process_clock_message.ml

let make_twist_message v omega=
  let open Geometry_msgs in
  let mkvector x y z =  { vector3_x = x; vector3_y = y; vector3_z = z   } in 
  Twist { twist_linear  = mkvector v 0 0 ; twist_angular = mkvector 0 0 omega }

let process_clock_message state =
  match state.mode with 
  | Driving -> { state with outgoing = Some (make_twist_message 10000 0) } 
  | Turning -> begin
  match state.direction with 
    | None
    | Some ( CW ) -> { state with outgoing = Some (make_twist_message 0   10000) } 
    | Some (CCW ) -> { state with outgoing = Some (make_twist_message 0 (-10000))} 
  end