Jérémie Dimino <je...@di...>
Date: Sun May 16 23:11:43 2010 +0200
wait for ax12/rx64 movement completion
-----------------------------------------------------------------------
Changes:
diff --git a/info/control/clients/script.ml b/info/control/clients/script.ml
index cc7b886..769542e 100644
--- a/info/control/clients/script.ml
+++ b/info/control/clients/script.ml
@@ -508,26 +508,29 @@ let () =
lwt () = logger [fg lred; text "grip-up failure"] in
lwt _ = Krobot.Motors.move krobot (-100) 400 800 in
lwt () = Krobot.Grip.close krobot in
- lwt () = Lwt_unix.sleep 1.0 in
lwt _ = Krobot.Grip.empty_up krobot in
- lwt () = Lwt_unix.sleep 1.0 in
lwt _ = Krobot.Motors.move krobot 100 400 800 in
return ());
register ~path:["grip"] "empty-up" f0
(fun logger krobot ->
- Krobot.Grip.empty_up krobot);
+ lwt () = Krobot.Grip.empty_up krobot in
+ logger [text "grip.empty-up: done"]);
register ~path:["grip"] "down" f0
(fun logger krobot ->
- Krobot.Grip.down krobot);
+ lwt () = Krobot.Grip.down krobot in
+ logger [text "grip.down: done"]);
register ~path:["grip"] "open" f0
(fun logger krobot ->
- Krobot.Grip.open_ krobot);
+ lwt () = Krobot.Grip.open_ krobot in
+ logger [text "grip.open: done"]);
register ~path:["grip"] "close" f0
(fun logger krobot ->
- Krobot.Grip.close krobot);
+ lwt () = Krobot.Grip.close krobot in
+ logger [text "grip.open: close"]);
register ~path:["grip"] "release" f0
(fun logger krobot ->
- Krobot.Grip.release krobot);
+ lwt () = Krobot.Grip.release krobot in
+ logger [text "grip.release: close"]);
(* +---------------------------------------------------------------+
| Claws |
diff --git a/info/control/driver/driver.ml b/info/control/driver/driver.ml
index 9a6f06f..078baa5 100644
--- a/info/control/driver/driver.ml
+++ b/info/control/driver/driver.ml
@@ -313,29 +313,47 @@ type ax12_action = {
aa_velocity : int;
}
-let set_ax12 = function
- | [] ->
+let set_ax12 actions =
+ lwt () =
+ Lwt_list.iter_p
+ (fun action ->
+ USBCard.call Commands.AX12.goto
+ (get_card card_interface)
+ (action.aa_id,
+ action.aa_position,
+ action.aa_velocity,
+ `Action))
+ actions
+ in
+ lwt () = USBCard.call Commands.AX12.action (get_card card_interface) 0xfe in
+ let rec loop () =
+ lwt delta =
+ Lwt_list.fold_left_s
+ (fun delta action ->
+ lwt pos = USBCard.call Commands.AX12.get_position (get_card card_interface) (action.aa_id, 32000) in
+ return (max delta (abs (pos - action.aa_position))))
+ 0 actions
+ in
+ lwt () = Lwt_unix.sleep 0.1 in
+ if delta < 10 then
return ()
- | [action] ->
- USBCard.call Commands.AX12.goto
- (get_card card_interface)
- (action.aa_id,
- action.aa_position,
- action.aa_velocity,
- `Now)
- | actions ->
- lwt () =
- Lwt_list.iter_p
- (fun action ->
- USBCard.call Commands.AX12.goto
- (get_card card_interface)
- (action.aa_id,
- action.aa_position,
- action.aa_velocity,
- `Action))
- actions
- in
- USBCard.call Commands.AX12.action (get_card card_interface) 0xfe
+ else
+ loop ()
+ in
+ loop ()
+
+let set_rx64 position velocity =
+ lwt () = RX64Card.call Commands.RX64.write16 (get_card card_rx64) (0x20, velocity) in
+ lwt () = RX64Card.call Commands.RX64.write16 (get_card card_rx64) (0x1E, position) in
+ let rec loop () =
+ lwt pos = RX64Card.call Commands.RX64.read16 (get_card card_rx64) (0x24, 2) in
+ lwt () = Lwt_unix.sleep 0.1 in
+ if abs (pos - position) < 10 then
+ return ()
+ else
+ loop ()
+ in
+ loop ()
(* +-----------------------------------------------------------------+
| Grip |
@@ -360,42 +378,39 @@ struct
aa_velocity = 0 }]
let grip_release () =
- USBCard.call Commands.AX12.goto (get_card card) (3, 200, 0, `Now)
+ set_ax12 [{ aa_id = 3;
+ aa_position = 200;
+ aa_velocity = 0 }]
let grip_up () =
- lwt () = RX64Card.call Commands.RX64.write16 (get_card card_rx64) (0x20, 50) in
- lwt () = RX64Card.call Commands.RX64.write16 (get_card card_rx64) (0x1E, 222)
- and () = set_ax12 [{ aa_id = 2;
- aa_position = 180;
- aa_velocity = 70 }] in
+ let thread =
+ lwt () = set_rx64 222 50
+ and () = set_ax12 [{ aa_id = 2;
+ aa_position = 180;
+ aa_velocity = 70 }]
+ in
+ return ()
+ in
lwt () = Lwt_unix.sleep 0.5 in
- lwt load = RX64Card.call Commands.RX64.read16 (get_card card_rx64) (0x28, 2) in
- if load >= 790 then
+ lwt pos = RX64Card.call Commands.RX64.read16 (get_card card_rx64) (0x24, 2) in
+ if pos > 520 then begin
+ cancel thread;
lwt () = RX64Card.call Commands.RX64.write8 (get_card card_rx64) (0x18, 0) in
lwt () = grip_open () in
return false
- else
- let rec loop () =
- lwt pos = RX64Card.call Commands.RX64.read16 (get_card card_rx64) (0x24, 2) in
- if pos <= 225 then
- lwt () = grip_release () in
- return true
- else
- Lwt_unix.sleep 0.1 >> loop ()
- in
- loop ()
+ end else
+ lwt () = thread in
+ return true
let grip_empty_up () =
- lwt () = RX64Card.call Commands.RX64.write16 (get_card card_rx64) (0x20, 50) in
- lwt () = RX64Card.call Commands.RX64.write16 (get_card card_rx64) (0x1E, 222)
+ lwt () = set_rx64 222 50
and () = set_ax12 [{ aa_id = 2;
aa_position = 180;
aa_velocity = 90 }] in
return ()
let grip_down () =
- lwt () = RX64Card.call Commands.RX64.write16 (get_card card_rx64) (0x20, 50) in
- lwt () = RX64Card.call Commands.RX64.write16 (get_card card_rx64) (0x1E, 536)
+ lwt () = set_rx64 536 50
and () = set_ax12 [{ aa_id = 2;
aa_position = 510;
aa_velocity = 50 };
@@ -406,10 +421,10 @@ struct
let grip_close () =
set_ax12 [{ aa_id = 2;
- aa_position = 574;
+ aa_position = 572;
aa_velocity = 200 };
{ aa_id = 3;
- aa_position = 383;
+ aa_position = 371;
aa_velocity = 200 }]
let () =
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krobot
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