139 lines
2.8 KiB
Go
139 lines
2.8 KiB
Go
// +build example
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//
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// Do not build by default.
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package main
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import (
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"sync/atomic"
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"time"
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"gobot.io/x/gobot"
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"gobot.io/x/gobot/platforms/joystick"
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"gobot.io/x/gobot/platforms/parrot/ardrone"
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)
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type pair struct {
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x float64
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y float64
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}
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var leftX, leftY, rightX, rightY atomic.Value
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const offset = 32767.0
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func main() {
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joystickAdaptor := joystick.NewAdaptor()
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stick := joystick.NewDriver(joystickAdaptor,
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"./platforms/joystick/configs/dualshock3.json",
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)
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ardroneAdaptor := ardrone.NewAdaptor()
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drone := ardrone.NewDriver(ardroneAdaptor)
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leftX.Store(float64(0.0))
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leftY.Store(float64(0.0))
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rightX.Store(float64(0.0))
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rightY.Store(float64(0.0))
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work := func() {
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stick.On(joystick.SquarePress, func(data interface{}) {
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drone.TakeOff()
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})
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stick.On(joystick.TrianglePress, func(data interface{}) {
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drone.Hover()
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})
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stick.On(joystick.XPress, func(data interface{}) {
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drone.Land()
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})
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stick.On(joystick.LeftX, func(data interface{}) {
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val := float64(data.(int16))
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leftX.Store(val)
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})
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stick.On(joystick.LeftY, func(data interface{}) {
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val := float64(data.(int16))
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leftY.Store(val)
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})
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stick.On(joystick.RightX, func(data interface{}) {
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val := float64(data.(int16))
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rightX.Store(val)
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})
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stick.On(joystick.RightY, func(data interface{}) {
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val := float64(data.(int16))
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rightY.Store(val)
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})
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gobot.Every(10*time.Millisecond, func() {
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leftStick := getLeftStick()
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switch {
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case leftStick.y < -10:
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drone.Forward(ardrone.ValidatePitch(leftStick.y, offset))
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case leftStick.y > 10:
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drone.Backward(ardrone.ValidatePitch(leftStick.y, offset))
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default:
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drone.Forward(0)
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}
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switch {
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case leftStick.x > 10:
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drone.Right(ardrone.ValidatePitch(leftStick.x, offset))
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case leftStick.x < -10:
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drone.Left(ardrone.ValidatePitch(leftStick.x, offset))
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default:
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drone.Right(0)
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}
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})
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gobot.Every(10*time.Millisecond, func() {
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rightStick := getRightStick()
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switch {
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case rightStick.y < -10:
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drone.Up(ardrone.ValidatePitch(rightStick.y, offset))
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case rightStick.y > 10:
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drone.Down(ardrone.ValidatePitch(rightStick.y, offset))
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default:
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drone.Up(0)
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}
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switch {
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case rightStick.x > 20:
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drone.Clockwise(ardrone.ValidatePitch(rightStick.x, offset))
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case rightStick.x < -20:
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drone.CounterClockwise(ardrone.ValidatePitch(rightStick.x, offset))
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default:
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drone.Clockwise(0)
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}
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})
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}
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robot := gobot.NewRobot("ardrone",
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[]gobot.Connection{joystickAdaptor, ardroneAdaptor},
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[]gobot.Device{stick, drone},
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work,
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)
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robot.Start()
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}
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func getLeftStick() pair {
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s := pair{x: 0, y: 0}
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s.x = leftX.Load().(float64)
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s.y = leftY.Load().(float64)
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return s
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}
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func getRightStick() pair {
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s := pair{x: 0, y: 0}
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s.x = rightX.Load().(float64)
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s.y = rightY.Load().(float64)
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return s
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}
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