[Krobot-commits] [SCM] krobot branch, master, updated. 84809cd9ce8a1ad570318606bb343b1adc818511

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 84809cd9ce8a1ad570318606bb343b1adc818511
Author: Jérémie Dimino <je...@di...>
Date:   Sat May 22 23:01:00 2010 +0200

    small fixes in the ia

commit 54c3d52a05711a2a2b6f6d1c42410239ea018156
Author: [Kro]bot <kr...@wa...>
Date:   Sat May 22 23:00:32 2010 +0200

    make the grip move faster

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

Changes:
diff --git a/info/control/clients/ia.ml b/info/control/clients/ia.ml
index 08e3ae2..3c45afa 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
 
 (* +-----------------------------------------------------------------+
@@ -187,7 +187,16 @@ let take_ear_simple krobot state ear =
   lwt () = Krobot.Grip.open_ krobot in
   lwt _ = Krobot.Motors.move krobot ~distance:100 ~velocity ~acceleration in
   lwt () = Krobot.Grip.close krobot in
-  lwt () = try_lwt Krobot.Grip.up krobot >> Krobot.Grip.release krobot with _ -> return () in
+  lwt () = Lwt_log.info ~section "grip up" in
+  lwt () =
+    try_lwt
+      lwt _ = Krobot.Grip.up krobot in
+      lwt () = Lwt_log.info ~section "grip release" in
+      Krobot.Grip.release krobot
+    with _ ->
+      return ()
+  in
+  lwt () = Lwt_log.info ~section "ear collected" in
   ears := List.filter ((<>) ear) !ears;
   return (state, alpha, d)
 
@@ -228,7 +237,7 @@ let take_ear krobot state ear =
 
 let take_straight krobot state ear =
   let d = distance state.position ear in
-  let d' = d - 270 - 100 in
+  let d' = d - 270 - 110 in
   let m = { vx = state.position.vx + (ear.vx - state.position.vx) * d' / d;
             vy = state.position.vy + (ear.vy - state.position.vy) * d' / d } in
   let angle, distance, state' = Krobot_move.move state m in
@@ -241,7 +250,7 @@ let take_straight krobot state ear =
   in
   lwt _ = Krobot.Motors.move krobot ~distance ~velocity ~acceleration in
   lwt state, alpha, d = take_ear_simple krobot state' ear in
-  lwt _ = Krobot.Motors.move krobot ~distance:(-(d + 100)) ~velocity ~acceleration in
+  lwt _ = Krobot.Motors.move krobot ~distance:(-d) ~velocity ~acceleration in
   lwt _ = Krobot.Motors.turn krobot ~angle:(-alpha) ~velocity ~acceleration in
   return state'
 
diff --git a/info/control/driver/driver.ml b/info/control/driver/driver.ml
index cb940ca..420934a 100644
--- a/info/control/driver/driver.ml
+++ b/info/control/driver/driver.ml
@@ -343,7 +343,7 @@ let set_ax12 actions =
         0 actions
     in
     lwt () = Lwt_unix.sleep 0.1 in
-    if delta < 10 then
+    if delta < 15 then
       return ()
     else
       loop ()
@@ -356,7 +356,7 @@ let set_rx64 position velocity =
   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
+    if abs (pos - position) < 15 then
       return ()
     else
       loop ()
@@ -392,10 +392,10 @@ struct
 
   let grip_up () =
     let thread =
-      lwt () = set_rx64 222 50
+      lwt () = set_rx64 222 0
       and () = set_ax12 [{ aa_id = 2;
                            aa_position = 180;
-                           aa_velocity = 70 }]
+                           aa_velocity = 200 }]
       in
       return ()
     in
@@ -411,17 +411,17 @@ struct
       return true
 
   let grip_empty_up () =
-    lwt () = set_rx64 222 50
+    lwt () = set_rx64 222 0
     and () = set_ax12 [{ aa_id = 2;
                          aa_position = 180;
-                         aa_velocity = 90 }] in
+                         aa_velocity = 200 }] in
     return ()
 
   let grip_down () =
-    lwt () = set_rx64 536 50
+    lwt () = set_rx64 536 0
     and () = set_ax12 [{ aa_id = 2;
                          aa_position = 510;
-                         aa_velocity = 50 };
+                         aa_velocity = 0 };
                        { aa_id = 3;
                          aa_position = 390;
                          aa_velocity = 0 }] in


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