[Krobot-commits] [SCM] krobot branch, master, updated. 892d4515a07e0f72f224f324deea6fd8cc362bee

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 892d4515a07e0f72f224f324deea6fd8cc362bee
Author: Jérémie Dimino <je...@di...>
Date:   Thu May 20 15:28:10 2010 +0200

    update OBus_object.make_interface

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

Changes:
diff --git a/info/control/clients/ia.ml b/info/control/clients/ia.ml
index 8f7ab55..dee979e 100644
--- a/info/control/clients/ia.ml
+++ b/info/control/clients/ia.ml
@@ -12,7 +12,7 @@ open Krobot_move
 
 let section = Lwt_log.Section.make "ia"
 
-let velocity = 100
+let velocity = 400
 let acceleration = 800
 
 (* +-----------------------------------------------------------------+
@@ -202,9 +202,12 @@ let take_ear krobot state ear =
           in
           return { state with orientation = 180 }
   in
-  lwt _ = Krobot.Motors.move krobot ~distance:50 ~velocity ~acceleration in
-  lwt () = Lwt_unix.sleep 2.0 in
-  lwt _ = Krobot.Motors.move krobot ~distance:(-50) ~velocity ~acceleration in
+  lwt () = try_lwt Krobot.Grip.down krobot with _ -> return () in
+  lwt () = try_lwt Krobot.Grip.open_ krobot with _ -> return () in
+  lwt _ = Krobot.Motors.move krobot ~distance:85 ~velocity ~acceleration in
+  lwt () = try_lwt Krobot.Grip.close krobot with _ -> return () in
+  lwt () = try_lwt Krobot.Grip.up krobot >> Krobot.Grip.release krobot with _ -> return ()
+  and _ = Krobot.Motors.move krobot ~distance:(-85) ~velocity ~acceleration in
   return state
 
 (* +-----------------------------------------------------------------+
diff --git a/info/control/driver/export_unsafe.ml b/info/control/driver/export_unsafe.ml
index 77b1a22..fd8f5c5 100644
--- a/info/control/driver/export_unsafe.ml
+++ b/info/control/driver/export_unsafe.ml
@@ -29,7 +29,8 @@ let make_method card cmd =
        ~interface:"toto.titi"
        ~member:cmd.name
        ~i_args:(make_args cmd.send)
-       ~o_args:(make_args cmd.recv))
+       ~o_args:(make_args cmd.recv)
+       ~annotations:[])
     (fun ctx obj args ->
        match React.S.value card.card_card with
          | Some card' ->
@@ -48,7 +49,7 @@ let make_method card cmd =
                card.card_name)
 
 let make_interface card name commands =
-  OBus_object.make_interface name (List.map (make_method card) commands)
+  OBus_object.make_interface ~name ~methods:(List.map (make_method card) commands) ()
 
 let interface name card =
   let interface_commands = List.assoc name commands in


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