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started code explanation in markdown

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fabito 2014-06-01 11:51:42 -03:00
parent adda142d8e
commit 8afe35b4c9
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examples/leap_ardrone/leap_ardrone.markdown
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@ -28,9 +28,97 @@ Now that Cylon knows about the necessary hardware we're going to be using, we'll
tell it what work we want to do: tell it what work we want to do:
work: function(my) { work: function(my) {
// TODO
Lets use the circle gesture to take off and land : two rounds clockwise will trigger the takeoff() and counter clockwise will tell the drone to land:
```
my.leapmotion.on('gesture', function(gesture) {
if (gesture.type=='circle' && gesture.state=='stop' && gesture.progress > CIRCLE_THRESHOLD ){
if (gesture.normal[2] < 0) {
my.drone.takeoff();
};
if (gesture.normal[2] > 0) {
my.drone.land();
}
} }
});
```
Whenever we get a 'hand' gesture event from Leap Motion we need to tell ARDrone what to do.
my.leapmotion.on('hand', function(hand) {
In case we turn our hand to the right or left we want the drone to rotate clockwise or counter clockwise respectively:
```
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);
}
if (signal<0){
my.drone.clockwise(value);
}
}
```
In case we raise our hand up or lower it down we tell the drone to got up or down respectively:
```
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);
};
if (signal<0) {
my.drone.down(value);
}
}
```
In order to move the drone forward, backward, directly left or right we detect the hand inclination - so that we just need to lean it in the direction we want to move.
```
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 );
};
if (hand.palmNormal[2]<0) {
var value = Math.abs(Math.round( hand.palmNormal[2] * 10 - DIRECTION_THRESHOLD ) * DIRECTION_SPEED_FACTOR);
my.drone.back( value );
};
}
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 );
};
if (hand.palmNormal[0]<0) {
var value = Math.abs(Math.round( hand.palmNormal[0] * 10 - DIRECTION_THRESHOLD ) * DIRECTION_SPEED_FACTOR);
my.drone.right( value );
};
}
```
Whenever we close our hand we tell the drone no stop:
```
if (hand.s<=1.5 && lastS > 1.5) { // closed hand
my.drone.stop();
}
```
} //end work
Now that our robot knows what work to do, and the work it will be doing that Now that our robot knows what work to do, and the work it will be doing that
hardware with, we can start it: hardware with, we can start it: