113 lines
3.1 KiB
Go
113 lines
3.1 KiB
Go
package ardrone
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import (
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"github.com/hybridgroup/gobot"
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)
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// ArdroneDriver is gobot.Driver representation for the Ardrone
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type ArdroneDriver 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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// NewArdroneDriver creates an ArdroneDriver with specified name.
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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 NewArdroneDriver(connection *ArdroneAdaptor, name string) *ArdroneDriver {
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d := &ArdroneDriver{
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name: name,
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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 ArdroneDrivers Name
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func (a *ArdroneDriver) Name() string { return a.name }
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// Connection returns the ArdroneDrivers Connection
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func (a *ArdroneDriver) Connection() gobot.Connection { return a.connection }
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// adaptor returns ardrone adaptor
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func (a *ArdroneDriver) adaptor() *ArdroneAdaptor {
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return a.Connection().(*ArdroneAdaptor)
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}
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// Start starts the ArdroneDriver
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func (a *ArdroneDriver) Start() (errs []error) {
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return
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}
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// Halt halts the ArdroneDriver
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func (a *ArdroneDriver) Halt() (errs []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 *ArdroneDriver) TakeOff() {
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gobot.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 *ArdroneDriver) 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 *ArdroneDriver) 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 *ArdroneDriver) 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 *ArdroneDriver) 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 *ArdroneDriver) 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 *ArdroneDriver) 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 *ArdroneDriver) 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 *ArdroneDriver) 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 *ArdroneDriver) 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 *ArdroneDriver) Hover() {
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a.adaptor().drone.Hover()
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}
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