[Krobot-commits] [SCM] krobot branch, master, updated. ea5d9b40eb2d99f440301de0de5be3f232ef1e74

[Pierre C. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit ea5d9b40eb2d99f440301de0de5be3f232ef1e74
Author: chicco <cha...@cr...>
Date:   Wed May 16 00:12:18 2012 +0200

    [control] add a small homologation program

commit 8405c1cc560b0db86389ae2f7e169ba460463f09
Author: chicco <cha...@cr...>
Date:   Tue May 15 18:12:19 2012 +0200

    [control] vm: protect against invalid bezier curve

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

Changes:
diff --git a/info/control2011/_oasis b/info/control2011/_oasis
index 3227ab2..c9dcb61 100644
--- a/info/control2011/_oasis
+++ b/info/control2011/_oasis
@@ -212,6 +212,13 @@ Executable "krobot-ia"
   MainIs: krobot_ia.ml
   BuildDepends: krobot, lwt.syntax
 
+Executable "krobot-homologation"
+  Path: src/tools
+  Install: true
+  CompiledObject: best
+  MainIs: krobot_homologation.ml
+  BuildDepends: krobot, lwt.syntax
+
 Executable "krobot-can-display"
   Path: src/tools
   Build$: flag(gtk)
diff --git a/info/control2011/src/tools/krobot_homologation.ml b/info/control2011/src/tools/krobot_homologation.ml
new file mode 100644
index 0000000..e06a26a
--- /dev/null
+++ b/info/control2011/src/tools/krobot_homologation.ml
@@ -0,0 +1,34 @@
+(*
+ * krobot_homologation.ml
+ * ------------
+ * Copyright : (c) 2012, Pierre Chambart <cha...@cr...>
+ * Licence   : BSD3
+ *
+ * This file is a part of [kro]bot.
+ *)
+
+(* The simple ai for homologation. *)
+
+open Krobot_bus
+open Krobot_action
+
+let init_pos, init_angle = Krobot_config.red_initial_position
+
+let path =
+  [
+    { x = 0.7; y = init_pos.y };
+    { x = 0.8; y = 1.5 };
+    { x = 0.7; y = 1.15 };
+    { x = 0.5; y = 1.15 };
+    { x = 0.4; y = 1.15 };
+  ];
+
+lwt () =
+  lwt bus = Krobot_bus.get () in
+  Krobot_bus.send bus
+    (Unix.gettimeofday (),
+     Strategy_set [
+       Wait_for_jack false;
+       Reset_odometry `Auto;
+       Follow_path path;
+     ])
diff --git a/info/control2011/src/tools/krobot_vm.ml b/info/control2011/src/tools/krobot_vm.ml
index 32d541a..5bd2d11 100644
--- a/info/control2011/src/tools/krobot_vm.ml
+++ b/info/control2011/src/tools/krobot_vm.ml
@@ -343,9 +343,16 @@ let rec exec robot actions =
         ignore (Lwt_log.info "Bezier");
         (* Compute parameters. *)
         let d1 = sign *. distance p q and d2 = distance r s in
-        let v = vector r s in
-        let theta_end = atan2 v.vy v.vx in
-        (rest, Send(Motor_bezier(s.x, s.y, d1, d2, theta_end, v_end)))
+        if d1 = 0. || d2 = 0.
+        then
+          (* in that case: there is an error somewhere else:
+             search and destroy it ! *)
+          (ignore (Lwt_log.error_f "Error: Bezier with d1 = %f, d2 = %f" d1 d2);
+           ([], Wait))
+        else
+          let v = vector r s in
+          let theta_end = atan2 v.vy v.vx in
+          (rest, Send(Motor_bezier(s.x, s.y, d1, d2, theta_end, v_end)))
     | Stop :: rest ->
         reset robot;
         (rest, Send(Motor_stop(1.0, 0.0)))
@@ -354,9 +361,10 @@ let rec exec robot actions =
          Send
            (match which, robot.team with
               | `Red, _ | `Auto, `Red ->
-                  Set_odometry(0.215 -. robot_size /. 2. +. wheels_position, 1.885, 0.)
+                  Set_odometry(0.215 -. robot_size /. 2. +. wheels_position,
+                               world_height -. robot_size -. 0.1 , 0.)
               | `Blue, _ | `Auto, `Blue ->
-                  Set_odometry(2.77, 1.915, pi)))
+                  Set_odometry(2.77, world_height -. 0.1 , pi)))
     | Load face :: rest ->
         exec robot (Node [
                       Lift_down face;


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-- 
krobot