crubyflie 0.1.2 → 0.1.3

checksums.yaml

@@ -1,7 +1,7 @@
 ---
 SHA1:
-  metadata.gz: 9f8c948aed7ee8dc5776a9d2b26ceb5ce6673792
-  data.tar.gz: 6314537e66334c3e403142c0c217af9bb832d54a
+  metadata.gz: 02c5195ea21e56d89557355913944da49b894f21
+  data.tar.gz: 92b4e05341df2db63e05149e82b17099d5015eb3
 SHA512:
-  metadata.gz: cbc016920486d8c234bf3efdc78f895dd70d38ad61f128afca3a80521efb8cfc758ab07441dec8e54e9168285f71f2b0d1d9c48f97f36ab0a1b0f4f6376bbc60
-  data.tar.gz: 2478f8cdcf14a77fdfbab4eaad8b6477916c9c4cee8cc92af55afe34214b48caba7a7aa8aa6a1ffb72f8074f705c64bbdd9fe62cb73c8b3a102c96c357c9e469
+  metadata.gz: a141f33049bae4a6bb67a80164514d42141cc303d66d460a0b3987c73c716ecd3ce2bbd5d181cc69f706ca3dc933f5de479e32f5fb8a6ffd32956b016468d805
+  data.tar.gz: a34a3b8d723f5154d2f71753f3345d25d42d6b54d818d47b5d7f13edf344125268d1c69c48c4184805dde548e7950f3a250b0876300d8dda5807ed94f9ed5688

data/README.md

@@ -33,10 +33,19 @@ Not included...
  * No idea how this works in other OSs that are not Linux, but in theory it should work in all with some small fixes. I welcome you to take on this task if you are interested.
  * No support for Ruby <= 1.8.7 (maybe it works who knows... I haven't tested but since Crubyflie relies heavily on threading probably it does not work so good).
 
+Installation
+------------
+
+Crubyflie depends on `rubysdl`, for which you will need the SDL library and headers. Make sure you install `libsdl-dev` (Debian/Ubuntu), `libSDL-devel` (Opensuse) or whatever your distro calls it. Then:
+
+    gem install crubyflie
+
+That's all.
+
 Fyling the Crazyflie
 --------------------
 
-The easiest way to do it is to run the `crubyflie` command. This will connect to the first visible quadcopter using the first available joystick on your computer (you can modify this parameters with the appropiate flags):
+The easiest way to do it is to `gem install crubyflie` and then run the `crubyflie` command. This will connect to the first visible quadcopter using the first available joystick on your computer (you can modify this parameters with the appropiate flags):
 
     > crubyflie2.0 -h
     Options:
@@ -46,13 +55,13 @@ The easiest way to do it is to run the `crubyflie` command. This will connect to
                                /usr/lib64/ruby/gems/2.0.0/gems/crubyflie-0.0.1/lib/crubyflie/input/../../../configs/joystick_default.yaml)
                  --help, -h:   Show this message
 
-A template/default configuration file (which works for me and my PS3-like controller :)) is provided with the gem (in the `configs/` folder). You should modify this file to fit it to your needs (configuration parameters are commented). The most tricky parameter in axis is the `:max_change_rate`. Depending on your controller, you will find the input is excessively throotled or not. I recommend that you play with this value.
+There is a [template/default configuration file](https://github.com/hsanjuan/crubyflie/blob/master/configs/joystick_default.yaml) with instructions (which works for me and my PS3-like controller :) ). You should modify this file to fit it to your needs (configuration parameters are commented). The most tricky parameter in axis is the `:max_change_rate`. Depending on your controller, you will find the input is excessively throotled or not. I recommend that you play with this value.
 
 If you are wondering about your Joystick's axis IDs, ranges etc, you will find a `sdl-joystick-axis.rb` script under `tools` that lets you open a joystick and check what the SDL library can read from it. It might come handy.
 
 If you need help just open an issue or contact me.
 
-Raspberri Pi
+Raspberry Pi
 ------------
 
 If you want to use Crubyflie in your Raspberry Pi you need to:

data/bin/crubyflie

@@ -36,11 +36,13 @@ opts = Trollop::options do
         :type => :string,
         :default => Crubyflie::Joystick::DEFAULT_CONFIG_PATH,
         :short => '-c')
-  end
+    opt(:debug, "Enable debug messages",
+        :short => '-d')
+end
 
 include Crubyflie
-# Uncomment to turn on debugging
-# $debug = true
+$debug = true if opts[:debug]
+
 cf = Crazyflie.new('/tmp/crubyflie')
 
 # Before opening any link, scan for interfaces
@@ -80,7 +82,7 @@ while cf.active? && !exit do
     # 1/10 secs of time per loop. If we are fast, we can sleep
     # a little bit
     consumed_time = Time.now.to_f - start_time
-    sleep_time = 0.1 - (consumed_time)
+    sleep_time = 0.1 - consumed_time
     sleep sleep_time if sleep_time > 0
 end
 

data/configs/joystick_default.yaml

@@ -1,5 +1,58 @@
-# Default joystick configuration file. It mimics the PS3_Mode2 original
-# configuration file
+# Default joystick configuration file. A file looks like:
+# --------------------------------------------------------------------------
+# :type: Joystick
+# :axis:
+#   <axis_id>:
+#     :action: <action>
+#     :description: A short description to remember what this is
+#     :input_range: "<start>:<end>"
+#                   The range read from the joystick.
+#                   Defaults to -32768:32767 which is SDL-dependant
+#
+#     :output_range: "<start>:<end>"
+#                    The values we should yield to
+#                    the Crazyflie, normally degrees (roll, pitch...). For
+#                    thrust it is expressed in % of thrust
+#
+#     :max_change_rate: <number>
+#                       The output_range change rate per second. Must
+#                       e a number. Defaults to 10000 (so a lot). For thrust
+#                       it is expressed in % of thrust
+#     :dead_zone: "<start>:<end>"
+#                 The dead range around 0. Defaults to 0:0
+#
+#     :invert: true|false  - Invert this axis
+#
+#     :calibration: <number>
+#                   This value is added to the raw joystick reading
+#
+#   <axis_id2>: ...
+#
+# :buttons:
+#   <button_id>:
+#     :action: <action>
+#     :value: <value when pressed>
+#             A number, optional, defaults to 1.
+#
+#   <button_id2>: ...
+#
+# --------------------------------------------------------------------------
+# Valid actions:
+# :roll - Controls roll. Assignable a axis or a button with value tag.
+# :pitch - Controls pitch. Assignable a axis or a button with value tag.
+# :thrust - Controls thrust. Assignable a axis or a button with value tag.
+# :yaw - Controls yaw. Assignable a axis or a button with value tag.
+# :switch_xmode - Enables/disables xmode. Assignable to a button.
+# :close_link - Kills the link and shuts Crubyflie. Assignable to a button.
+# :switch_scaled_output_mode - Enables/disabled scaled output mode. Assignable
+#                              to a button with value tag (the multiplier)
+# :roll_inc_cal, :roll_dec_cal - Increase/decrease calibration for :roll axis.
+#                                Assignable to a button with optional value.
+#
+# :pitch_inc_cal, :pitch_dec_cal - Increase/decrease calibration for :pitch
+#                                  axis. Assignable to a button with optional
+#                                  value.
+# ---------------------------------------------------------------------------
 :type: "Joystick"
 :axis:
   0:
@@ -24,7 +77,7 @@
     :description: "Yaw Axis"
     :action: :yaw
     :input_range: "-32768:32767"
-    :output_range: "-200:200"
+    :output_range: "-150:150"
     :max_change_rate: 800
     :dead_zone: "-1000:1000"
     :invert: false
@@ -33,11 +86,11 @@
     :description: "Thrust axis"
     :action: :thrust
     :input_range: "-32768:32767"
-    :output_range: "0:80" # Exception: Min/max thrust output is represented in 0-100%!
-    # Max change rate per second when lowering thrust. Note that this
-    # is a change ranging between ranges 9500 and 60000
-    :max_change_rate: 40000
-    :dead_zone: "-100:100" # Deadzone, within input range
+    # Exception: Min/max thrust output is represented in 0-100%!
+    :output_range: "0:80"
+    # Max change rate per second when lowering thrust in % of thrust
+    :max_change_rate: 70
+    :dead_zone: "-100:100"
     :invert: true
     :calibration: 0
 
@@ -45,4 +98,9 @@
   0:
     :action: :switch_xmode
   1:
-    :action: :close_link
+    :action: :close_link
+  4:
+    # When enabled, this mode will will multiply axis readings (except thrust)
+    # by the value of the button (must be a positive number)
+    :action: :switch_scaled_output_mode
+    :value: 0.50 # Softer output, useful for landing

data/lib/crubyflie/input/input_reader.rb

@@ -30,31 +30,32 @@ module Crubyflie
     #
     # The InputReader will also apply the #INPUT_ACTIONS to a given
     # Crazyflie. In order to do that it will go through all the
-    # read values and perform actioins associated to them, like sending
-    # a setpoint or shutting down the connection or altering the calibration.
+    # read values and perform actions associated to them, like sending
+    # a setpoint, shutting down the connection or altering the calibration.
     class InputReader
 
         # List of current recognized actions that controllers can declare
         INPUT_ACTIONS = [:roll, :pitch, :yaw, :thrust,
                          :roll_inc_cal, :roll_dec_cal,
                          :pitch_inc_cal, :pitch_dec_cal,
+                         :switch_scaled_output_mode,
                          :switch_xmode,  :close_link]
 
         attr_reader :axis, :buttons, :axis_readings, :button_readings
         attr_accessor :xmode
-        # An input is composed by several necessary axis, buttons and
-        # calibrations.
+        # An input is composed by several necessary axis and buttons.
         # @param axis [Hash] A hash of keys identifying axis IDs
         #                    (the controller should know to what the
-        #                     ID maps, and values from #INPUT_ACTIONS
+        #                     ID maps), and values from #INPUT_ACTIONS
         # @param buttons [Hash] A hash of keys identifying button IDs (the
-        #                    controller should know to what the ID maps,
+        #                    controller should know to what the ID maps),
         #                    and values from #INPUT_ACTIONS
         def initialize(axis, buttons)
             @axis = axis
             @buttons = buttons
             @calibrations = {}
             @xmode = false
+            @output_scale = 0 # off
 
             # Calibrate defaults to 0
             INPUT_ACTIONS.each do |action|
@@ -73,12 +74,20 @@ module Crubyflie
             poll() # In case we need to poll the device
             actions_to_axis = @axis.invert()
             actions_to_axis.each do |action, axis_id|
+                if !INPUT_ACTIONS.include?(action)
+                    logger.error("Unknown action #{action}. Skipping")
+                    next
+                end
                 @axis_readings[action] = read_axis(axis_id)
                 @axis_readings[action] += @calibrations[action]
             end
 
             actions_to_buttons = @buttons.invert()
             actions_to_buttons.each do |action, button_id|
+                if !INPUT_ACTIONS.include?(action)
+                    logger.error("Unknown action #{action}. Skipping")
+                    next
+                end
                 @button_readings[action] = read_button(button_id)
                 @button_readings[action] += @calibrations[action]
             end
@@ -86,7 +95,7 @@ module Crubyflie
 
         # This will act on current axis readings (by sendint a setpoint to
         # the crazyflie) and on button readings (by, for example, shutting
-        # down the link or modifying the calibrations.
+        # down the link or modifying the calibrations).
         # If the link to the crazyflie is down, it will not send anything.
         # @param crazyflie [Crazyflie] A crazyflie instance to send the
         #                              setpoint to.
@@ -120,6 +129,14 @@ module Crubyflie
                 when :switch_xmode
                     @xmode = !@xmode if value > 0
                     logger.info("Xmode is #{@xmode}") if value > 0
+                when :switch_scaled_output_mode
+                    if value > 0 && @output_scale == 0
+                        logger.info("Scaling output: x#{value}")
+                        @output_scale = value.to_f
+                    elsif value > 0 && @output_scale > 0
+                        logger.info("Scaling output disabled")
+                        @output_scale = 0
+                    end
                 when :close_link
                     crazyflie.close_link() if value > 0
                 end
@@ -140,6 +157,11 @@ module Crubyflie
                 end
             end
 
+            setpoint.keys().each do |k|
+                next if k == :thrust
+                setpoint[k] *= @output_scale
+            end if @output_scale > 0
+
             pitch  = setpoint[:pitch]
             roll   = setpoint[:roll]
             yaw    = setpoint[:yaw]

data/lib/crubyflie/input/joystick_input_reader.rb

@@ -41,6 +41,8 @@ module Crubyflie
         # Default configuration file
         DEFAULT_CONFIG_PATH = File.join(File.dirname(__FILE__), "..","..","..",
                                         "configs", "joystick_default.yaml")
+        THRUST_MAX = 60000
+        THRUST_MIN = 9500
 
         attr_reader :config, :joystick_index
         # Initializes the Joystick configuration and the SDL library
@@ -107,7 +109,14 @@ module Crubyflie
 
                 # output value max jump per second. We covert to rate/ms
                 max_chrate = axis_cfg[:max_change_rate] || 10000
-                axis_cfg[:max_change_rate] = max_chrate.to_f / 1000
+                if action == :thrust
+                    # Thrust expressed in %
+                    w = THRUST_MAX - THRUST_MIN
+                    max_chrate = (max_chrate.to_f * w /100) / 1000
+                else
+                    max_chrate = max_chrate.to_f / 1000
+                end
+                axis_cfg[:max_change_rate] = max_chrate
 
                 axis_cfg[:last_poll] ||= 0
                 axis_cfg[:last_value] ||= 0
@@ -117,7 +126,7 @@ module Crubyflie
             end
 
             buttons = {}
-            config_h[:buttons] = buttons if config_h[:buttons].nil?
+            config_h[:buttons] = {} if config_h[:buttons].nil?
 
             config_h[:buttons].each do |id, button_cfg|
                 action = button_cfg[:action]
@@ -125,6 +134,7 @@ module Crubyflie
                     raise JoystickException.new("Button #{id} needs an action")
                 end
                 buttons[id] = action
+                button_cfg[:value] ||= 1
             end
 
             @config = config_h
@@ -189,7 +199,13 @@ module Crubyflie
             # the dead zone
             if dead_zone[:start] < value && dead_zone[:end] > value
                 value = 0
-            elsif value > input_range[:end]
+            elsif dead_zone[:start] >= value
+                value = value - dead_zone[:start]
+            elsif dead_zone[:end] <= value
+                value = value - dead_zone[:end]
+            end
+
+            if value > input_range[:end]
                 value = input_range[:end]
             elsif value < input_range[:start]
                 value = input_range[:start]
@@ -206,7 +222,7 @@ module Crubyflie
             current_time = Time.now.to_f
             timespan = current_time - last_poll
             # How many ms have passed since last time
-            timespan_ms = timespan.round(3) * 1000
+            timespan_ms = timespan * 1000
             # How much have we changed/ms
             change = (value - last_value) / timespan_ms.to_f
 
@@ -252,9 +268,9 @@ module Crubyflie
             }
 
             cf_range = {
-                :start => 9500.0,
-                :end => 60000.0,
-                :width => 50500.0
+                :start => THRUST_MIN,
+                :end => THRUST_MAX,
+                :width => THRUST_MAX - THRUST_MIN
             }
             return normalize(value, range, cf_range).round
         end
@@ -269,17 +285,19 @@ module Crubyflie
         def read_button(button_id)
             return -1 if !@joystick
 
-            last_poll = @config[:buttons][button_id][:last_poll] || 0
-            last_value = @config[:buttons][button_id][:last_value] || -1
-            value = @joystick.button(button_id) ? 1 : -1
+            button = @config[:buttons][button_id]
+            last_poll = button[:last_poll] || 0
+            last_value = button[:last_value] || -1
+            pressed = @joystick.button(button_id)
+            value_pressed = button[:value]
             current_time = Time.now.to_f
 
             if (current_time - last_poll) > 0.5
-                @config[:buttons][button_id][:last_value] = value
-                @config[:buttons][button_id][:last_poll] = current_time
-                return value
+                button[:last_value] = value_pressed
+                button[:last_poll] = current_time
+                return pressed ? value_pressed : 0
             else
-                return -1
+                return 0
             end
         end
         private :read_button
@@ -304,7 +322,7 @@ module Crubyflie
             from_w = from_range[:width]
             # puts "#{to_min}+(#{value.to_f}-#{from_min})*(#{to_w}/#{from_w})
             r = to_min + (value.to_f - from_min) * (to_w / from_w)
-            return r.round(3)
+            return r.round(2)
         end
     end
 end

data/lib/crubyflie/version.rb

@@ -18,5 +18,5 @@
 
 module Crubyflie
     # Current gem version
-    VERSION = "0.1.2"
+    VERSION = "0.1.3"
 end

data/spec/input_reader_spec.rb

@@ -56,8 +56,8 @@ describe InputReader do
             }
 
             @joystick.button_readings.should == {
-                :switch_xmode => -1,
-                :close_link => -1
+                :switch_xmode => 0,
+                :close_link => 0
             }
         end
     end

data/spec/joystick_cfg.yaml

@@ -1,23 +1,21 @@
-# Default joystick configuration file. It mimics the PS3_Mode2 original
-# configuration file
 :type: "Joystick"
 :axis:
   0:
     :description: "Roll Axis"
     :action: :roll
-    :input_range: "-32768:32767" # Optional - SDL dependant. Defaults to this.
-    :output_range: "-30:30" # Min/Max crazyflie angle in degrees.
-    :max_change_rate: 600 # Max angle change rate per second. Optional
-    :dead_zone: "-100:100" # Deadzone, within input range
-    :invert: false # Invert the axis
-    :calibration: 0 # This value is added to the raw value read from joystick
+    :input_range: "-32768:32767"
+    :output_range: "-30:30"
+    :max_change_rate: 600
+    :dead_zone: "-100:100"
+    :invert: false
+    :calibration: 0
   1:
     :description: "Pitch Axis"
     :action: :pitch
     :input_range: "-32768:32767"
     :output_range: "-30:30"
-    :max_change_rate: 600 # Max angle change rate per second. Optional
-    :dead_zone: "-100:100" # Deadzone, within input range
+    :max_change_rate: 600
+    :dead_zone: "0:0"
     :invert: true
     :calibration: 0
   2:
@@ -33,11 +31,9 @@
     :description: "Thrust axis"
     :action: :thrust
     :input_range: "-32768:32767"
-    :output_range: "0:80" # Min/max thrust output is represented in 0-100%
-    # Max change rate per second when lowering thrust. Thrust level is
-    # ranges 9500 and 60000
+    :output_range: "0:80"
     :max_change_rate: 40000
-    :dead_zone: "-100:100" # Deadzone, within input range
+    :dead_zone: "-100:100"
     :invert: true
     :calibration: 0
 

data/spec/joystick_input_reader_spec.rb

@@ -233,7 +233,7 @@ describe Joystick do
             expect(@sdl_joystick).to receive(:axis).with(8).and_return(140)
             @joystick.read_configuration('baa')
             value = @joystick.read_axis(8)
-            value.should == 34749.5
+            value.should == 34497.5
         end
 
         it "should not throotle the change rate when increasing thrust" do
@@ -317,7 +317,7 @@ describe Joystick do
         it "should return -1 when not pressed" do
             expect(@sdl_joystick).to receive(:button).and_return(false)
             v = @joystick.send(:read_button, 0)
-            v.should == -1
+            v.should == 0
         end
     end
 end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: crubyflie
 version: !ruby/object:Gem::Version
-  version: 0.1.2
+  version: 0.1.3
 platform: ruby
 authors:
 - Hector Sanjuan
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2013-08-11 00:00:00.000000000 Z
+date: 2013-08-14 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: libusb