[Krobot-commits] [SCM] krobot branch, master, updated. cf9f9165a120527867e0bc0815a5a609f5a2e645

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

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- Log -----------------------------------------------------------------
commit cf9f9165a120527867e0bc0815a5a609f5a2e645
Author: Pierre Chambart <pie...@oc...>
Date:   Sat Oct 27 00:26:41 2012 +0200

    Fix small bug in odometry reinitialisation

commit c315ed882e3d90289684f4bef4b76ff92244451b
Author: Pierre Chambart <pie...@oc...>
Date:   Sat Oct 27 00:25:10 2012 +0200

    Adds a small example to run in the toplevel

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

Changes:
diff --git a/info/control2011/examples/krobot_rolling.ml b/info/control2011/examples/krobot_rolling.ml
new file mode 100644
index 0000000..c502593
--- /dev/null
+++ b/info/control2011/examples/krobot_rolling.ml
@@ -0,0 +1,112 @@
+#use "topfind"
+#require "krobot";;
+open Krobot_bus;;
+open Krobot_message;;
+
+let moving = ref false
+let roting = ref false
+
+(* le hub et driver doivent être lancés *)
+let bus = Lwt_unix.run (Krobot_bus.get ())
+let send m = Lwt_unix.run (Krobot_message.send bus (Unix.gettimeofday (), m))
+
+let handle_message (timestamp, message) =
+  match message with
+    | CAN(_, frame) -> begin
+        match decode frame with
+
+          | Motor_status(m,t,_,_) ->
+            moving := m;
+            roting := t
+
+          | _ ->
+              ()
+      end
+    | _ ->
+        ()
+
+(* a n'executer qu'une fois *)
+let () = Lwt_react.E.keep (Lwt_react.E.map handle_message (Krobot_bus.recv bus))
+
+let move distance speed acceleration =
+  send (Motor_move(distance,speed,acceleration))
+(** [Motor_move(distance, speed, acceleration)] command to make
+    the robot to move.
+    - [distance] is in m
+    - [speed] is in m/s
+    - [acceleration] is in m/s^2
+*)
+let turn angle speed acceleration =
+  send (Motor_turn(angle,speed,acceleration))
+      (** [Motor_turn(angle, speed, acceleration)] command to make the
+          robot to turn.
+          - [angle] is in rad
+          - [speed] is in rad/s
+          - [acceleration] is in rad/s^2
+      *)
+
+let motor_stop lin_acc rot_acc = send (Motor_stop(lin_acc, rot_acc))
+      (** [Motor_stop(lin_acc, rot_acc)] command to stop following the
+          current Bezier Spline and the queued ones.
+          - [lin_acc] in m/s^2
+          - [rot_acc] in rad/s^2
+      *)
+
+let wait t = Lwt_unix.run (lwt () = Lwt_unix.sleep 0. in Lwt_unix.sleep t)
+(* en secondes *)
+
+let wait_ref_false r =
+  while !r do
+    wait 0.01;
+  done
+
+let beacon_speed s = send (Motor_command (2,s))
+
+
+let pi = 4. *. atan 1.
+
+let fait_un_truc () =
+  wait 2.;
+  Printf.printf "go\n%!";
+  move 0.5 0.2 0.5;
+  wait_ref_false moving;
+  turn pi (pi/.2.) (pi/.2.);
+  wait_ref_false roting;
+  move 0.2 0.2 0.5
+
+let () = move 2. 0.2 0.5
+let () = turn (pi/.2.) (pi/.2. /. 4.) (pi/.2. /. 4. /. 1.)
+let () = send (Set_odometry( 0.1, 0.2, pi))
+
+let () = send (Drive_activation false)
+let () = send (Drive_activation true)
+let () = send (Drive_torque_limit 100)
+let () = send (Drive_torque_limit 3600)
+let () = send (Torque_limit(4,5))
+let () = send (Torque_limit(8,5))
+
+let () = move 1. 0.2 0.5
+
+let () = move (-.1.) 0.2 0.5
+
+let () = turn (20.*.pi) pi 0.5
+
+let () = turn (-. 20.*.pi) pi 0.5
+
+let () = motor_stop 0.5 0.5
+
+(*lancer:
+  let () = fait_un_truc ()
+*)
+
+(* commande de la vm / planner *)
+open Krobot_geom
+
+let send_bus m = Lwt_unix.run (Krobot_bus.send bus (Unix.gettimeofday (), m))
+let stop () = send_bus Strategy_stop
+let clear () = send_bus (Trajectory_set_vertices [])
+(* nettoie la trajectoire enregistree *)
+let set_vertice x y = send_bus (Trajectory_set_vertices [{x;y}])
+(* enregistre la trajectoire *)
+let go () = send_bus Trajectory_go
+
diff --git a/info/control2011/src/tools/krobot_vm.ml b/info/control2011/src/tools/krobot_vm.ml
index a2b7534..7df6b4c 100644
--- a/info/control2011/src/tools/krobot_vm.ml
+++ b/info/control2011/src/tools/krobot_vm.ml
@@ -603,7 +603,7 @@ let rec exec robot actions =
               | `Blue, _ | `Auto, `Blue ->
                 let { Krobot_geom.x; y }, angle = Krobot_config.blue_initial_position in
                 [Krobot_message.Set_odometry( x, y, pi);
-                 Krobot_message.Set_odometry( x, y, pi )]))
+                 Set_odometry_indep( x, y, pi )]))
     | Load face :: rest ->
         exec robot (Node (None,[
                       Lift_down face;


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