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()
}
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()
}
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()
}