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[Krobot-commits] [SCM] krobot branch, master, updated. 5403b5850fb9dd5aadbb3350764821280e44de0e
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From: Jérémie D. <Ba...@us...> - 2011-06-16 17:41:26
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- Log -----------------------------------------------------------------
commit 5403b5850fb9dd5aadbb3350764821280e44de0e
Author: Jérémie Dimino <je...@di...>
Date: Thu Jun 16 19:40:36 2011 +0200
[info] integrates the rest of krobot_run into krobot_vm/action
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/src/lib/krobot_action.ml b/info/control2011/src/lib/krobot_action.ml
index 6255e48..6e1dd3c 100644
--- a/info/control2011/src/lib/krobot_action.ml
+++ b/info/control2011/src/lib/krobot_action.ml
@@ -22,9 +22,24 @@ type t =
| Wait_for_moving of bool
| Reset_odometry of [ `Red | `Blue | `Auto ]
| Wait_for_odometry of [ `Eq | `Gt | `Ge | `Lt | `Le ] * int
+ | Load of [ `Front | `Back ]
+ | Lift_down of [ `Front | `Back ]
+ | Lift_up of [ `Front | `Back ]
+ | Open_grip_low of [ `Front | `Back ]
+ | Close_grip_low of [ `Front | `Back ]
+ | Open_grip_high of [ `Front | `Back ]
+ | Close_grip_high of [ `Front | `Back ]
+ | Wait_for of float
+ | Wait_until of float
+ | Wait_for_grip_open_low of [ `Front | `Back ]
+ | Wait_for_grip_close_low of [ `Front | `Back ]
let string_of_vertice { x; y } = sprintf "{ x = %f; y = %f }" x y
+let string_of_face = function
+ | `Front -> "`Front"
+ | `Back -> "`Back"
+
let rec to_string = function
| Node l ->
sprintf "Node [%s]" (String.concat "; " (List.map to_string l))
@@ -69,3 +84,25 @@ let rec to_string = function
| `Lt -> "Lt"
| `Le -> "Le")
value
+ | Load face ->
+ sprintf "Load %s" (string_of_face face)
+ | Lift_down face ->
+ sprintf "Lift_down %s" (string_of_face face)
+ | Lift_up face ->
+ sprintf "Lift_up %s" (string_of_face face)
+ | Open_grip_low face ->
+ sprintf "Open_grip_low %s" (string_of_face face)
+ | Close_grip_low face ->
+ sprintf "Close_grip_low %s" (string_of_face face)
+ | Open_grip_high face ->
+ sprintf "Open_grip_high %s" (string_of_face face)
+ | Close_grip_high face ->
+ sprintf "Close_grip_high %s" (string_of_face face)
+ | Wait_for t ->
+ sprintf "Wait_for %f" t
+ | Wait_until t ->
+ sprintf "Wait_until %f" t
+ | Wait_for_grip_open_low face ->
+ sprintf "Wait_for_grip_open_low %S" (string_of_face face)
+ | Wait_for_grip_close_low face ->
+ sprintf "Wait_for_grip_close_low %S" (string_of_face face)
diff --git a/info/control2011/src/lib/krobot_action.mli b/info/control2011/src/lib/krobot_action.mli
index 72e953a..f103559 100644
--- a/info/control2011/src/lib/krobot_action.mli
+++ b/info/control2011/src/lib/krobot_action.mli
@@ -40,6 +40,28 @@ type t =
| Wait_for_odometry of [ `Eq | `Gt | `Ge | `Lt | `Le ] * int
(** Wait for the curve parameter of the odometry to reach the
given state. *)
+ | Load of [ `Front | `Back ]
+ (** Load a pawn. *)
+ | Lift_down of [ `Front | `Back ]
+ (** Move the front or back lift down. *)
+ | Lift_up of [ `Front | `Back ]
+ (** Move the front or back lift up. *)
+ | Open_grip_low of [ `Front | `Back ]
+ (** Open the front or back low grip. *)
+ | Close_grip_low of [ `Front | `Back ]
+ (** Close the front or back low grip. *)
+ | Open_grip_high of [ `Front | `Back ]
+ (** Open the front or back low grip. *)
+ | Close_grip_high of [ `Front | `Back ]
+ (** Close the front or back low grip. *)
+ | Wait_for of float
+ (** Wait for the given number of seconds. *)
+ | Wait_until of float
+ (** Wait until the given date. *)
+ | Wait_for_grip_open_low of [ `Front | `Back ]
+ (** Wait for the given low grip to be opened. *)
+ | Wait_for_grip_close_low of [ `Front | `Back ]
+ (** Wait for the given low grip to be opened. *)
val to_string : t -> string
(** [to_string action] returns the string representation of the
diff --git a/info/control2011/src/tools/krobot_vm.ml b/info/control2011/src/tools/krobot_vm.ml
index 9d67145..d4dc507 100644
--- a/info/control2011/src/tools/krobot_vm.ml
+++ b/info/control2011/src/tools/krobot_vm.ml
@@ -21,6 +21,13 @@ open Krobot_action
| Types |
+-----------------------------------------------------------------+ *)
+(* State of an AX12. *)
+type ax12 = {
+ mutable ax12_position : int;
+ mutable ax12_speed : int;
+ mutable ax12_torque : int;
+}
+
(* Type of robots. *)
type robot = {
bus : Krobot_bus.t;
@@ -68,6 +75,16 @@ type robot = {
mutable team : [ `Red | `Blue ];
(* The state of the team selector. *)
+
+ ax12_front_low_left : ax12;
+ ax12_front_low_right : ax12;
+ ax12_front_high_left : ax12;
+ ax12_front_high_right : ax12;
+ ax12_back_low_left : ax12;
+ ax12_back_low_right : ax12;
+ ax12_back_high_left : ax12;
+ ax12_back_high_right : ax12;
+ (* State of AX12s. *)
}
(* +-----------------------------------------------------------------+
@@ -100,6 +117,20 @@ let handle_message robot (timestamp, message) =
| Switch1_status(b, _, _, _, _, _, _, _) ->
robot.jack <- not b
+ | Ax12_State(id, position, speed, torque) -> begin
+ let set ax12 =
+ ax12.ax12_position <- position;
+ ax12.ax12_speed <- speed;
+ ax12.ax12_torque <- torque
+ in
+ match id with
+ | 1 -> set robot.ax12_front_low_left
+ | 2 -> set robot.ax12_front_low_right
+ | 3 -> set robot.ax12_front_high_left
+ | 4 -> set robot.ax12_front_high_right
+ | _ -> ()
+ end
+
| _ ->
()
end
@@ -198,6 +229,13 @@ let rec exec robot actions =
exec robot rest
else
(actions, Wait)
+ | Wait_for t :: rest ->
+ exec robot (Wait_until (Unix.gettimeofday () +. t) :: rest)
+ | Wait_until t :: rest ->
+ if Unix.gettimeofday () >= t then
+ exec robot rest
+ else
+ (actions, Wait)
| Set_curve None :: rest ->
reset robot;
exec robot rest
@@ -278,8 +316,26 @@ let rec exec robot actions =
Set_odometry(0.215 -. robot_size /. 2. +. wheels_position, 1.885, 0.)
| `Blue, _ | `Auto, `Blue ->
Set_odometry(2.77, 1.915, pi)))
+ | Load face :: rest ->
+ exec robot (Node [
+ Lift_down face;
+ Open_grip_low face;
+ Wait_for_grip_open_low face;
+ Wait_for 0.5;
+ (* Move_to_pawn *)
+ Close_grip_low face;
+ Lift_up face;
+ Wait_for_grip_close_low face;
+ Wait_for 0.5;
+ ] :: rest)
+ | Lift_down `Front :: rest ->
+ (rest, Send(Elevator(0., -1.)))
+ | Lift_up `Front :: rest ->
+ (rest, Send(Elevator(1., -1.)))
| Think :: rest ->
exec robot rest
+ | _ :: rest ->
+ exec robot rest
(* +-----------------------------------------------------------------+
| Main loop |
@@ -390,6 +446,14 @@ lwt () =
beacon = None;
date_seen_beacon = 0.;
team = `Red;
+ ax12_front_low_left = { ax12_position = 0; ax12_speed = 0; ax12_torque = 0 };
+ ax12_front_low_right = { ax12_position = 0; ax12_speed = 0; ax12_torque = 0 };
+ ax12_front_high_left = { ax12_position = 0; ax12_speed = 0; ax12_torque = 0 };
+ ax12_front_high_right = { ax12_position = 0; ax12_speed = 0; ax12_torque = 0 };
+ ax12_back_low_left = { ax12_position = 0; ax12_speed = 0; ax12_torque = 0 };
+ ax12_back_low_right = { ax12_position = 0; ax12_speed = 0; ax12_torque = 0 };
+ ax12_back_high_left = { ax12_position = 0; ax12_speed = 0; ax12_torque = 0 };
+ ax12_back_high_right = { ax12_position = 0; ax12_speed = 0; ax12_torque = 0 };
} in
(* Handle krobot message. *)
hooks/post-receive
--
krobot
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