예제 #1
0
파일: bebop.go 프로젝트: laibulle/jenpi
func main() {
	gbot := gobot.NewGobot()

	bebopAdaptor := bebop.NewBebopAdaptor("Drone")
	drone := bebop.NewBebopDriver(bebopAdaptor, "Drone")

	work := func() {
		gobot.On(drone.Event("flying"), func(data interface{}) {
			gobot.After(3*time.Second, func() {
				drone.Land()
			})
		})

		drone.HullProtection(true)
		drone.TakeOff()
	}

	robot := gobot.NewRobot("drone",
		[]gobot.Connection{bebopAdaptor},
		[]gobot.Device{drone},
		work,
	)
	gbot.AddRobot(robot)

	gbot.Start()
}
예제 #2
0
func main() {
	gbot := gobot.NewGobot()

	joystickAdaptor := joystick.NewJoystickAdaptor("ps3")
	stick := joystick.NewJoystickDriver(joystickAdaptor,
		"ps3",
		"./platforms/joystick/configs/dualshock3.json",
	)

	bebopAdaptor := bebop.NewBebopAdaptor("Drone")
	drone := bebop.NewBebopDriver(bebopAdaptor, "Drone")

	work := func() {
		video, _, _ := ffmpeg()

		go func() {
			for {
				if _, err := video.Write(<-drone.Video()); err != nil {
					fmt.Println(err)
					return
				}
			}
		}()

		offset := 32767.0
		rightStick := pair{x: 0, y: 0}
		leftStick := pair{x: 0, y: 0}

		recording := false

		stick.On(joystick.CirclePress, func(data interface{}) {
			if recording {
				drone.StopRecording()
			} else {
				drone.StartRecording()
			}
			recording = !recording
		})

		stick.On(joystick.SquarePress, func(data interface{}) {
			drone.HullProtection(true)
			drone.TakeOff()
		})
		stick.On(joystick.TrianglePress, func(data interface{}) {
			drone.Stop()
		})
		stick.On(joystick.XPress, func(data interface{}) {
			drone.Land()
		})
		stick.On(joystick.LeftX, func(data interface{}) {
			val := float64(data.(int16))
			if leftStick.x != val {
				leftStick.x = val
			}
		})
		stick.On(joystick.LeftY, func(data interface{}) {
			val := float64(data.(int16))
			if leftStick.y != val {
				leftStick.y = val
			}
		})
		stick.On(joystick.RightX, func(data interface{}) {
			val := float64(data.(int16))
			if rightStick.x != val {
				rightStick.x = val
			}
		})
		stick.On(joystick.RightY, func(data interface{}) {
			val := float64(data.(int16))
			if rightStick.y != val {
				rightStick.y = val
			}
		})

		gobot.Every(10*time.Millisecond, func() {
			pair := leftStick
			if pair.y < -10 {
				drone.Forward(validatePitch(pair.y, offset))
			} else if pair.y > 10 {
				drone.Backward(validatePitch(pair.y, offset))
			} else {
				drone.Forward(0)
			}

			if pair.x > 10 {
				drone.Right(validatePitch(pair.x, offset))
			} else if pair.x < -10 {
				drone.Left(validatePitch(pair.x, offset))
			} else {
				drone.Right(0)
			}
		})

		gobot.Every(10*time.Millisecond, func() {
			pair := rightStick
			if pair.y < -10 {
				drone.Up(validatePitch(pair.y, offset))
			} else if pair.y > 10 {
				drone.Down(validatePitch(pair.y, offset))
			} else {
				drone.Up(0)
			}

			if pair.x > 20 {
				drone.Clockwise(validatePitch(pair.x, offset))
			} else if pair.x < -20 {
				drone.CounterClockwise(validatePitch(pair.x, offset))
			} else {
				drone.Clockwise(0)
			}
		})
	}

	robot := gobot.NewRobot("bebop",
		[]gobot.Connection{joystickAdaptor, bebopAdaptor},
		[]gobot.Device{stick, drone},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}
예제 #3
0
func main() {
	gbot := gobot.NewGobot()

	joystickAdaptor := joystick.NewJoystickAdaptor("ps3")
	joystick := joystick.NewJoystickDriver(joystickAdaptor,
		"ps3",
		"./platforms/joystick/configs/dualshock3.json",
	)

	bebopAdaptor := bebop.NewBebopAdaptor("Drone")
	drone := bebop.NewBebopDriver(bebopAdaptor, "Drone")

	work := func() {

		offset := 32767.0
		rightStick := pair{x: 0, y: 0}
		leftStick := pair{x: 0, y: 0}

		recording := false

		gobot.On(joystick.Event("circle_press"), func(data interface{}) {
			if recording {
				drone.StopRecording()
			} else {
				drone.StartRecording()
			}
			recording = !recording
		})

		gobot.On(joystick.Event("square_press"), func(data interface{}) {
			drone.HullProtection(true)
			drone.TakeOff()
		})
		gobot.On(joystick.Event("triangle_press"), func(data interface{}) {
			drone.Stop()
		})
		gobot.On(joystick.Event("x_press"), func(data interface{}) {
			drone.Land()
		})
		gobot.On(joystick.Event("left_x"), func(data interface{}) {
			val := float64(data.(int16))
			if leftStick.x != val {
				leftStick.x = val
			}
		})
		gobot.On(joystick.Event("left_y"), func(data interface{}) {
			val := float64(data.(int16))
			if leftStick.y != val {
				leftStick.y = val
			}
		})
		gobot.On(joystick.Event("right_x"), func(data interface{}) {
			val := float64(data.(int16))
			if rightStick.x != val {
				rightStick.x = val
			}
		})
		gobot.On(joystick.Event("right_y"), func(data interface{}) {
			val := float64(data.(int16))
			if rightStick.y != val {
				rightStick.y = val
			}
		})

		gobot.Every(10*time.Millisecond, func() {
			pair := leftStick
			if pair.y < -10 {
				drone.Forward(validatePitch(pair.y, offset))
			} else if pair.y > 10 {
				drone.Backward(validatePitch(pair.y, offset))
			} else {
				drone.Forward(0)
			}

			if pair.x > 10 {
				drone.Right(validatePitch(pair.x, offset))
			} else if pair.x < -10 {
				drone.Left(validatePitch(pair.x, offset))
			} else {
				drone.Right(0)
			}
		})

		gobot.Every(10*time.Millisecond, func() {
			pair := rightStick
			if pair.y < -10 {
				drone.Up(validatePitch(pair.y, offset))
			} else if pair.y > 10 {
				drone.Down(validatePitch(pair.y, offset))
			} else {
				drone.Up(0)
			}

			if pair.x > 20 {
				drone.Clockwise(validatePitch(pair.x, offset))
			} else if pair.x < -20 {
				drone.CounterClockwise(validatePitch(pair.x, offset))
			} else {
				drone.Clockwise(0)
			}
		})
	}

	robot := gobot.NewRobot("bebop",
		[]gobot.Connection{joystickAdaptor, bebopAdaptor},
		[]gobot.Device{joystick, drone},
		work,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}