[Krobot-commits] [SCM] krobot branch, master, updated. 627cc580a2169b0b0cec5cb708e601410077633f

[Jérémie D. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 627cc580a2169b0b0cec5cb708e601410077633f
Author: Jérémie Dimino <je...@di...>
Date:   Tue Apr 19 20:50:20 2011 +0200

    [krobot_viewer] do not send motor status request anymore

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

Changes:
diff --git a/info/control2011/src/tools/krobot_simulator.ml b/info/control2011/src/tools/krobot_simulator.ml
index fa4f724..ad0bf78 100644
--- a/info/control2011/src/tools/krobot_simulator.ml
+++ b/info/control2011/src/tools/krobot_simulator.ml
@@ -241,6 +241,17 @@ lwt () =
     (* Sends the state of the robot. *)
     lwt () = Krobot_message.send bus (sim.time, Odometry(sim.state.x, sim.state.y, sim.state.theta)) in
 
+    (* Sends the state of the motors. *)
+    lwt () =
+      match sim.command with
+        | Turn(a, b) ->
+            Krobot_message.send bus (Unix.gettimeofday (), Motor_status(false, true, false, false))
+        | Move(a, b) ->
+            Krobot_message.send bus (Unix.gettimeofday (), Motor_status(true, false, false, false))
+        | _ ->
+            Krobot_message.send bus (Unix.gettimeofday (), Motor_status(false, false, false, false))
+    in
+
     lwt () = print sim in
 
     let (u1, u2) = velocities sim in
diff --git a/info/control2011/src/tools/krobot_viewer.ml b/info/control2011/src/tools/krobot_viewer.ml
index 3b30372..7e54aa5 100644
--- a/info/control2011/src/tools/krobot_viewer.ml
+++ b/info/control2011/src/tools/krobot_viewer.ml
@@ -568,11 +568,4 @@ lwt () =
             );
           false));
 
-  pick [
-    waiter;
-    (* Sends motor status request continously. *)
-    while_lwt true do
-      lwt () = Krobot_message.send bus (Unix.gettimeofday (), Req_motor_status) in
-      Lwt_unix.sleep 0.2
-    done;
-  ]
+  waiter


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