153 lines
4.1 KiB
Go
153 lines
4.1 KiB
Go
package bebop
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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 Bebop
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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 Bebop Driver.
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func NewDriver(connection *Adaptor) *Driver {
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d := &Driver{
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name: gobot.DefaultName("Bebop"),
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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 Bebop Drivers Name
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func (a *Driver) Name() string { return a.name }
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// SetName sets the Bebop Drivers Name
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func (a *Driver) SetName(n string) { a.name = n }
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// Connection returns the Bebop Drivers 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 Bebop 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 Bebop 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
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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` to `100`.
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func (a *Driver) Up(speed int) {
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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` to `100`.
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func (a *Driver) Down(speed int) {
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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` to `100`.
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func (a *Driver) Left(speed int) {
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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` to `100`.
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func (a *Driver) Right(speed int) {
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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` to `100`.
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func (a *Driver) Forward(speed int) {
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a.adaptor().drone.Forward(speed)
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}
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// Backward causes the drone go forward, controls the pitch.
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// speed can be a value from `0` to `100`.
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func (a *Driver) Backward(speed int) {
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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` to `100`.
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func (a *Driver) Clockwise(speed int) {
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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` to `100`.
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func (a *Driver) CounterClockwise(speed int) {
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a.adaptor().drone.CounterClockwise(speed)
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}
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// Stop makes the drone to hover in place.
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func (a *Driver) Stop() {
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a.adaptor().drone.Stop()
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}
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// Video returns a channel which raw video frames will be broadcast on
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func (a *Driver) Video() chan []byte {
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return a.adaptor().drone.Video()
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}
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// StartRecording starts the recording video to the drones interal storage
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func (a *Driver) StartRecording() error {
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return a.adaptor().drone.StartRecording()
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}
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// StopRecording stops a previously started recording
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func (a *Driver) StopRecording() error {
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return a.adaptor().drone.StopRecording()
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}
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// HullProtection tells the drone if the hull/prop protectors are attached. This is needed to adjust flight characteristics of the Bebop.
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func (a *Driver) HullProtection(protect bool) error {
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return a.adaptor().drone.HullProtection(protect)
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}
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// Outdoor tells the drone if flying Outdoor or not. This is needed to adjust flight characteristics of the Bebop.
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func (a *Driver) Outdoor(outdoor bool) error {
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return a.adaptor().drone.Outdoor(outdoor)
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}
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// VideoEnable tells the drone to start/stop streaming video
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func (a *Driver) VideoEnable(enable bool) error {
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return a.adaptor().drone.VideoEnable(enable)
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}
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// VideoStreamMode tells the drone what mode to use for streaming video
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func (a *Driver) VideoStreamMode(mode int8) error {
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return a.adaptor().drone.VideoStreamMode(mode)
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}
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