ardrone-autonomy/examples/repl.js

Building blocks for autonomous flying an AR.Drone.

var fs = require('fs');
var path = require('path');
var df = require('dateformat')
  , arDrone = require('ar-drone')
  , arDroneConstants = require('ar-drone/lib/constants')
  , autonomy = require('..');

var client  = arDrone.createClient();
var ctrl    = new autonomy.Controller(client, {debug: false});
var repl    = client.createRepl();

function navdata_option_mask(c) {
  return 1 << c;
}

// From the SDK.
var navdata_options = (
    navdata_option_mask(arDroneConstants.options.DEMO)
  | navdata_option_mask(arDroneConstants.options.VISION_DETECT)
  | navdata_option_mask(arDroneConstants.options.MAGNETO)
  | navdata_option_mask(arDroneConstants.options.WIFI)
);

// Connect and configure the drone
client.config('general:navdata_demo', true);
client.config('general:navdata_options', navdata_options);
client.config('video:video_channel', 1);
client.config('detect:detect_type', 12);

// Add a ctrl object to the repl. You can use the controller
// from there. E.g.
// ctrl.go({x:1, y:1});
//
repl._repl.context['ctrl'] = ctrl;

// Log control data for debugging
var folder = df(new Date(), "yyyy-mm-dd_hh-MM-ss");
fs.mkdir(path.join('/tmp', folder), function() {
  dataStream = fs.createWriteStream(path.join('/tmp', folder, 'data.txt'));
});

ctrl.on('controlData', function(d) {
   dataStream.write(d.state.x + "," +
                    d.state.y + "," +
                    d.state.z + "," +
                    d.state.yaw + "," +
                    d.state.vx + "," +
                    d.state.vy + "," +
                    d.goal.x + "," +
                    d.goal.y + "," +
                    d.goal.z + "," +
                    d.goal.yaw + "," +
                    d.error.ex + "," +
                    d.error.ey + "," +
                    d.error.ez + "," +
                    d.error.eyaw + "," +
                    d.control.ux + "," +
                    d.control.uy + "," +
                    d.control.uz + "," +
                    d.control.uyaw + "," +
                    d.last_ok + "," +
                    d.tag + "\n");
});