p71924506
/
cylon
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Sample robot integrating leap motion and Parrot ARDrone 2.0 through cylon

This commit is contained in:
fabito 2014-05-28 17:34:27 -03:00
parent c851809bc2
commit 0c8412fe40
2 changed files with 292 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

255
examples/leap_ardrone/leap_ardrone.js Normal file
View File

@ -0,0 +1,255 @@
/*
* leap_ardrone.js
*
* Written by Giuliano Sposito and Fábio Uechi
* Copyright (c) 2013-2014 CI&T Software
* Licensed under the Apache 2.0 license.
*/
Cylon = require('cylon');
var lastS = 0;
var handStartPosition = [];
var handStartDirection = [];
var UP_CONTROL_THRESHOLD = 50;
var UP_SPEED_FACTOR = 0.01;
var SWIPE_THRESHOLD = 30;
var CIRCLE_THRESHOLD = 1.5;
var DIRECTION_THRESHOLD = 0.25;
var DIRECTION_SPEED_FACTOR = 0.05;
var TURN_SPEED = 0.5;
var TURN_TRESHOLD = 0.2;
var TURN_SPEED_FACTOR = 2.0;
Cylon.robot({
connections: [
{ name: 'leapmotion', adaptor: 'leapmotion', port: '127.0.0.1:6437' },
{ name: 'ardrone', adaptor: 'ardrone', port: '192.168.1.1' },
{ name: 'keyboard', adaptor: 'keyboard' }
],
devices: [
{ name: 'drone', driver: 'ardrone', connection:'ardrone' },
{ name: 'leapmotion', driver: 'leapmotion', connection:'leapmotion' },
{ name: 'keyboard', driver: 'keyboard', connection:'keyboard'}
],
work: function(my) {
//KEYBOARD
my.keyboard.on('right', function(key) {
console.log("RIGHT");
my.drone.rightFlip();
});
my.keyboard.on('left', function(key) {
console.log("LEFT");
my.drone.leftFlip();
});
my.keyboard.on('up', function(key) {
console.log("UP");
my.drone.frontFlip();
});
my.keyboard.on('down', function(key) {
console.log("DOWN");
my.drone.backFlip();
});
my.keyboard.on('w', function(key) {
console.log("key(w): my.drone.wave()");
my.drone.wave();
});
// EMERGENCE KEYS
my.keyboard.on('s', function(key) {
console.log("key(S): my.drone.stop()");
my.drone.stop();
});
my.keyboard.on('l', function(key) {
console.log("key(L): my.drone.land()");
my.drone.land();
});
// HAND
my.leapmotion.on('hand', function(hand) {
// detecta abertua de mão ==> ATIVA COMANDO DE MDAnielOVIMENTO
if (hand.s>1.5 && lastS<=1.5) {
console.log('Direction Motion Control');
handStartPosition = hand.palmPosition;
handStartDirection = hand.direction;
console.log();
};
//console.log(hand);
// TURNS
if(hand.s>1.5 && Math.abs(handStartDirection[0]-hand.direction[0]) > TURN_TRESHOLD ) {
var signal = handStartDirection[0]-hand.direction[0];
var value = (Math.abs(handStartDirection[0]-hand.direction[0])-TURN_TRESHOLD)*TURN_SPEED_FACTOR;
if (signal>0){
my.drone.counterClockwise(value);
console.log('turn left: CCW('+ value +')');
}
if (signal<0){
my.drone.clockwise(value);
console.log('turn right: CW('+ value +')');
}
}
// UP and DOWN
if (hand.s>1.5 && Math.abs(hand.palmPosition[1]-handStartPosition[1]) > UP_CONTROL_THRESHOLD) {
var signal = (hand.palmPosition[1]-handStartPosition[1]) >= 0 ? 1 : -1;
var value = Math.round(Math.abs((hand.palmPosition[1]-handStartPosition[1]))-UP_CONTROL_THRESHOLD) * UP_SPEED_FACTOR;
if (signal>0) {
my.drone.up(value);
console.log('my.drone.up('+value+')');
};
if (signal<0) {
my.drone.down(value);
console.log('my.drone.down('+value+')');
}
}
// DIRECTION FRONT/BACK
if (hand.s>1.5 && (Math.abs(hand.palmNormal[2])>DIRECTION_THRESHOLD)) {
if (hand.palmNormal[2]>0) {
var value = Math.abs(Math.round( hand.palmNormal[2]*10 + DIRECTION_THRESHOLD )*DIRECTION_SPEED_FACTOR);
my.drone.forward( value );
console.log ('my.drone.forward(' + value + ')');
};
if (hand.palmNormal[2]<0) {
var value = Math.abs(Math.round( hand.palmNormal[2]*10 - DIRECTION_THRESHOLD )*DIRECTION_SPEED_FACTOR);
my.drone.back( value );
console.log ('my.drone.back(' + value + ')');
};
}
// DIRECTION LEFT/RIGHT
if (hand.s>1.5 && (Math.abs(hand.palmNormal[0])>DIRECTION_THRESHOLD)) {
if (hand.palmNormal[0]>0) {
var value = Math.abs(Math.round( hand.palmNormal[0]*10 + DIRECTION_THRESHOLD )*DIRECTION_SPEED_FACTOR);
my.drone.left( value );
console.log ('my.drone.left(' + value + ')');
};
if (hand.palmNormal[0]<0) {
var value = Math.abs(Math.round( hand.palmNormal[0]*10 - DIRECTION_THRESHOLD )*DIRECTION_SPEED_FACTOR);
my.drone.right( value );
console.log ('my.drone.right(' + value + ')');
};
}
// AUTO FREEZE
if ( hand.s>1.5 && // mão aberta
(Math.abs(hand.palmNormal[0])<DIRECTION_THRESHOLD) && // dentro do threshold lateral
(Math.abs(hand.palmNormal[2])<DIRECTION_THRESHOLD) && // dentro do threshold frontal
Math.abs(hand.palmPosition[1]-handStartPosition[1]) < UP_CONTROL_THRESHOLD && // dentro do treshold de altura
Math.abs(handStartDirection[0]-hand.direction[0]) < TURN_TRESHOLD) // turn da mao
{
my.drone.stop();
console.log('my.drone.stop()');
}
// COMMAND FREEZE
if (hand.s<=1.5 && lastS > 1.5) { // mão fechada
console.log("my.drone.stop() !!!");
my.drone.stop();
}
lastS = hand.s;
});
// GESTOS
my.leapmotion.on('gesture', function(gesture) {
if (gesture.type=='swipe' && gesture.state=='stop'){
deltaX = gesture.position[0]-gesture.startPosition[0];
deltaY = gesture.position[1]-gesture.startPosition[1];
deltaZ = gesture.position[2]-gesture.startPosition[2];
var amplitude = Math.abs(Math.max(Math.max(deltaX, deltaY),deltaZ));
if (amplitude>SWIPE_THRESHOLD) {
if (Math.abs(deltaX) > Math.abs(deltaY) && Math.abs(deltaX) > Math.abs(deltaZ)) {
//console.log('swipe X: ' + deltaX); // drone flip left/right
if (deltaX>0){
my.drone.clockwise(TURN_SPEED);
console.log('swipe right: my.drone.clockwise('+TURN_SPEED+')');
//my.drone.animate('flipRight',1000);
//my.drone.rightFlip();
};
if (deltaX<0){
my.drone.counterClockwise(TURN_SPEED);
console.log('swipe left: my.drone.counterClockwise('+TURN_SPEED+')');
//my.drone.animate('flipLeft',1000);
//my.drone.leftFlip();
}
}
if (Math.abs(deltaY) > Math.abs(deltaX) && Math.abs(deltaY) > Math.abs(deltaZ)) {
console.log('swipe Y: ' + deltaY); // drone takeoff/land
if (deltaY>0) {
console.log('swipe up: no command');
//my.drone.takeoff();
};
if (deltaY<0) {
console.log('swipe down: no command');
//my.drone.land();
};
}
if (Math.abs(deltaZ) > Math.abs(deltaX) && Math.abs(deltaZ) > Math.abs(deltaY))
console.log('swipe Z: ' + deltaZ); // null
} else {
console.log("Swipe skipped (" + Math.round(amplitude) + ")");
}
} else {
if (gesture.type=='circle' && gesture.state=='stop' && gesture.progress > CIRCLE_THRESHOLD ){
if (gesture.normal[2] < 0) {
//console.log("Turn CW: " + (gesture.progress - CIRCLE_THRESHOLD) );
console.log('circle-cw: my.drone.takeoff()');
my.drone.takeoff();
};
if (gesture.normal[2] > 0) {
//console.log("Turn CCW: " + (gesture.progress - CIRCLE_THRESHOLD) );
console.log('circle-ccw: my.drone.land()');
my.drone.land();
after((5).seconds(), my.drone.stop);
}
}
}
// EMERGENCE STOP
if (gesture.type=='keyTap' || gesture.type=='screenTap') {
console.log('tap: my.drone.stop()');
my.drone.stop();
};
});
}
}).start();

37
examples/leap_ardrone/leap_ardrone.markdown Normal file
View File

@ -0,0 +1,37 @@
# Leapmotion Ardrone 2.0
First, let's import Cylon:
var Cylon = require('../..');
Now that we have Cylon imported, we can start defining our robot
Cylon.robot({
Let's define the connections and devices:
connections: [
{ name: 'leapmotion', adaptor: 'leapmotion', port: '127.0.0.1:6437' },
{ name: 'ardrone', adaptor: 'ardrone', port: '192.168.1.1' },
{ name: 'keyboard', adaptor: 'keyboard' }
],
devices: [
{ name: 'drone', driver: 'ardrone', connection:'ardrone' },
{ name: 'leapmotion', driver: 'leapmotion', connection:'leapmotion' },
{ name: 'keyboard', driver: 'keyboard', connection:'keyboard'}
],
Now that Cylon knows about the necessary hardware we're going to be using, we'll
tell it what work we want to do:
work: function(my) {
my.leapmotion.on('frame', function(frame) {
frame.hands.length > 0 ? my.led.turnOn() : my.led.turnOff();
});
}
Now that our robot knows what work to do, and the work it will be doing that
hardware with, we can start it:
}).start();