func main() {
bleAdaptor := ble.NewClientAdaptor(os.Args[1])
drone := minidrone.NewDriver(bleAdaptor)
work := func() {
drone.On(minidrone.Battery, func(data interface{}) {
fmt.Printf("battery: %d\n", data)
})
drone.On(minidrone.FlightStatus, func(data interface{}) {
fmt.Printf("flight status: %d\n", data)
})
drone.On(minidrone.Takeoff, func(data interface{}) {
fmt.Println("taking off...")
})
drone.On(minidrone.Hovering, func(data interface{}) {
fmt.Println("hovering!")
gobot.After(5*time.Second, func() {
drone.Land()
})
})
drone.On(minidrone.Landing, func(data interface{}) {
fmt.Println("landing...")
})
drone.On(minidrone.Landed, func(data interface{}) {
fmt.Println("landed.")
})
time.Sleep(1000 * time.Millisecond)
drone.TakeOff()
}
robot := gobot.NewRobot("minidrone",
[]gobot.Connection{bleAdaptor},
[]gobot.Device{drone},
work,
)
robot.Start()
}
func main() {
bleAdaptor := ble.NewClientAdaptor(os.Args[1])
drone := minidrone.NewDriver(bleAdaptor)
work := func() {
drone.TakeOff()
gobot.After(5*time.Second, func() {
drone.Land()
})
}
robot := gobot.NewRobot("minidrone",
[]gobot.Connection{bleAdaptor},
[]gobot.Device{drone},
work,
)
robot.Start()
}
func main() {
joystickAdaptor := joystick.NewAdaptor()
stick := joystick.NewDriver(joystickAdaptor,
"./platforms/joystick/configs/dualshock3.json",
)
droneAdaptor := ble.NewClientAdaptor(os.Args[1])
drone := minidrone.NewDriver(droneAdaptor)
work := func() {
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("minidrone",
[]gobot.Connection{joystickAdaptor, droneAdaptor},
[]gobot.Device{stick, drone},
work,
)
robot.Start()
}