55 lines
1.2 KiB
Go
55 lines
1.2 KiB
Go
package main
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import (
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"fmt"
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"gobot.io/x/gobot"
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"gobot.io/x/gobot/platforms/mavlink"
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common "gobot.io/x/gobot/platforms/mavlink/common"
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)
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func main() {
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adaptor := mavlink.NewAdaptor("/dev/ttyACM0")
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iris := mavlink.NewDriver(adaptor)
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work := func() {
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iris.Once(mavlink.PacketEvent, func(data interface{}) {
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packet := data.(*common.MAVLinkPacket)
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dataStream := common.NewRequestDataStream(100,
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packet.SystemID,
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packet.ComponentID,
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4,
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1,
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)
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iris.SendPacket(common.CraftMAVLinkPacket(packet.SystemID,
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packet.ComponentID,
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dataStream,
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))
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})
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iris.On(mavlink.MessageEvent, func(data interface{}) {
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if data.(common.MAVLinkMessage).Id() == 30 {
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message := data.(*common.Attitude)
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fmt.Println("Attitude")
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fmt.Println("TIME_BOOT_MS", message.TIME_BOOT_MS)
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fmt.Println("ROLL", message.ROLL)
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fmt.Println("PITCH", message.PITCH)
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fmt.Println("YAW", message.YAW)
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fmt.Println("ROLLSPEED", message.ROLLSPEED)
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fmt.Println("PITCHSPEED", message.PITCHSPEED)
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fmt.Println("YAWSPEED", message.YAWSPEED)
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fmt.Println("")
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}
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})
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}
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robot := gobot.NewRobot("mavBot",
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[]gobot.Connection{adaptor},
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[]gobot.Device{iris},
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work,
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)
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robot.Start()
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}
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