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cleaning up code

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fabito 2014-06-01 11:11:29 -03:00
parent 0c8412fe40
commit 52211db1af
1 changed files with 88 additions and 174 deletions
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262
examples/leap_ardrone/leap_ardrone.js
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@ -8,18 +8,18 @@
Cylon = require('cylon'); Cylon = require('cylon');
var lastS = 0; // constants
var handStartPosition = []; var lastS = 0,
var handStartDirection = []; handStartPosition = [],
var UP_CONTROL_THRESHOLD = 50; handStartDirection = [],
var UP_SPEED_FACTOR = 0.01; UP_CONTROL_THRESHOLD = 50,
var SWIPE_THRESHOLD = 30; UP_SPEED_FACTOR = 0.01,
var CIRCLE_THRESHOLD = 1.5; CIRCLE_THRESHOLD = 1.5,
var DIRECTION_THRESHOLD = 0.25; DIRECTION_THRESHOLD = 0.25,
var DIRECTION_SPEED_FACTOR = 0.05; DIRECTION_SPEED_FACTOR = 0.05,
var TURN_SPEED = 0.5; TURN_SPEED = 0.5,
var TURN_TRESHOLD = 0.2; TURN_TRESHOLD = 0.2,
var TURN_SPEED_FACTOR = 2.0; TURN_SPEED_FACTOR = 2.0;
Cylon.robot({ Cylon.robot({
@ -37,219 +37,133 @@ Cylon.robot({
work: function(my) { 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 // HAND
my.leapmotion.on('hand', function(hand) { my.leapmotion.on('hand', function(hand) {
// detecta abertua de mão ==> ATIVA COMANDO DE MDAnielOVIMENTO // detects open hand ==> reset
if (hand.s>1.5 && lastS<=1.5) { if (hand.s>1.5 && lastS<=1.5) {
console.log('Direction Motion Control');
handStartPosition = hand.palmPosition; handStartPosition = hand.palmPosition;
handStartDirection = hand.direction; 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);
}
// TURNS if (signal<0){
if(hand.s>1.5 && Math.abs(handStartDirection[0]-hand.direction[0]) > TURN_TRESHOLD ) { my.drone.clockwise(value);
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 // UP and DOWN
if (hand.s>1.5 && Math.abs(hand.palmPosition[1]-handStartPosition[1]) > UP_CONTROL_THRESHOLD) { 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 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; var value = Math.round(Math.abs((hand.palmPosition[1]-handStartPosition[1]))-UP_CONTROL_THRESHOLD) * UP_SPEED_FACTOR;
if (signal>0) { if (signal>0) {
my.drone.up(value); my.drone.up(value);
console.log('my.drone.up('+value+')');
}; };
if (signal<0) { if (signal<0) {
my.drone.down(value); my.drone.down(value);
console.log('my.drone.down('+value+')');
} }
} }
// DIRECTION FRONT/BACK // DIRECTION FRONT/BACK
if (hand.s>1.5 && (Math.abs(hand.palmNormal[2])>DIRECTION_THRESHOLD)) { if (hand.s>1.5 && (Math.abs(hand.palmNormal[2])>DIRECTION_THRESHOLD)) {
if (hand.palmNormal[2]>0) { if (hand.palmNormal[2]>0) {
var value = Math.abs(Math.round( hand.palmNormal[2]*10 + DIRECTION_THRESHOLD )*DIRECTION_SPEED_FACTOR); var value = Math.abs(Math.round( hand.palmNormal[2]*10 + DIRECTION_THRESHOLD )*DIRECTION_SPEED_FACTOR);
my.drone.forward( value ); my.drone.forward( value );
console.log ('my.drone.forward(' + value + ')'); };
};
if (hand.palmNormal[2]<0) {
if (hand.palmNormal[2]<0) { var value = Math.abs(Math.round( hand.palmNormal[2]*10 - DIRECTION_THRESHOLD )*DIRECTION_SPEED_FACTOR);
var value = Math.abs(Math.round( hand.palmNormal[2]*10 - DIRECTION_THRESHOLD )*DIRECTION_SPEED_FACTOR); my.drone.back( value );
my.drone.back( value ); };
console.log ('my.drone.back(' + value + ')');
};
} }
// DIRECTION LEFT/RIGHT // DIRECTION LEFT/RIGHT
if (hand.s>1.5 && (Math.abs(hand.palmNormal[0])>DIRECTION_THRESHOLD)) { if (hand.s>1.5 && (Math.abs(hand.palmNormal[0])>DIRECTION_THRESHOLD)) {
if (hand.palmNormal[0]>0) { if (hand.palmNormal[0]>0) {
var value = Math.abs(Math.round( hand.palmNormal[0]*10 + DIRECTION_THRESHOLD )*DIRECTION_SPEED_FACTOR); var value = Math.abs(Math.round( hand.palmNormal[0]*10 + DIRECTION_THRESHOLD )*DIRECTION_SPEED_FACTOR);
my.drone.left( value ); my.drone.left( value );
console.log ('my.drone.left(' + value + ')'); };
};
if (hand.palmNormal[0]<0) {
if (hand.palmNormal[0]<0) { var value = Math.abs(Math.round( hand.palmNormal[0]*10 - DIRECTION_THRESHOLD )*DIRECTION_SPEED_FACTOR);
var value = Math.abs(Math.round( hand.palmNormal[0]*10 - DIRECTION_THRESHOLD )*DIRECTION_SPEED_FACTOR); my.drone.right( value );
my.drone.right( value ); };
console.log ('my.drone.right(' + value + ')');
};
} }
// AUTO FREEZE // AUTO FREEZE
if ( hand.s>1.5 && // mão aberta if ( hand.s>1.5 && // open hand
(Math.abs(hand.palmNormal[0])<DIRECTION_THRESHOLD) && // dentro do threshold lateral (Math.abs(hand.palmNormal[0])<DIRECTION_THRESHOLD) && // within left/right threshold
(Math.abs(hand.palmNormal[2])<DIRECTION_THRESHOLD) && // dentro do threshold frontal (Math.abs(hand.palmNormal[2])<DIRECTION_THRESHOLD) && // within forward/back threshold
Math.abs(hand.palmPosition[1]-handStartPosition[1]) < UP_CONTROL_THRESHOLD && // dentro do treshold de altura Math.abs(hand.palmPosition[1]-handStartPosition[1]) < UP_CONTROL_THRESHOLD && // within up/down threshold
Math.abs(handStartDirection[0]-hand.direction[0]) < TURN_TRESHOLD) // turn da mao Math.abs(handStartDirection[0]-hand.direction[0]) < TURN_TRESHOLD) // within turn threshold
{ {
my.drone.stop(); my.drone.stop();
console.log('my.drone.stop()');
} }
// COMMAND FREEZE // COMMAND FREEZE
if (hand.s<=1.5 && lastS > 1.5) { // mão fechada if (hand.s<=1.5 && lastS > 1.5) { // closed hand
console.log("my.drone.stop() !!!");
my.drone.stop(); my.drone.stop();
} }
lastS = hand.s; lastS = hand.s;
});
// GESTOS });// end hand
// Gestures
my.leapmotion.on('gesture', function(gesture) { my.leapmotion.on('gesture', function(gesture) {
if (gesture.type=='circle' && gesture.state=='stop' && gesture.progress > CIRCLE_THRESHOLD ){
if (gesture.type=='swipe' && gesture.state=='stop'){ if (gesture.normal[2] < 0) {
my.drone.takeoff();
};
deltaX = gesture.position[0]-gesture.startPosition[0]; if (gesture.normal[2] > 0) {
deltaY = gesture.position[1]-gesture.startPosition[1]; my.drone.land();
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 // EMERGENCE STOP
if (gesture.type=='keyTap' || gesture.type=='screenTap') { if (gesture.type=='keyTap' || gesture.type=='screenTap') {
console.log('tap: my.drone.stop()');
my.drone.stop(); my.drone.stop();
}; };
}); }); // end gesture
//KEYBOARD
my.keyboard.on('right', function(key) {
my.drone.rightFlip();
});
} my.keyboard.on('left', function(key) {
}).start(); my.drone.leftFlip();
});
my.keyboard.on('up', function(key) {
my.drone.frontFlip();
});
my.keyboard.on('down', function(key) {
my.drone.backFlip();
});
my.keyboard.on('w', function(key) {
my.drone.wave();
});
my.keyboard.on('s', function(key) {
my.drone.stop();
});
my.keyboard.on('l', function(key) {
my.drone.land();
});
} // end work
}).start();