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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
1 changed files with 90 additions and 2 deletions
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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:
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
hardware with, we can start it: