README
¶
ardrone
A Go implementation of the Parrot AR Drone protocols. Not complete yet, but the stuff that is implemented should work : ).
Get the latest version from Github
go get github.com/felixge/ardrone
The code below will execute a nice little sequence, but please make sure you have enough space when running it.
package main
import (
"github.com/felixge/ardrone"
"time"
)
func main() {
client, err := ardrone.Connect(ardrone.DefaultConfig())
if err != nil {
panic(err)
}
client.Takeoff()
client.Vertical(1*time.Second, 0.5)
time.Sleep(3 * time.Second)
client.Roll(1*time.Second, 0.5)
time.Sleep(3 * time.Second)
client.Roll(1*time.Second, -0.5)
time.Sleep(3 * time.Second)
client.Animate(ardrone.FLIP_LEFT, 200)
time.Sleep(5 * time.Second)
client.Land()
}
Save the code into a file and run:
go run main.go
API Documentation
The API documentation can be found here.
Documentation
¶
Index ¶
- type AnimationId
- type Client
- func (client *Client) Animate(id AnimationId, arg int)
- func (client *Client) Apply(state State)
- func (client *Client) ApplyFor(duration time.Duration, state State)
- func (client *Client) Backward(speed float64)
- func (client *Client) Clockwise(speed float64)
- func (client *Client) Connect() error
- func (client *Client) Counterclockwise(speed float64)
- func (client *Client) Down(speed float64)
- func (client *Client) Forward(speed float64)
- func (client *Client) Hover()
- func (client *Client) Land()
- func (client *Client) Left(speed float64)
- func (client *Client) Pitch(duration time.Duration, speed float64)
- func (client *Client) Right(speed float64)
- func (client *Client) Roll(duration time.Duration, speed float64)
- func (client *Client) Takeoff() bool
- func (client *Client) Up(speed float64)
- func (client *Client) Vertical(duration time.Duration, speed float64)
- func (client *Client) Yaw(duration time.Duration, speed float64)
- type Config
- type KeyVal
- type State
Constants ¶
This section is empty.
Variables ¶
This section is empty.
Functions ¶
This section is empty.
Types ¶
type AnimationId ¶
type AnimationId int
const ( PHI_M30_DEG AnimationId = iota PHI_30_DEG THETA_M30_DEG THETA_30_DEG THETA_20_DEG_YAW_200_DEG THETA_20_DEG_YAWM_200_DEG TURNAROUND TURNAROUND_GODOWN YAW_SHAKE YAW_DANCE PHI_DANCE THETA_DANCE VZ_DANCE WAVE PHI_THETA_MIXED DOUBLE_PHI_THETA_MIXED FLIP_AHEAD FLIP_BEHIND FLIP_LEFT FLIP_RIGHT )
type Client ¶
type Client struct {
Config Config
// contains filtered or unexported fields
}
func (*Client) Animate ¶
func (client *Client) Animate(id AnimationId, arg int)
func (*Client) Apply ¶
Apply sets the desired state of the drone. Internally this is turned into one or more commands that the sendLoop transmits to the drone every 30ms.
func (*Client) ApplyFor ¶
Applies a given state for a certain duration, and resets the state to its zero value (hover) before returning.
func (*Client) Counterclockwise ¶
type Config ¶
func DefaultConfig ¶
func DefaultConfig() Config
type State ¶
type State struct {
Pitch float64 // -1 = max back, 1 = max forward
Roll float64 // -1 = max left, 1 = max right
Yaw float64 // -1 = max counter clockwise, 1 = max clockwise
Vertical float64 // -1 = max down, 1 = max up
Fly bool // Set to false for landing.
Emergency bool // Used to disable / trigger emergency mode
Config []KeyVal // Config values to send
}
Source Files
Directories
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