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require 'artoo'
connection :ardrone, :adaptor => :ardrone, :port => '192.168.0.43:5556'
device :drone, :driver => :ardrone, :connection => :ardrone
connection :arduino, :adaptor => :firmata, :port => "/dev/ttyACM0" #linux
device :classic, :driver => :wiiclassic, :connection => :arduino, :interval => 0.1
OFFSETS = {
:ry => 12.0,
:ly => 27.0,
:lx => 27.0,
:rt => 27.0,
:lt => 12.0
}
@toggle_camera = 0
work do
on classic, :a_button => proc { drone.take_off }
on classic, :b_button => proc { drone.hover }
on classic, :x_button => proc { drone.land }
on classic, :y_button => proc {
unless @toggle_camera
drone.bottom_camera
@toggle_camera = 1
else
drone.front_camera
@toggle_camera = 0
end
}
on classic, :home_button => proc { drone.emergency }
on classic, :start_button => proc { drone.start }
on classic, :select_button => proc { drone.stop }
on classic, :left_joystick => proc { |*value|
pair = value[1]
if pair[:y] > 0
drone.forward(validate_pitch(pair[:y], OFFSETS[:ly]))
elsif pair[:y] < 0
drone.backward(validate_pitch(pair[:y], OFFSETS[:ly]))
else
drone.forward(0.0)
end
if pair[:x] > 0
drone.right(validate_pitch(pair[:x], OFFSETS[:lx]))
elsif pair[:x] < 0
drone.left(validate_pitch(pair[:x], OFFSETS[:lx]))
else
drone.right(0.0)
end
}
on classic, :right_joystick => proc { |*value|
pair = value[1]
if pair[:y] > 0
drone.up(validate_pitch(pair[:y], OFFSETS[:ry]))
elsif pair[:y] < 0
drone.down(validate_pitch(pair[:y], OFFSETS[:ry]))
else
drone.up(0.0)
end
}
on classic, :right_trigger => proc { |*value|
if value[1] > 0
drone.turn_right(validate_pitch(value[1], OFFSETS[:rt]))
else
drone.turn_right(0.0)
end
}
on classic, :left_trigger => proc { |*value|
if value[1] > 0
drone.turn_left(validate_pitch(value[1], OFFSETS[:lt]))
end
}
end
def validate_pitch(data, offset)
value = data.abs / offset
value >= 0.1 ? (value <= 1.0 ? value.round(2) : 1.0) : 0.0
end
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