artoo-crazyflie 0.1.0

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data/.gitignore

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+.rvmrc

data/Gemfile

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+source "http://rubygems.org"
+
+# Specify your gem's dependencies in artoo-crazyflie.gemspec
+#gem 'artoo-joystick' #, :git => 'git://github.com/hybridgroup/artoo-joystick.git'
+#gem 'ruby-sdl-ffi', :git => 'git://github.com/hybridgroup/ruby-sdl-ffi.git'
+#gem 'crubyflie', :git => 'git://github.com/hybridgroup/crubyflie.git'
+gemspec

data/Gemfile.lock

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+PATH
+  remote: .
+  specs:
+    artoo-crazyflie (0.1.0)
+      artoo (>= 1.3.0)
+      hybridgroup-crubyflie
+
+GEM
+  remote: http://rubygems.org/
+  specs:
+    artoo (1.3.0)
+      celluloid (~> 0.15.0)
+      celluloid-io (~> 0.15.0)
+      multi_json (~> 1.6)
+      pry (~> 0.9)
+      rake
+      reel (~> 0.4.0)
+      thor (~> 0.18.1)
+    celluloid (0.15.1)
+      timers (~> 1.1.0)
+    celluloid-io (0.15.0)
+      celluloid (>= 0.15.0)
+      nio4r (>= 0.5.0)
+    coderay (1.0.9)
+    ffi (1.9.0)
+    http (0.5.0)
+      http_parser.rb
+    http_parser.rb (0.6.0.beta.2)
+    hybridgroup-crubyflie (0.1.4)
+      libusb
+      trollop
+    libusb (0.3.4)
+      ffi (>= 1.0)
+    metaclass (0.0.1)
+    method_source (0.8.2)
+    minitest (5.0.8)
+    minitest-happy (1.0.0)
+    mocha (0.14.0)
+      metaclass (~> 0.0.1)
+    multi_json (1.8.1)
+    nio4r (0.5.0)
+    pry (0.9.12.2)
+      coderay (~> 1.0.5)
+      method_source (~> 0.8)
+      slop (~> 3.4)
+    rake (10.1.0)
+    reel (0.4.0)
+      celluloid (>= 0.15.1)
+      celluloid-io (>= 0.15.0)
+      http (>= 0.5.0)
+      http_parser.rb (>= 0.6.0.beta.2)
+      websocket_parser (>= 0.1.4)
+    slop (3.4.6)
+    thor (0.18.1)
+    timers (1.1.0)
+    trollop (2.0)
+    websocket_parser (0.1.4)
+      http
+
+PLATFORMS
+  java
+  ruby
+
+DEPENDENCIES
+  artoo-crazyflie!
+  minitest (>= 5.0)
+  minitest-happy
+  mocha (>= 0.14.0)

data/LICENSE

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+
+# TODO: put your license file here

data/README.md

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+# Artoo Adaptor For Crazyflie
+
+This repository contains the Artoo (http://artoo.io/) adaptor for the Crazyflie micro-quadcopter (http://www.bitcraze.se/).
+
+Artoo is a open source micro-framework for robotics using Ruby.
+
+For more information abut Artoo, check out our repo at https://github.com/hybridgroup/artoo
+
+The artoo-crazyflie adaptor is based on the crubyflie gem (https://github.com/hsanjuan/crubyflie).
+
+[![Code Climate](https://codeclimate.com/github/hybridgroup/artoo-crazyflie.png)](https://codeclimate.com/github/hybridgroup/artoo-crazyflie) [![Build Status](https://travis-ci.org/hybridgroup/artoo-crazyflie.png?branch=master)](https://travis-ci.org/hybridgroup/artoo-crazyflie)
+
+## Installing
+
+```
+gem install artoo-crazyflie
+```
+
+## Using
+
+```ruby
+require 'artoo'
+
+connection :crazyflie, :adaptor => :crazyflie
+device :drone, :driver => :crazyflie, :connection => :crazyflie, :interval => 0.1
+
+work do
+  drone.forward(0)
+  drone.set_thrust_on
+  after(1.seconds) {drone.stop}
+end
+```
+
+## Connecting to Crazyflie
+
+The Crazyflie uses a 2.4 GHz radio to communicate. There is a USB dongle called the Crazyradio that is required to control the Crazyflie quadcopter.
+
+## Contributing
+
+1. Fork it
+2. Create your feature branch (`git checkout -b my-new-feature`)
+3. Commit your changes (`git commit -am 'Add some feature'`)
+4. Push to the branch (`git push origin my-new-feature`)
+5. Create new Pull Request

data/Rakefile

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+require 'bundler'
+Bundler::GemHelper.install_tasks
+
+require 'rake/testtask'
+
+Rake::TestTask.new do |t|
+  t.pattern = "test/**/*_test.rb"
+end
+
+task :default => :test

data/artoo-crazyflie.gemspec

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+# -*- encoding: utf-8 -*-
+$:.push File.expand_path("../lib", __FILE__)
+require "artoo-crazyflie/version"
+
+Gem::Specification.new do |s|
+  s.name        = "artoo-crazyflie"
+  s.version     = Artoo::Crazyflie::VERSION
+  s.platform    = Gem::Platform::RUBY
+  s.authors     = ["Adrian Zankich"]
+  s.email       = ["artoo@hybridgroup.com"]
+  s.homepage    = "https://github.com/hybridgroup/artoo-crazyflie"
+  s.summary     = %q{Artoo adaptor and driver for Crazyflie}
+  s.description = %q{Artoo adaptor and driver for Crazyflie}
+
+  s.rubyforge_project = "artoo-crazyflie"
+
+  s.files         = `git ls-files`.split("\n")
+  s.test_files    = `git ls-files -- {test,spec,features}/*`.split("\n")
+  s.executables   = `git ls-files -- bin/*`.split("\n").map{ |f| File.basename(f) }
+  s.require_paths = ["lib"]
+
+  s.add_runtime_dependency 'artoo', '>= 1.3.0'
+  s.add_runtime_dependency 'hybridgroup-crubyflie'
+  s.add_development_dependency 'minitest', '>= 5.0'
+  s.add_development_dependency 'minitest-happy'
+  s.add_development_dependency 'mocha', '>= 0.14.0'
+end

data/examples/crazy_hop.rb

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+require 'artoo'
+
+connection :crazyflie, :adaptor => :crazyflie
+device :drone, :driver => :crazyflie, :connection => :crazyflie, :interval => 0.1
+
+work do
+  drone.forward(0)
+  drone.set_thrust_on
+  after(1.seconds) {drone.stop}
+end

data/examples/crazy_joystick.rb

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+require 'artoo'
+
+connection :crazyflie, :adaptor => :crazyflie
+device :drone, :driver => :crazyflie, :connection => :crazyflie, :interval => 0.01
+
+connection :joystick, :adaptor => :joystick
+device :controller, :driver => :xbox360, :connection => :joystick, :interval => 0.01
+#device :controller, :driver => :ps3, :connection => :joystick, :interval => 0.01
+#device :controller, :driver => :joystick, :connection => :joystick, :interval => 0.01
+
+work do
+  on controller, :joystick_0 => proc { |caller, data|
+    handle_joystick_0 data
+  }
+  on controller, :joystick_1 => proc { |caller, data|
+    handle_joystick_1 data
+  }
+end
+
+def handle_joystick_0 data
+  thrust_scale = 1.46
+  yaw_scale = 0.000191753
+  degrade = 700
+  @power = 0 if @power.nil?
+  thrust = (data[:y] < 0) ? (data[:y].abs * thrust_scale) : 0
+  if thrust >= @power
+    @power = thrust
+  elsif @power < degrade
+    @power = 0
+  else
+    @power = @power - degrade
+  end
+  drone.power(@power)
+
+  if data[:x] > 0
+    drone.turn_right(data[:x].abs * yaw_scale)
+  elsif data[:x] < 0
+    drone.turn_left(data[:x].abs * yaw_scale)
+  else
+    drone.turn_left(0)
+  end
+end
+
+def handle_joystick_1 data
+  deg_scale = 0.00091
+
+  if data[:y] < 0
+    drone.forward(data[:y].abs * deg_scale)
+  elsif data[:y] > 0
+    drone.backward(data[:y].abs * deg_scale)
+  else
+    drone.forward(0)
+  end 
+
+  if data[:x] > 0
+    drone.right(data[:x].abs * deg_scale)
+  elsif data[:x] < 0
+    drone.left(data[:x].abs * deg_scale)
+  else
+    drone.left(0)
+  end 
+end

data/examples/crazy_leapmotion.rb

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+require 'artoo'
+
+connection :crazyflie, :adaptor => :crazyflie
+device :drone, :driver => :crazyflie, :connection => :crazyflie, :interval => 0.01
+
+connection :leap, :adaptor => :leapmotion, :port => '127.0.0.1:6437'
+device :leap, :connection => :leap, :driver => :leapmotion
+
+work do
+  on leap, :hand => :wave
+  every(0.01) do
+    handle_thrust
+  end
+end
+
+def handle_thrust
+  @degrade = 700
+  @power = 0 if @power.nil?
+  @thrust = 0 if @thrust.nil?
+  if @thrust >= @power
+    @power = @thrust
+    @thrust = 0
+  elsif @power < @degrade
+    @power = 0
+  else
+    @power = @power - @degrade
+  end
+  drone.power(@power)
+end
+
+def wave sender, hand
+  return unless hand
+  @thrust =  hand.palm_z.from_scale(100..800).to_scale(0..60000)
+end

data/lib/artoo-crazyflie.rb

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+require 'lib/artoo/adaptors/crazyflie'
+require 'lib/artoo/drivers/crazyflie'
+require 'lib/artoo-crazyflie/version'

data/lib/artoo-crazyflie/version.rb

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+module Artoo
+  module Crazyflie
+    VERSION = '0.1.0'
+  end
+end

data/lib/artoo/adaptors/crazyflie.rb

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+require 'artoo/adaptors/adaptor'
+
+module Artoo
+  module Adaptors
+    # Connect to a crazyflie quadcopter
+    # @see crazyflie documentation for more information
+    class Crazyflie < Adaptor
+      attr_reader :crazyflie, :commander
+
+      # Creates a connection with crazyflie
+      # @return [Boolean]
+      def connect
+        require 'crubyflie' unless defined?(::Crubyflie)
+        @crazyflie = ::Crubyflie::Crazyflie.new('/tmp/test')
+        source = additional_params[:source] || ""
+        if source.empty?
+          flies = @crazyflie.scan_interface
+          if flies.empty?
+            raise "No crazyflies!"
+          end
+          source = flies.first
+        end
+        @crazyflie.open_link(source)
+        @commander = ::Crubyflie::Commander.new(@crazyflie)
+        super
+      end
+
+      # Closes connection with device
+      # @return [Boolean]
+      def disconnect
+        @crazyflie.close_link
+
+        super
+      end
+
+      # device info interface
+      def firmware_name
+        "Crazyflie"
+      end
+
+      def version
+        Crubyflie::VERSION
+      end
+
+      # Uses method missing to call device actions
+      # @see device documentation
+      def method_missing(method_name, *arguments, &block)
+        @crazyflie.send(method_name, *arguments, &block)
+      end
+    end
+  end
+end

data/lib/artoo/drivers/crazyflie.rb

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+require 'artoo/drivers/driver'
+
+module Artoo
+  module Drivers
+    # The crazyflie driver behaviors
+    class Crazyflie < Driver
+      COMMANDS = [:start, :stop, :hover, :land, :take_off, :emergency, 
+                  :up, :down, :left, :right, :forward, :backward, 
+                  :turn_left, :turn_right, :power].freeze
+
+
+      attr_reader :roll, :pitch, :yaw, :thrust, :xmode
+
+      def initialize(params={})
+        @roll = 0
+        @pitch = 0
+        @yaw = 0
+        @thrust = 0
+        @xmode = false # TODO what is this?
+        super
+      end
+
+      # Start driver and any required connections
+      def start_driver
+        begin
+          every(interval) do
+            send_command
+          end
+
+          super
+        rescue Exception => e
+          Logger.error "Error starting Crazyflie driver!"
+          Logger.error e.message
+          Logger.error e.backtrace.inspect
+        end
+      end
+
+      def start
+        @roll = 0
+        @pitch = 0
+        @yaw = 0
+        @thrust = 10001
+      end
+
+      def stop
+        set_thrust_off
+      end
+
+      def hover
+        # TODO: call firmware that can do this?
+      end
+
+      def land
+      end
+
+      def take_off
+      end
+
+      def power(deg)
+        @thrust = deg
+      end
+
+      def forward(deg)
+        @pitch = deg
+      end
+
+      def backward(deg)
+        @pitch = -deg
+      end
+
+      def left(deg)
+        @roll = -deg
+      end
+
+      def right(deg)
+        @roll = deg
+      end
+
+      def turn_left(deg)
+        @yaw = -deg
+      end
+
+      def turn_right(deg)
+        @yaw = deg
+      end
+      
+      def set_thrust_on
+        @thrust = 40000
+      end
+
+      def set_thrust_off
+        @thrust = 0
+      end
+
+    private
+
+      def send_command
+        connection.commander.send_setpoint(roll, pitch, yaw, thrust, xmode)
+      end
+    end
+  end
+end

data/test/adaptors/crazyflie_adaptor_test.rb

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+require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
+require 'artoo/adaptors/crazyflie'
+
+# TODO: test for your adaptor goes here...

data/test/drivers/crazyflie_driver_test.rb

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+require File.expand_path(File.dirname(__FILE__) + "/../test_helper")
+require 'artoo/drivers/crazyflie'
+
+# TODO: test for your driver goes here...

data/test/test_helper.rb

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+require 'artoo/robot'
+
+require 'minitest/autorun'
+
+Celluloid.logger = nil

metadata

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+--- !ruby/object:Gem::Specification
+name: artoo-crazyflie
+version: !ruby/object:Gem::Version
+  version: 0.1.0
+platform: ruby
+authors:
+- Adrian Zankich
+autorequire: 
+bindir: bin
+cert_chain: []
+date: 2013-10-05 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: artoo
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: 1.3.0
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: 1.3.0
+- !ruby/object:Gem::Dependency
+  name: hybridgroup-crubyflie
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: minitest
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '5.0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '5.0'
+- !ruby/object:Gem::Dependency
+  name: minitest-happy
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: mocha
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: 0.14.0
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - '>='
+      - !ruby/object:Gem::Version
+        version: 0.14.0
+description: Artoo adaptor and driver for Crazyflie
+email:
+- artoo@hybridgroup.com
+executables: []
+extensions: []
+extra_rdoc_files: []
+files:
+- .gitignore
+- Gemfile
+- Gemfile.lock
+- LICENSE
+- README.md
+- Rakefile
+- artoo-crazyflie.gemspec
+- examples/crazy_hop.rb
+- examples/crazy_joystick.rb
+- examples/crazy_leapmotion.rb
+- lib/artoo-crazyflie.rb
+- lib/artoo-crazyflie/version.rb
+- lib/artoo/adaptors/crazyflie.rb
+- lib/artoo/drivers/crazyflie.rb
+- test/adaptors/crazyflie_adaptor_test.rb
+- test/drivers/crazyflie_driver_test.rb
+- test/test_helper.rb
+homepage: https://github.com/hybridgroup/artoo-crazyflie
+licenses: []
+metadata: {}
+post_install_message: 
+rdoc_options: []
+require_paths:
+- lib
+required_ruby_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - '>='
+    - !ruby/object:Gem::Version
+      version: '0'
+required_rubygems_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - '>='
+    - !ruby/object:Gem::Version
+      version: '0'
+requirements: []
+rubyforge_project: artoo-crazyflie
+rubygems_version: 2.0.3
+signing_key: 
+specification_version: 4
+summary: Artoo adaptor and driver for Crazyflie
+test_files: []