func main() {
gbot := gobot.NewGobot()
// create a ardrone adapter
aAdapter := ardrone.NewArdroneAdaptor("Drone")
// create a leap adaptor to connect to the leap motion via web socket.
lAdapter := leap.NewLeapMotionAdaptor("leap", "127.0.0.1:6437")
c := leapdrone.NewController(lAdapter, aAdapter)
// implement leap worker
leapWorker := func() {
// NOTE: leap motion driver only add message event to it.
gobot.On(c.LDriver.Event("message"), func(data interface{}) {
lp := data.(leap.Frame)
for _, v := range lp.Hands {
// XXX: catch the first hand id and ignore other annoying hands
hand := lb.NewHand(v, 200)
if hand.IsForward() {
fmt.Printf("moving forward\n")
}
if hand.IsBackward() {
fmt.Printf("moving backward\n")
}
if hand.IsRight() {
fmt.Printf("moving right\n")
}
if hand.IsLeft() {
fmt.Printf("moving left\n")
}
if hand.IsUpward() {
fmt.Printf("moving up\n")
}
if hand.IsDownward() {
fmt.Printf("moving down\n")
}
continue
}
})
}
// implement ARDrone worker
droneWorker := func() {
c.ADriver.TakeOff()
gobot.On(c.ADriver.Event("flying"), func(data interface{}) {
gobot.After(3*time.Second, func() {
c.ADriver.Land()
})
})
}
// add a leap robot to gobot
gbot.AddRobot(c.LeapRobot(leapWorker))
// add a ardrone robot to gobot
// TODO: temporarily disable drone robot.
// gbot.AddRobot(c.DroneRobot(droneWorker))
_ = droneWorker
// start
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
ardroneAdaptor := ardrone.NewArdroneAdaptor("Drone")
drone := ardrone.NewArdroneDriver(ardroneAdaptor, "Drone")
work := func() {
drone.TakeOff()
gobot.On(drone.Events["Flying"], func(data interface{}) {
gobot.After(3*time.Second, func() {
drone.Land()
})
})
}
gbot.Robots = append(gbot.Robots,
gobot.NewRobot("drone", []gobot.Connection{ardroneAdaptor}, []gobot.Device{drone}, work))
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
ardroneAdaptor := ardrone.NewArdroneAdaptor("Drone")
drone := ardrone.NewArdroneDriver(ardroneAdaptor, "Drone")
work := func() {
drone.On(ardrone.Flying, func(data interface{}) {
gobot.After(3*time.Second, func() {
drone.Land()
})
})
drone.TakeOff()
}
robot := gobot.NewRobot("drone",
[]gobot.Connection{ardroneAdaptor},
[]gobot.Device{drone},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
runtime.GOMAXPROCS(runtime.NumCPU())
gbot := gobot.NewGobot()
_, currentfile, _, _ := runtime.Caller(0)
cascade := path.Join(path.Dir(currentfile), "haarcascade_frontalface_alt.xml")
window := opencv.NewWindowDriver("window")
camera := opencv.NewCameraDriver("camera", "tcp://192.168.1.1:5555")
ardroneAdaptor := ardrone.NewArdroneAdaptor("Drone")
drone := ardrone.NewArdroneDriver(ardroneAdaptor, "drone")
work := func() {
detect := false
drone.TakeOff()
var image *cv.IplImage
gobot.On(camera.Events["Frame"], func(data interface{}) {
image = data.(*cv.IplImage)
if detect == false {
window.ShowImage(image)
}
})
gobot.On(drone.Events["Flying"], func(data interface{}) {
gobot.After(1*time.Second, func() { drone.Up(0.2) })
gobot.After(2*time.Second, func() { drone.Hover() })
gobot.After(5*time.Second, func() {
detect = true
gobot.Every(300*time.Millisecond, func() {
drone.Hover()
i := image
faces := opencv.DetectFaces(cascade, i)
biggest := 0
var face *cv.Rect
for _, f := range faces {
if f.Width() > biggest {
biggest = f.Width()
face = f
}
}
if face != nil {
opencv.DrawRectangles(i, []*cv.Rect{face}, 0, 255, 0, 5)
centerX := float64(image.Width()) * 0.5
turn := -(float64(face.X()) - centerX) / centerX
fmt.Println("turning:", turn)
if turn < 0 {
drone.Clockwise(math.Abs(turn * 0.4))
} else {
drone.CounterClockwise(math.Abs(turn * 0.4))
}
}
window.ShowImage(i)
})
gobot.After(20*time.Second, func() { drone.Land() })
})
})
}
gbot.Robots = append(gbot.Robots,
gobot.NewRobot("face", []gobot.Connection{ardroneAdaptor}, []gobot.Device{window, camera, drone}, work))
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
joystickAdaptor := joystick.NewJoystickAdaptor("ps3")
joystick := joystick.NewJoystickDriver(joystickAdaptor, "ps3", "./platforms/joystick/configs/dualshock3.json")
ardroneAdaptor := ardrone.NewArdroneAdaptor("Drone")
drone := ardrone.NewArdroneDriver(ardroneAdaptor, "Drone")
work := func() {
offset := 32767.0
rightStick := pair{x: 0, y: 0}
leftStick := pair{x: 0, y: 0}
gobot.On(joystick.Events["square_press"], func(data interface{}) {
drone.TakeOff()
})
gobot.On(joystick.Events["triangle_press"], func(data interface{}) {
drone.Hover()
})
gobot.On(joystick.Events["x_press"], func(data interface{}) {
drone.Land()
})
gobot.On(joystick.Events["left_x"], func(data interface{}) {
val := float64(data.(int16))
if leftStick.x != val {
leftStick.x = val
}
})
gobot.On(joystick.Events["left_y"], func(data interface{}) {
val := float64(data.(int16))
if leftStick.y != val {
leftStick.y = val
}
})
gobot.On(joystick.Events["right_x"], func(data interface{}) {
val := float64(data.(int16))
if rightStick.x != val {
rightStick.x = val
}
})
gobot.On(joystick.Events["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)
}
})
}
gbot.Robots = append(gbot.Robots,
gobot.NewRobot("ardrone", []gobot.Connection{joystickAdaptor, ardroneAdaptor}, []gobot.Device{joystick, drone}, work))
gbot.Start()
}
func main() {
gbot := gobot.NewGobot()
m := mqtt.NewMqttAdaptor("mqtt", "tcp://192.168.0.90:1883", "gcs")
ardroneAdaptor := ardrone.NewArdroneAdaptor("Drone", "192.168.0.40")
joystickAdaptor := joystick.NewJoystickAdaptor("ps3")
joystick := joystick.NewJoystickDriver(joystickAdaptor,
"ps3",
"./dualshock3.json",
)
drone := ardrone.NewArdroneDriver(ardroneAdaptor, "Drone")
work := func() {
dgram := url.Values{
"name": {"gcs"},
"dispenser_id": {"3"},
"drink_id": {"0"},
"event": {"available"},
"details": {"drone"},
}
m.Publish("gcs", []byte(dgram.Encode()))
offset := 32767.0
rightStick := pair{x: 0, y: 0}
leftStick := pair{x: 0, y: 0}
m.On("drone", func(data []byte) {
dgram.Set("event", "delivery complete")
m.Publish("gcs", []byte(dgram.Encode()))
})
gobot.On(joystick.Event("circle_press"), func(data interface{}) {
fmt.Println("Drop!")
m.Publish("drop", []byte{})
})
gobot.On(joystick.Event("square_press"), func(data interface{}) {
drone.TakeOff()
dgram.Set("event", "en route")
m.Publish("gcs", []byte(dgram.Encode()))
})
gobot.On(joystick.Event("triangle_press"), func(data interface{}) {
drone.Hover()
})
gobot.On(joystick.Event("x_press"), func(data interface{}) {
drone.Land()
dgram.Set("event", "available")
m.Publish("gcs", []byte(dgram.Encode()))
})
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("ardrone",
[]gobot.Connection{joystickAdaptor, ardroneAdaptor, m},
[]gobot.Device{joystick, drone},
work,
)
gbot.AddRobot(robot)
gbot.Start()
}
