artoo-crazyflie 0.1.0 → 0.2.0

checksums.yaml

@@ -1,7 +1,7 @@
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data/Gemfile.lock

@@ -1,7 +1,7 @@
 PATH
   remote: .
   specs:
-    artoo-crazyflie (0.1.0)
+    artoo-crazyflie (0.2.0)
       artoo (>= 1.3.0)
       hybridgroup-crubyflie
 

data/README.md

@@ -35,6 +35,21 @@ end
 
 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.
 
+If you are have a USB 3.0 port, you might run into this issue http://stackoverflow.com/questions/17204253/crazyflie-usb-3-0-incompability
+
+## 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.
+
+Once you have updated the Crazyflie firmware, you will NEED to use the following syntax in your Artoo code to use it:
+
+```ruby
+connection :crazyflie, :adaptor => :crazyflie, :supports_hover => 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...
+
+
 ## Contributing
 
 1. Fork it

data/examples/crazy_hop.rb

@@ -1,10 +1,10 @@
 require 'artoo'
 
-connection :crazyflie, :adaptor => :crazyflie
+connection :crazyflie, :adaptor => :crazyflie, :supports_hover => true
 device :drone, :driver => :crazyflie, :connection => :crazyflie, :interval => 0.1
 
 work do
-  drone.forward(0)
-  drone.set_thrust_on
+  drone.take_off
+  
   after(1.seconds) {drone.stop}
 end

data/examples/crazy_hover.rb

@@ -0,0 +1,19 @@
+require 'artoo'
+
+connection :crazyflie, :adaptor => :crazyflie, :supports_hover => true
+device :drone, :driver => :crazyflie, :connection => :crazyflie, :interval => 0.1
+
+work do
+  drone.start
+  drone.take_off
+  
+  after(1.5) {drone.hover(:start)}
+
+  after(3.seconds) {
+    drone.land
+  }
+
+  after(5.seconds) {
+    drone.stop
+  }
+end

data/examples/crazy_joystick.rb

@@ -1,23 +1,20 @@
 require 'artoo'
 
-connection :crazyflie, :adaptor => :crazyflie
+connection :crazyflie, :adaptor => :crazyflie, :supports_hover => true
 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 => :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
-  }
+  on controller, :joystick_0 => :handle_joystick_0
+  on controller, :joystick_1 => :handle_joystick_1
+  on controller, :button_x => :handle_hover
 end
 
-def handle_joystick_0 data
+def handle_joystick_0 caller, data
   thrust_scale = 1.46
   yaw_scale = 0.000191753
   degrade = 700
@@ -41,7 +38,7 @@ def handle_joystick_0 data
   end
 end
 
-def handle_joystick_1 data
+def handle_joystick_1 caller, data
   deg_scale = 0.00091
 
   if data[:y] < 0
@@ -60,3 +57,13 @@ def handle_joystick_1 data
     drone.left(0)
   end 
 end
+
+def handle_hover caller
+  if @hover
+    @hover = false
+    drone.hover(:stop)
+  else
+    @hover = true
+    drone.hover
+  end  
+end

data/examples/crazy_leapmotion.rb

@@ -1,19 +1,25 @@
 require 'artoo'
 
-connection :crazyflie, :adaptor => :crazyflie
-device :drone, :driver => :crazyflie, :connection => :crazyflie, :interval => 0.01
+connection :crazyflie, :adaptor => :crazyflie, :supports_hover => true
+device :drone, :driver => :crazyflie, :connection => :crazyflie
 
 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
+  every(0.05) do
+    calculate_power
     handle_thrust
   end
 end
 
-def handle_thrust
+def wave sender, hand
+  return unless hand
+  @thrust =  hand.palm_z.from_scale(100..800).to_scale(0..60000)
+end
+
+def calculate_power
   @degrade = 700
   @power = 0 if @power.nil?
   @thrust = 0 if @thrust.nil?
@@ -25,10 +31,8 @@ def handle_thrust
   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)
+def handle_thrust
+  drone.power(@power)
 end

data/lib/artoo-crazyflie/version.rb

@@ -1,5 +1,5 @@
 module Artoo
   module Crazyflie
-    VERSION = '0.1.0'
+    VERSION = '0.2.0'
   end
 end

data/lib/artoo/adaptors/crazyflie.rb

@@ -20,6 +20,7 @@ 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

@@ -9,7 +9,7 @@ module Artoo
                   :turn_left, :turn_right, :power].freeze
 
 
-      attr_reader :roll, :pitch, :yaw, :thrust, :xmode
+      attr_reader :roll, :pitch, :yaw, :thrust, :xmode, :hover_mode
 
       def initialize(params={})
         @roll = 0
@@ -17,6 +17,7 @@ module Artoo
         @yaw = 0
         @thrust = 0
         @xmode = false # TODO what is this?
+        @hover_mode = 0
         super
       end
 
@@ -36,24 +37,43 @@ module Artoo
       end
 
       def start
+        @hover_mode = 0
         @roll = 0
         @pitch = 0
         @yaw = 0
-        @thrust = 10001
+        power(10001)
       end
 
       def stop
         set_thrust_off
       end
 
-      def hover
-        # TODO: call firmware that can do this?
+      def hover(h=:start)
+        if h == :start
+          @hover_mode = 1
+          set_thrust_hover
+        else
+          @hover_mode = 0
+          set_thrust_off
+        end
       end
 
-      def land
+      def land(secs=1)
+        @hover_mode = 0
+        power(32000)
+
+        after(secs) {
+          power(22000)
+        }
       end
 
-      def take_off
+      def take_off(secs=1)
+        forward(0)
+        set_thrust_on
+
+        after(secs) {
+          power(33000)
+        }
       end
 
       def power(deg)
@@ -85,17 +105,22 @@ module Artoo
       end
       
       def set_thrust_on
-        @thrust = 40000
+        power(40000)
       end
 
       def set_thrust_off
-        @thrust = 0
+        power(0)
+      end
+
+      def set_thrust_hover
+        power(32597)
       end
 
     private
 
       def send_command
-        connection.commander.send_setpoint(roll, pitch, yaw, thrust, xmode)
+        set_thrust_hover if hover_mode == 1
+        connection.commander.send_setpoint(roll, pitch, yaw, thrust, xmode, hover_mode)
       end
     end
   end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: artoo-crazyflie
 version: !ruby/object:Gem::Version
-  version: 0.1.0
+  version: 0.2.0
 platform: ruby
 authors:
 - Adrian Zankich
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-10-05 00:00:00.000000000 Z
+date: 2013-10-10 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: artoo
@@ -95,6 +95,7 @@ files:
 - Rakefile
 - artoo-crazyflie.gemspec
 - examples/crazy_hop.rb
+- examples/crazy_hover.rb
 - examples/crazy_joystick.rb
 - examples/crazy_leapmotion.rb
 - lib/artoo-crazyflie.rb