121 lines
3.0 KiB
Go
121 lines
3.0 KiB
Go
package ardrone
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import (
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"gobot.io/x/gobot"
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)
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const (
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// Flying event
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Flying = "flying"
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)
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// Driver is gobot.Driver representation for the Ardrone
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type Driver struct {
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name string
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connection gobot.Connection
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gobot.Eventer
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}
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// NewDriver creates an Driver for the ARDrone.
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//
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// It add the following events:
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// 'flying' - Sent when the device has taken off.
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func NewDriver(connection *Adaptor) *Driver {
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d := &Driver{
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name: gobot.DefaultName("ARDrone"),
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connection: connection,
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Eventer: gobot.NewEventer(),
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}
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d.AddEvent(Flying)
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return d
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}
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// Name returns the Driver Name
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func (a *Driver) Name() string { return a.name }
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// SetName sets the Driver Name
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func (a *Driver) SetName(n string) { a.name = n }
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// Connection returns the Driver Connection
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func (a *Driver) Connection() gobot.Connection { return a.connection }
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// adaptor returns ardrone adaptor
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func (a *Driver) adaptor() *Adaptor {
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return a.Connection().(*Adaptor)
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}
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// Start starts the Driver
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func (a *Driver) Start() (err error) {
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return
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}
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// Halt halts the Driver
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func (a *Driver) Halt() (err error) {
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return
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}
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// TakeOff makes the drone start flying, and publishes `flying` event
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func (a *Driver) TakeOff() {
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a.Publish(a.Event("flying"), a.adaptor().drone.Takeoff())
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}
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// Land causes the drone to land
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func (a *Driver) Land() {
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a.adaptor().drone.Land()
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}
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// Up makes the drone gain altitude.
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// speed can be a value from `0.0` to `1.0`.
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func (a *Driver) Up(speed float64) {
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a.adaptor().drone.Up(speed)
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}
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// Down makes the drone reduce altitude.
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// speed can be a value from `0.0` to `1.0`.
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func (a *Driver) Down(speed float64) {
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a.adaptor().drone.Down(speed)
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}
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// Left causes the drone to bank to the left, controls the roll, which is
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// a horizontal movement using the camera as a reference point.
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// speed can be a value from `0.0` to `1.0`.
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func (a *Driver) Left(speed float64) {
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a.adaptor().drone.Left(speed)
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}
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// Right causes the drone to bank to the right, controls the roll, which is
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// a horizontal movement using the camera as a reference point.
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// speed can be a value from `0.0` to `1.0`.
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func (a *Driver) Right(speed float64) {
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a.adaptor().drone.Right(speed)
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}
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// Forward causes the drone go forward, controls the pitch.
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// speed can be a value from `0.0` to `1.0`.
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func (a *Driver) Forward(speed float64) {
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a.adaptor().drone.Forward(speed)
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}
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// Backward causes the drone go backward, controls the pitch.
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// speed can be a value from `0.0` to `1.0`.
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func (a *Driver) Backward(speed float64) {
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a.adaptor().drone.Backward(speed)
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}
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// Clockwise causes the drone to spin in clockwise direction
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// speed can be a value from `0.0` to `1.0`.
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func (a *Driver) Clockwise(speed float64) {
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a.adaptor().drone.Clockwise(speed)
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}
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// CounterClockwise the drone to spin in counter clockwise direction
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// speed can be a value from `0.0` to `1.0`.
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func (a *Driver) CounterClockwise(speed float64) {
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a.adaptor().drone.Counterclockwise(speed)
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}
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// Hover makes the drone to hover in place.
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func (a *Driver) Hover() {
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a.adaptor().drone.Hover()
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}
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