aerogel/lib/leap.js

CrazyFlie control software

var
	_       = require('lodash'),
	Leap    = require('leapjs'),
	curtsy  = require('curtsy'),
	P       = require('p-promise')
	;


function HandMotion()
{

};

var controller = new Leap.Controller(
{
	enableGestures: true,
});

controller.on('ready', function()
{
	console.log('leap controller ready');
});

controller.on('connect', function()
{
	console.log('leap controller connected');
});

controller.on('disconnect', function()
{
	console.log('leap controller disconnected');
});

controller.on('frame', leaploop);

var lastCircle = 0;
function handleCircle(circle, frame)
{
	var state = copter.copterStates.currentState();
	var now = Date.now();
	if (now - lastCircle < 1000)
		return 'ignored';

	if (state !== 'waiting')
	{
		lastCircle = Date.now();
		return land();
	}
	else if (state === 'waiting')
	{
		lastCircle = Date.now();
		return takeoff();
	}
}

function handleSwipe(gesture)
{
	var scaledSpeed = Math.round(gesture.speed) * 10;
	var currentThrust = copter.thrust;

	if (!_.isNumber(currentThrust))
		currentThrust = 10001;

	if (copter.copterStates.currentState() !== 'hovering')
		return 'ignored';

	if (gesture.direction[1] < 0)
	{
		console.log('swipe down', scaledSpeed);
		copter.thrust = currentThrust - scaledSpeed;
	}
	else
	{
		console.log('swipe up', gesture.speed);
		copter.thrust = currentThrust + scaledSpeed;
	}

	return copter.thrust;
}



function leaploop(frame)
{
	var hands = frame.hands;
	var pointables = frame.pointables;
	var gestures = frame.gestures;

	if (frame.gestures.length > 0)
	{
		var g = frame.gestures[0];
		// console.log(g.type);
		if (g.type === 'swipe')
			handleSwipe(g);
		else if (g.type === 'circle')
			handleCircle(g, frame);
	}
}



module.exports = HandMotion;