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