artoo-crazyflie 0.4.0 → 0.5.0

checksums.yaml

@@ -1,7 +1,7 @@
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data/.gitignore

@@ -1 +1,3 @@
 .rvmrc
+.rbx/
+pkg/

data/Gemfile.lock

@@ -1,35 +1,38 @@
 PATH
   remote: .
   specs:
-    artoo-crazyflie (0.4.0)
-      artoo (>= 1.4.0)
+    artoo-crazyflie (0.5.0)
+      artoo (>= 1.6.0)
       hybridgroup-crubyflie
 
 GEM
   remote: http://rubygems.org/
   specs:
-    artoo (1.4.1)
+    artoo (1.6.0)
       celluloid (~> 0.15.0)
       celluloid-io (~> 0.15.0)
       multi_json (~> 1.6)
       pry (~> 0.9)
       rake
       reel (~> 0.4.0)
+      robeaux (~> 0.0.3)
       thor (~> 0.18.1)
     celluloid (0.15.2)
       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)
+    coderay (1.1.0)
+    ffi (1.9.3)
+    ffi (1.9.3-java)
     http (0.5.0)
       http_parser.rb
-    http_parser.rb (0.6.0.beta.2)
-    hybridgroup-crubyflie (0.1.4)
+    http_parser.rb (0.6.0)
+    http_parser.rb (0.6.0-java)
+    hybridgroup-crubyflie (0.1.5)
       libusb
       trollop
-    libusb (0.3.4)
+    libusb (0.4.0)
       ffi (>= 1.0)
     metaclass (0.0.1)
     method_source (0.8.2)
@@ -37,25 +40,33 @@ GEM
     minitest-happy (1.0.0)
     mocha (0.14.0)
       metaclass (~> 0.0.1)
-    multi_json (1.8.2)
-    nio4r (0.5.0)
-    pry (0.9.12.2)
-      coderay (~> 1.0.5)
+    multi_json (1.8.4)
+    nio4r (1.0.0)
+    nio4r (1.0.0-java)
+    pry (0.9.12.6)
+      coderay (~> 1.0)
       method_source (~> 0.8)
       slop (~> 3.4)
-    rake (10.1.0)
+    pry (0.9.12.6-java)
+      coderay (~> 1.0)
+      method_source (~> 0.8)
+      slop (~> 3.4)
+      spoon (~> 0.0)
+    rake (10.1.1)
     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)
+    robeaux (0.0.3)
+    slop (3.4.7)
+    spoon (0.0.4)
+      ffi
     thor (0.18.1)
     timers (1.1.0)
     trollop (2.0)
-    websocket_parser (0.1.4)
-      http
+    websocket_parser (0.1.6)
 
 PLATFORMS
   java

data/LICENSE

@@ -1,2 +1,13 @@
+Copyright (c) 2012-2014 The Hybrid Group
 
-# TODO: put your license file here
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+   http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.

data/README.md

@@ -39,21 +39,44 @@ If you are have a USB 3.0 port, you might run into this issue http://stackoverfl
 
 ## Crazyflie Hover
 
-To use Crazyflie with the hover command, requires installing the https://bitbucket.org/omwdunkley/crazyflie-firmware fork of the Crazyflie firmware. The easiest way to currently do this, is to install the Crazyflie PC Client, download the 'hover' branch BIN file from here https://bitbucket.org/omwdunkley/crazyflie-firmware/downloads/cflie.bin and then use the Crazyflie PC tools to update the Crazyflie firmware.
+To use the Crazyflie beta 'hover' mode, you will need to install the latest beta of firmware to the Crazyflie itself from https://bitbucket.org/bitcraze/crazyflie-firmware/downloads/Crazyflie_2013.11-beta1.bin
 
-Once you have updated the Crazyflie firmware, you will NEED to use the following syntax in your Artoo code to use it:
+Once you have updated the Crazyflie firmware, to trigger the hover mode on, use the `flightmode.althold` param on the Crazyflie like this:
 
 ```ruby
-connection :crazyflie, :adaptor => :crazyflie, :supports_hover => true
+  @crazyflie.param.set_value('flightmode.althold', true)
 ```
 
-If you do not add `:supports_hover => true` to your connection code to the Crazyflie, it will go crazy out of control as you as you try to connect to it. You have been warned...
+Please note that the Crazyflie's interprets hover to mean "maintain altitude", not "stay in one place", so you will need to control horizontal positioning yourself.
 
+To turn hover mode off:
+
+```ruby
+  @crazyflie.param.set_value('flightmode.althold', false)
+```
+Once you turn hover mode off, the Crazyflie requires that you immediately apply thrust, or it will just drop like an unpowered PCB from the air. You have been warned...
+
+## Documentation
+
+Check out our [documentation](http://artoo.io/documentation/) for lots of information about how to use Artoo.
+
+## IRC
+
+Need more help? Just want to say "Hello"? Come visit us on IRC freenode #artoo
 
 ## 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
+* All patches must be provided under the Apache 2.0 License
+* Please use the -s option in git to "sign off" that the commit is your work and you are providing it under the Apache 2.0 License
+* Submit a Github Pull Request to the appropriate branch and ideally discuss the changes with us in IRC.
+* We will look at the patch, test it out, and give you feedback.
+* Avoid doing minor whitespace changes, renamings, etc. along with merged content. These will be done by the maintainers from time to time but they can complicate merges and should be done seperately.
+* Take care to maintain the existing coding style.
+* Add unit tests for any new or changed functionality.
+* All pull requests should be "fast forward"
+  * If there are commits after yours use “git rebase -i <new_head_branch>”
+  * If you have local changes you may need to use “git stash”
+  * For git help see [progit](http://git-scm.com/book) which is an awesome (and free) book on git
+
+
+(c) 2012-2014 The Hybrid Group

data/artoo-crazyflie.gemspec

@@ -6,7 +6,7 @@ Gem::Specification.new do |s|
   s.name        = "artoo-crazyflie"
   s.version     = Artoo::Crazyflie::VERSION
   s.platform    = Gem::Platform::RUBY
-  s.authors     = ["Adrian Zankich"]
+  s.authors     = ["Adrian Zankich", "Ron Evans"]
   s.email       = ["artoo@hybridgroup.com"]
   s.homepage    = "https://github.com/hybridgroup/artoo-crazyflie"
   s.summary     = %q{Artoo adaptor and driver for Crazyflie}
@@ -19,7 +19,7 @@ Gem::Specification.new do |s|
   s.executables   = `git ls-files -- bin/*`.split("\n").map{ |f| File.basename(f) }
   s.require_paths = ["lib"]
 
-  s.add_runtime_dependency 'artoo', '>= 1.4.0'
+  s.add_runtime_dependency 'artoo', '>= 1.6.0'
   s.add_runtime_dependency 'hybridgroup-crubyflie'
   s.add_development_dependency 'minitest', '>= 5.0'
   s.add_development_dependency 'minitest-happy'

data/docs/commands_flight.md

@@ -0,0 +1,141 @@
+# Commands
+
+## start
+
+Starts the crazyfly's motors and controls.
+
+##### Returns
+
+`nil` 
+
+## stop
+
+Stops the crazyfly's motors.
+
+##### Returns
+
+`nil` 
+
+## hover
+
+Makes the crazyflie hover in a position.
+
+##### Returns
+
+`nil` 
+
+## land
+
+Initiates a landing sequence.
+
+##### Returns
+
+`nil` 
+
+## take_off
+
+Initiates take off sequence.
+
+##### Returns
+
+`nil` 
+
+## up
+
+Orders crazy flie to go up.
+
+##### Returns
+
+`nil` 
+
+## down
+
+Orders crazy flie to go down.
+
+##### Returns
+
+`nil` 
+
+## left(deg)
+
+Orders crazyflie to go left the amount specified by deg (roll left).
+
+##### Params
+
+- **deg** - params 
+
+##### Returns
+
+`nil` 
+
+## right(deg)
+
+Orders crazyflie to go right the amount specified by deg (roll right).
+
+##### Params
+
+- **deg** - params 
+
+##### Returns
+
+`nil` 
+
+## forward(deg)
+
+Orders crazyflie to go forward the amount specified by deg (pitch forward).
+
+##### Params
+
+- **deg** - params 
+
+##### Returns
+
+`nil` 
+
+## backward(deg)
+
+Orders crazyflie to go backward the amount specified by deg (pitch backward).
+
+##### Params
+
+- **deg** - params 
+
+##### Returns
+
+`nil` 
+
+## turn_left(deg)
+
+Orders crazyflie to turn left the amount specified by deg (yaw left).
+
+##### Params
+
+- **deg** - params 
+
+##### Returns
+
+`nil` 
+
+## turn_right(deg)
+
+Orders crazyflie to turn right the amount specified by deg (yaw right).
+
+##### Params
+
+- **deg** - params 
+
+##### Returns
+
+`nil` 
+
+## power(deg)
+
+Sets thrust power to deg.
+
+##### Params
+
+- **deg** - params 
+
+##### Returns
+
+`nil` 

data/docs/commands_nav.md

@@ -0,0 +1,49 @@
+# Commands
+
+## set_value
+
+Sets a value for the Crazyflie.
+
+##### Returns
+
+`nil` 
+
+## start_get_value
+
+Gets a value from the Crazyflie.
+
+##### Returns
+
+`integer` 
+
+## toc
+
+Gets the toc from the Crazyflie.
+
+##### Returns
+
+`integer` 
+
+## values
+
+Gets the values from the Crazyflie.
+
+##### Returns
+
+`integer` 
+
+## log()
+
+Logs a value to the Crazyflie.
+
+##### Returns
+
+`nil` 
+
+## start_driver()
+
+Starts the driver.
+
+##### Returns
+
+`nil` 

data/docs/events_flight.md

@@ -0,0 +1,6 @@
+# Events
+
+## start_driver
+
+Starts the driver
+

data/docs/events_nav.md

@@ -0,0 +1,6 @@
+# Events
+
+## start_driver
+
+Starts the driver
+

data/examples/crazy_hop.rb

@@ -1,6 +1,6 @@
 require 'artoo'
 
-connection :crazyflie, :adaptor => :crazyflie, :supports_hover => true
+connection :crazyflie, :adaptor => :crazyflie
 device :drone, :driver => :crazyflie, :connection => :crazyflie, :interval => 0.1
 
 work do

data/examples/crazy_hover.rb

@@ -1,6 +1,6 @@
 require 'artoo'
 
-connection :crazyflie, :adaptor => :crazyflie, :supports_hover => true
+connection :crazyflie, :adaptor => :crazyflie
 device :drone, :driver => :crazyflie, :connection => :crazyflie, :interval => 0.1
 
 work do

data/examples/crazy_joystick.rb

@@ -1,6 +1,6 @@
 require 'artoo'
 
-connection :crazyflie, :adaptor => :crazyflie, :supports_hover => true
+connection :crazyflie, :adaptor => :crazyflie
 device :drone, :driver => :crazyflie, :connection => :crazyflie, :interval => 0.01
 
 connection :joystick, :adaptor => :joystick

data/examples/crazy_leapmotion.rb

@@ -1,6 +1,6 @@
 require 'artoo'
 
-connection :crazyflie, :adaptor => :crazyflie, :supports_hover => true
+connection :crazyflie, :adaptor => :crazyflie
 device :drone, :driver => :crazyflie, :connection => :crazyflie
 
 connection :leap, :adaptor => :leapmotion, :port => '127.0.0.1:6437'

data/examples/crazy_nav.rb

@@ -1,23 +1,13 @@
 require 'artoo'
 
-connection :crazyflie, :adaptor => :crazyflie, :supports_hover => true
-#device :commander, :driver => :crazyflie, :connection => :crazyflie
+connection :crazyflie, :adaptor => :crazyflie
 device :drone, :driver => :crazyflie_nav, :connection => :crazyflie
 
 work do
-  #commander.start
-
-  #puts drone.toc
-  # drone.start_get_value("pid_attitude.pitch_kp")
-  # drone.start_get_value("pid_attitude.pitch_ki")
-  # drone.start_get_value("pid_attitude.pitch_kd")
   drone.log_value("stabilizer.pitch")  
   drone.start_logging
 
   every(1.seconds) {
     puts drone.log
-    #puts drone.values["pid_attitude.pitch_kp"]
-    #puts drone.values["pid_attitude.pitch_ki"]
-    #puts drone.values["pid_attitude.pitch_kd"]
   }
 end

data/lib/artoo-crazyflie/version.rb

@@ -1,5 +1,5 @@
 module Artoo
   module Crazyflie
-    VERSION = '0.4.0'
+    VERSION = '0.5.0'
   end
 end

data/lib/artoo/adaptors/crazyflie.rb

@@ -20,7 +20,6 @@ module Artoo
           end
           source = flies.first
         end
-        @crazyflie.supports_hover = additional_params[:supports_hover] || false
         @crazyflie.open_link(source)
         @commander = ::Crubyflie::Commander.new(@crazyflie)
         super

data/lib/artoo/drivers/crazyflie.rb

@@ -119,8 +119,7 @@ module Artoo
     private
 
       def send_command
-        set_thrust_hover if hover_mode == 1
-        connection.commander.send_setpoint(roll, pitch, yaw, thrust, xmode, hover_mode)
+        connection.commander.send_setpoint(roll, pitch, yaw, thrust, xmode)
       end
     end
   end

data/lib/artoo/drivers/crazyflie_nav.rb

@@ -4,7 +4,7 @@ module Artoo
   module Drivers
     # The crazyflie driver behaviors
     class CrazyflieNav < Driver
-      COMMANDS = [:start_get_value, :toc, :values, :log].freeze
+      COMMANDS = [:set_value, :start_get_value, :toc, :values, :log].freeze
 
       attr_reader :values, :log
 
@@ -26,6 +26,12 @@ module Artoo
         connection.param.toc
       end
 
+      def set_value(name, value)        
+        connection.param.set_value(name, value) do |val|
+          @values[value] = val
+        end
+      end
+
       def start_get_value(value)        
         connection.param.get_value(value) do |val|
           @values[value] = val

metadata

@@ -1,83 +1,84 @@
 --- !ruby/object:Gem::Specification
 name: artoo-crazyflie
 version: !ruby/object:Gem::Version
-  version: 0.4.0
+  version: 0.5.0
 platform: ruby
 authors:
 - Adrian Zankich
+- Ron Evans
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-11-27 00:00:00.000000000 Z
+date: 2014-02-07 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: artoo
   requirement: !ruby/object:Gem::Requirement
     requirements:
-    - - '>='
+    - - ">="
       - !ruby/object:Gem::Version
-        version: 1.4.0
+        version: 1.6.0
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
-    - - '>='
+    - - ">="
       - !ruby/object:Gem::Version
-        version: 1.4.0
+        version: 1.6.0
 - !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
@@ -87,13 +88,17 @@ executables: []
 extensions: []
 extra_rdoc_files: []
 files:
-- .gitignore
+- ".gitignore"
 - Gemfile
 - Gemfile.lock
 - LICENSE
 - README.md
 - Rakefile
 - artoo-crazyflie.gemspec
+- docs/commands_flight.md
+- docs/commands_nav.md
+- docs/events_flight.md
+- docs/events_nav.md
 - examples/crazy_hop.rb
 - examples/crazy_hover.rb
 - examples/crazy_joystick.rb
@@ -117,17 +122,17 @@ 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
+rubygems_version: 2.2.1
 signing_key: 
 specification_version: 4
 summary: Artoo adaptor and driver for Crazyflie