drakongen 1.0.0

package/examples/How to tune PID on a quadcopter.txt

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+By Oscar Liang
+
+Procedure "How to tune PID on a quadcopter"
+
+Algorithm:
+Call subroutine: "Prepare"
+
+Subroutine: "Prepare"
+Listen
+To the motor sound
+
+Backup your current PID values
+
+Switch to Rate Mode (aka Acro Mode)
+
+Make sure your quadcopter’s CG (centre of gravity) is right in the middle
+
+Call subroutine "Set initial values"
+End of subroutine
+
+Subroutine: "Set initial values"
+Set RC rates, super rates and expo
+
+Set default PID values
+
+Lower all the values by at least half
+
+Call subroutine "P on Roll"
+End of subroutine
+
+Subroutine: "P on Roll"
+Loop forever
+    Cruise around
+
+    Do some sharp turns
+
+    If not (Does the quad dip to one side (like a wobble)?) and not (Do slow oscillations occur?)
+        If Do fast oscilations occur?
+            Decrease P on Roll
+
+        Else
+            break
+    Else
+        Increase P on Roll
+
+Call subroutine "P on Pitch"
+End of subroutine
+
+Subroutine: "P on Pitch"
+Loop forever
+    Do a split-S (where you move both the throttle and pitch sticks)
+
+    Increase throttle to recover, pay attention to the pitch movement
+
+    If Does the quad pitch up more than it should?
+        Increase P on Pitch
+
+    Else
+        If not (Do fast oscilations occur?) and not (Are the motors making a twitching sound?)
+            break
+        Else
+            Decrease P on Pitch
+
+Call subroutine "TPA"
+End of subroutine
+
+Subroutine: "TPA"
+Loop forever
+    Do a punch out
+
+    If Does the quad get oscillations with high throttle?
+        Increase TPA
+
+    Else
+        break
+Call subroutine "D on Roll and Pitch"
+End of subroutine
+
+Subroutine: "D on Roll and Pitch"
+Loop forever
+    Do aggressive maneuvers like flips and rolls
+
+    If not (Does the quad overshoot at the end of the move then bounce back?) and not (Does prop wash happen? (oscillation when you descent))
+        If Do fast oscillation happen at the end of a roll or flip?
+            Decrease D on the affected axis
+
+        Else
+            break
+    Else
+        Increase D on the affected axis
+
+Call subroutine "I on Roll"
+End of subroutine
+
+Subroutine: "I on Roll"
+Loop forever
+    Bank your quad to the left and right
+
+    Release stick
+
+    If Is the quad holding the angle well?
+        If not (Does the quad have stiff, robotic feeling?) and not (Does the quad have oscilations?)
+            break
+        Else
+            Decrease I on Roll
+
+    Else
+        Increase I on Roll
+
+Call subroutine "I on Pitch"
+End of subroutine
+
+Subroutine: "I on Pitch"
+Loop forever
+    Fly forward, do not increase throttle
+
+    If Does the nose keep the same angle?
+        break
+    Else
+        Increase I on Pitch
+
+Call subroutine "Anti Gravity Gain"
+End of subroutine
+
+Subroutine: "Anti Gravity Gain"
+Loop forever
+    Fly in a straight line
+
+    Do some rapid punchouts
+
+    If Does pitch stay at the same angle?
+        break
+    Else
+        Increase Anti Gravity
+
+Call subroutine "P on Yaw"
+End of subroutine
+
+Subroutine: "P on Yaw"
+Loop forever
+    Spin quickly on the yaw axis
+
+    Stop spinning
+
+    If Does the quad dip one side?
+        Increase P on Yaw
+
+    Else
+        If Do you get fast oscilations?
+            Decrease P on Yaw
+
+        Else
+            break
+Call subroutine "I on Yaw"
+End of subroutine
+
+Subroutine: "I on Yaw"
+Loop forever
+    Fly straight
+
+    Make a turn
+
+    If Is there drift, does the quad slide out?
+        Increase I on Yaw
+
+    Else
+        break
+End of subroutine
+End of procedure

package/examples/Or test.drakon

@@ -0,0 +1,47 @@
+{
+    "items": {
+        "1": {
+            "type": "end"
+        },
+        "2": {
+            "type": "branch",
+            "branchId": 0,
+            "one": "3"
+        },
+        "3": {
+            "type": "question",
+            "content": "<p>One</p>",
+            "one": "6",
+            "two": "8",
+            "flag1": 1
+        },
+        "6": {
+            "type": "action",
+            "content": "<p>Do it!</p>",
+            "one": "1",
+            "two": ""
+        },
+        "8": {
+            "type": "question",
+            "content": "<p>Two</p>",
+            "one": "6",
+            "two": "9",
+            "flag1": 0
+        },
+        "9": {
+            "type": "question",
+            "content": "<p>Three</p>",
+            "one": "6",
+            "two": "10",
+            "flag1": 1
+        },
+        "10": {
+            "type": "action",
+            "content": "<p>Do not do it</p>",
+            "one": "1",
+            "two": ""
+        }
+    },
+    "type": "drakon",
+    "id": "Or test.drakon"
+}

package/examples/Or test.json

@@ -0,0 +1,46 @@
+{
+    "name": "Or test",
+    "params": "",
+    "branches": [
+        {
+            "branchId": 0,
+            "start": "3",
+            "body": [
+                {
+                    "type": "question",
+                    "id": "3",
+                    "content": {
+                        "operator": "or",
+                        "left": {
+                            "operator": "or",
+                            "left": "<p>One</p>",
+                            "right": {
+                                "operator": "not",
+                                "operand": "<p>Two</p>"
+                            }
+                        },
+                        "right": "<p>Three</p>"
+                    },
+                    "yes": [
+                        {
+                            "id": "6",
+                            "type": "action",
+                            "content": "<p>Do it!</p>"
+                        }
+                    ],
+                    "no": [
+                        {
+                            "id": "10",
+                            "type": "action",
+                            "content": "<p>Do not do it</p>"
+                        }
+                    ]
+                },
+                {
+                    "id": "1",
+                    "type": "end"
+                }
+            ]
+        }
+    ]
+}

package/examples/Or test.txt

@@ -0,0 +1,10 @@
+Procedure "Or test"
+
+Algorithm:
+If (One or not (Two)) or Three
+    Do it!
+
+Else
+    Do not do it
+
+End of procedure

package/examples/Silhouette test 1.drakon

@@ -0,0 +1,47 @@
+{
+    "items": {
+        "1": {
+            "type": "end"
+        },
+        "2": {
+            "type": "branch",
+            "branchId": 1,
+            "one": "5",
+            "content": "Branch1"
+        },
+        "3": {
+            "type": "branch",
+            "content": "Exit",
+            "one": "1",
+            "branchId": 3
+        },
+        "4": {
+            "type": "branch",
+            "content": "Branch2",
+            "one": "6",
+            "branchId": 2
+        },
+        "5": {
+            "type": "question",
+            "content": "<p>AAAAAAA</p>",
+            "one": "4",
+            "two": "3",
+            "flag1": 1
+        },
+        "6": {
+            "type": "question",
+            "content": "<p>BBBB</p>",
+            "one": "7",
+            "two": "3",
+            "flag1": 1
+        },
+        "7": {
+            "type": "action",
+            "content": "<p>CCCC</p>",
+            "one": "3"
+        }
+    },
+    "type": "drakon",
+    "id": "Silhouette test 1.drakon",
+    "style": "{\"maxWidth\":160}"
+}

package/examples/Silhouette test 1.json

@@ -0,0 +1,82 @@
+{
+    "name": "Silhouette test 1",
+    "params": "",
+    "branches": [
+        {
+            "name": "Branch1",
+            "branchId": 1,
+            "start": "5",
+            "body": [
+                {
+                    "type": "question",
+                    "id": "5",
+                    "content": "<p>AAAAAAA</p>",
+                    "yes": [
+                        {
+                            "id": "ad-1000",
+                            "type": "address",
+                            "content": "Branch2"
+                        }
+                    ],
+                    "no": [
+                        {
+                            "id": "ad-1001",
+                            "type": "address",
+                            "content": "Exit"
+                        }
+                    ]
+                },
+                {
+                    "id": "2-end",
+                    "type": "end"
+                }
+            ]
+        },
+        {
+            "name": "Branch2",
+            "branchId": 2,
+            "start": "6",
+            "body": [
+                {
+                    "type": "question",
+                    "id": "6",
+                    "content": "<p>BBBB</p>",
+                    "yes": [
+                        {
+                            "id": "7",
+                            "type": "action",
+                            "content": "<p>CCCC</p>"
+                        },
+                        {
+                            "id": "ad-1002",
+                            "type": "address",
+                            "content": "Exit"
+                        }
+                    ],
+                    "no": [
+                        {
+                            "id": "ad-1002",
+                            "type": "address",
+                            "content": "Exit"
+                        }
+                    ]
+                },
+                {
+                    "id": "4-end",
+                    "type": "end"
+                }
+            ]
+        },
+        {
+            "name": "Exit",
+            "branchId": 3,
+            "start": "1",
+            "body": [
+                {
+                    "id": "1",
+                    "type": "end"
+                }
+            ]
+        }
+    ]
+}

package/examples/Silhouette test 1.txt

@@ -0,0 +1,24 @@
+Procedure "Silhouette test 1"
+
+Algorithm:
+Call subroutine: "Branch1"
+
+Subroutine: "Branch1"
+If AAAAAAA
+    Call subroutine "Branch2"
+Else
+    Call subroutine "Exit"
+End of subroutine
+
+Subroutine: "Branch2"
+If BBBB
+    CCCC
+
+    Call subroutine "Exit"
+Else
+    Call subroutine "Exit"
+End of subroutine
+
+Subroutine: "Exit"
+End of subroutine
+End of procedure

package/examples/Work out action-check.drakon

@@ -0,0 +1,30 @@
+{
+    "items": {
+        "1": {
+            "type": "end"
+        },
+        "2": {
+            "type": "branch",
+            "branchId": 0,
+            "one": "5"
+        },
+        "3": {
+            "type": "action",
+            "content": "<p>Lift weight</p>",
+            "one": "4"
+        },
+        "4": {
+            "type": "question",
+            "content": "<p>Tired?</p>",
+            "one": "1",
+            "two": "5",
+            "flag1": 1
+        },
+        "5": {
+            "type": "arrow-loop",
+            "one": "3"
+        }
+    },
+    "type": "drakon",
+    "id": "Work out action-check.drakon"
+}

package/examples/Work out action-check.json

@@ -0,0 +1,45 @@
+{
+    "name": "Work out action-check",
+    "params": "",
+    "branches": [
+        {
+            "branchId": 0,
+            "start": "5",
+            "body": [
+                {
+                    "id": "5",
+                    "type": "loop",
+                    "content": "",
+                    "body": [
+                        {
+                            "id": "3",
+                            "type": "action",
+                            "content": "<p>Lift weight</p>"
+                        },
+                        {
+                            "type": "question",
+                            "id": "4",
+                            "content": "<p>Tired?</p>",
+                            "yes": [
+                                {
+                                    "type": "break"
+                                }
+                            ],
+                            "no": [
+                                {
+                                    "id": "arrow-stub-5",
+                                    "type": "loopend",
+                                    "start": "5"
+                                }
+                            ]
+                        }
+                    ]
+                },
+                {
+                    "id": "1",
+                    "type": "end"
+                }
+            ]
+        }
+    ]
+}

package/examples/Work out action-check.txt

@@ -0,0 +1,9 @@
+Procedure "Work out action-check"
+
+Algorithm:
+Loop forever
+    Lift weight
+
+    If Tired?
+        break
+End of procedure

package/examples/Workout foreach.drakon

@@ -0,0 +1,63 @@
+{
+    "items": {
+        "2": {
+            "type": "end"
+        },
+        "4": {
+            "type": "action",
+            "one": "59",
+            "content": "Warm up"
+        },
+        "56": {
+            "type": "branch",
+            "branchId": 0,
+            "one": "4"
+        },
+        "58": {
+            "type": "loopend",
+            "one": "2"
+        },
+        "59": {
+            "type": "loopbegin",
+            "one": "60",
+            "content": "<p>For each exercize in the program</p>"
+        },
+        "60": {
+            "type": "loopbegin",
+            "one": "62",
+            "content": "Repeat 10 times",
+            "two": ""
+        },
+        "61": {
+            "type": "loopend",
+            "one": "58",
+            "content": "",
+            "two": ""
+        },
+        "62": {
+            "type": "action",
+            "one": "63",
+            "content": "Lift the weight",
+            "two": ""
+        },
+        "63": {
+            "type": "question",
+            "flag1": 0,
+            "one": "61",
+            "two": "64",
+            "content": "Tired?"
+        },
+        "64": {
+            "type": "action",
+            "content": "<p>Say: huff da</p>",
+            "one": "58",
+            "two": ""
+        },
+        "header": {
+            "type": "header",
+            "style": "{\"font\":\"bold 16px Arimo\"}"
+        }
+    },
+    "type": "drakon",
+    "id": "Workout foreach.drakon"
+}

package/examples/Workout foreach.json

@@ -0,0 +1,62 @@
+{
+    "name": "Workout foreach",
+    "params": "",
+    "branches": [
+        {
+            "branchId": 0,
+            "start": "4",
+            "body": [
+                {
+                    "id": "4",
+                    "type": "action",
+                    "content": "Warm up"
+                },
+                {
+                    "id": "59",
+                    "type": "loop",
+                    "content": "<p>For each exercize in the program</p>",
+                    "body": [
+                        {
+                            "id": "60",
+                            "type": "loop",
+                            "content": "Repeat 10 times",
+                            "body": [
+                                {
+                                    "id": "62",
+                                    "type": "action",
+                                    "content": "Lift the weight"
+                                },
+                                {
+                                    "type": "question",
+                                    "id": "63",
+                                    "content": "Tired?",
+                                    "yes": [
+                                        {
+                                            "id": "64",
+                                            "type": "action",
+                                            "content": "<p>Say: huff da</p>"
+                                        },
+                                        {
+                                            "type": "break"
+                                        }
+                                    ],
+                                    "no": [
+                                        {
+                                            "id": "61",
+                                            "type": "loopend",
+                                            "start": "60"
+                                        }
+                                    ]
+                                }
+                            ]
+                        }
+                    ]
+                },
+                {
+                    "id": "2",
+                    "type": "end"
+                }
+            ]
+        }
+    ]
+}

package/examples/Workout foreach.txt

@@ -0,0 +1,14 @@
+Procedure "Workout foreach"
+
+Algorithm:
+Warm up
+
+For each exercize in the program
+    Repeat 10 times
+        Lift the weight
+
+        If Tired?
+            Say: huff da
+
+            break
+End of procedure

package/examples/ar01.drakon

@@ -0,0 +1,25 @@
+{
+    "type": "drakon",
+    "items": {
+        "2": {
+            "type": "end"
+        },
+        "4": {
+            "type": "question",
+            "flag1": 1,
+            "one": "2",
+            "two": "17",
+            "content": "3"
+        },
+        "17": {
+            "type": "arrow-loop",
+            "one": "4",
+            "content": ""
+        },
+        "21": {
+            "type": "branch",
+            "branchId": 0,
+            "one": "17"
+        }
+    }
+}