Corrections needed for Bebop to handle Outside mode

examples/bebop_ps3.go

@@ -1,11 +1,7 @@
 package main
 
 import (
-	"fmt"
-	"io"
-	"io/ioutil"
 	"math"
-	"os/exec"
 	"time"
 
 	"github.com/hybridgroup/gobot"
@@ -18,40 +14,6 @@ type pair struct {
 	y float64
 }
 
-func ffmpeg() (stdin io.WriteCloser, stderr io.ReadCloser, err error) {
-	ffmpeg := exec.Command("ffmpeg", "-i", "pipe:0", "http://localhost:8090/bebop.ffm")
-
-	stderr, err = ffmpeg.StderrPipe()
-
-	if err != nil {
-		return
-	}
-
-	stdin, err = ffmpeg.StdinPipe()
-
-	if err != nil {
-		return
-	}
-
-	if err = ffmpeg.Start(); err != nil {
-		return
-	}
-
-	go func() {
-		for {
-			buf, err := ioutil.ReadAll(stderr)
-			if err != nil {
-				fmt.Println(err)
-			}
-			if len(buf) > 0 {
-				fmt.Println(string(buf))
-			}
-		}
-	}()
-
-	return stdin, stderr, nil
-}
-
 func main() {
 	gbot := gobot.NewGobot()
 
@@ -65,16 +27,6 @@ func main() {
 	drone := bebop.NewBebopDriver(bebopAdaptor, "Drone")
 
 	work := func() {
-		video, _, _ := ffmpeg()
-
-		go func() {
-			for {
-				if _, err := video.Write(<-drone.Video()); err != nil {
-					fmt.Println(err)
-          return
-				}
-			}
-		}()
 
 		offset := 32767.0
 		rightStick := pair{x: 0, y: 0}

examples/bebop_ps3_video.go

@@ -0,0 +1,188 @@
+package main
+
+import (
+	"fmt"
+	"io"
+	"io/ioutil"
+	"math"
+	"os/exec"
+	"time"
+
+	"github.com/hybridgroup/gobot"
+	"github.com/hybridgroup/gobot/platforms/bebop"
+	"github.com/hybridgroup/gobot/platforms/joystick"
+)
+
+type pair struct {
+	x float64
+	y float64
+}
+
+func ffmpeg() (stdin io.WriteCloser, stderr io.ReadCloser, err error) {
+	ffmpeg := exec.Command("ffmpeg", "-i", "pipe:0", "http://localhost:8090/bebop.ffm")
+
+	stderr, err = ffmpeg.StderrPipe()
+
+	if err != nil {
+		return
+	}
+
+	stdin, err = ffmpeg.StdinPipe()
+
+	if err != nil {
+		return
+	}
+
+	if err = ffmpeg.Start(); err != nil {
+		return
+	}
+
+	go func() {
+		for {
+			buf, err := ioutil.ReadAll(stderr)
+			if err != nil {
+				fmt.Println(err)
+			}
+			if len(buf) > 0 {
+				fmt.Println(string(buf))
+			}
+		}
+	}()
+
+	return stdin, stderr, nil
+}
+
+func main() {
+	gbot := gobot.NewGobot()
+
+	joystickAdaptor := joystick.NewJoystickAdaptor("ps3")
+	joystick := joystick.NewJoystickDriver(joystickAdaptor,
+		"ps3",
+		"./platforms/joystick/configs/dualshock3.json",
+	)
+
+	bebopAdaptor := bebop.NewBebopAdaptor("Drone")
+	drone := bebop.NewBebopDriver(bebopAdaptor, "Drone")
+
+	work := func() {
+		video, _, _ := ffmpeg()
+
+		go func() {
+			for {
+				if _, err := video.Write(<-drone.Video()); err != nil {
+					fmt.Println(err)
+          return
+				}
+			}
+		}()
+
+		offset := 32767.0
+		rightStick := pair{x: 0, y: 0}
+		leftStick := pair{x: 0, y: 0}
+
+		recording := false
+
+		gobot.On(joystick.Event("circle_press"), func(data interface{}) {
+			if recording {
+				drone.StopRecording()
+			} else {
+				drone.StartRecording()
+			}
+			recording = !recording
+		})
+
+		gobot.On(joystick.Event("square_press"), func(data interface{}) {
+			drone.HullProtection(true)
+			drone.TakeOff()
+		})
+		gobot.On(joystick.Event("triangle_press"), func(data interface{}) {
+			drone.Stop()
+		})
+		gobot.On(joystick.Event("x_press"), func(data interface{}) {
+			drone.Land()
+		})
+		gobot.On(joystick.Event("left_x"), func(data interface{}) {
+			val := float64(data.(int16))
+			if leftStick.x != val {
+				leftStick.x = val
+			}
+		})
+		gobot.On(joystick.Event("left_y"), func(data interface{}) {
+			val := float64(data.(int16))
+			if leftStick.y != val {
+				leftStick.y = val
+			}
+		})
+		gobot.On(joystick.Event("right_x"), func(data interface{}) {
+			val := float64(data.(int16))
+			if rightStick.x != val {
+				rightStick.x = val
+			}
+		})
+		gobot.On(joystick.Event("right_y"), func(data interface{}) {
+			val := float64(data.(int16))
+			if rightStick.y != val {
+				rightStick.y = val
+			}
+		})
+
+		gobot.Every(10*time.Millisecond, func() {
+			pair := leftStick
+			if pair.y < -10 {
+				drone.Forward(validatePitch(pair.y, offset))
+			} else if pair.y > 10 {
+				drone.Backward(validatePitch(pair.y, offset))
+			} else {
+				drone.Forward(0)
+			}
+
+			if pair.x > 10 {
+				drone.Right(validatePitch(pair.x, offset))
+			} else if pair.x < -10 {
+				drone.Left(validatePitch(pair.x, offset))
+			} else {
+				drone.Right(0)
+			}
+		})
+
+		gobot.Every(10*time.Millisecond, func() {
+			pair := rightStick
+			if pair.y < -10 {
+				drone.Up(validatePitch(pair.y, offset))
+			} else if pair.y > 10 {
+				drone.Down(validatePitch(pair.y, offset))
+			} else {
+				drone.Up(0)
+			}
+
+			if pair.x > 20 {
+				drone.Clockwise(validatePitch(pair.x, offset))
+			} else if pair.x < -20 {
+				drone.CounterClockwise(validatePitch(pair.x, offset))
+			} else {
+				drone.Clockwise(0)
+			}
+		})
+	}
+
+	robot := gobot.NewRobot("bebop",
+		[]gobot.Connection{joystickAdaptor, bebopAdaptor},
+		[]gobot.Device{joystick, drone},
+		work,
+	)
+
+	gbot.AddRobot(robot)
+
+	gbot.Start()
+}
+
+func validatePitch(data float64, offset float64) int {
+	value := math.Abs(data) / offset
+	if value >= 0.1 {
+		if value <= 1.0 {
+			return int((float64(int(value*100)) / 100) * 100)
+		}
+		return 100
+	}
+	return 0
+}

platforms/bebop/bebop_adaptor.go

@@ -25,6 +25,7 @@ type drone interface {
 	StartRecording() error
 	StopRecording() error
 	HullProtection(protect bool) error
+	Outdoor(outdoor bool) error
 }
 
 // BebopAdaptor is gobot.Adaptor representation for the Bebop

platforms/bebop/bebop_driver.go

@@ -129,3 +129,8 @@ func (a *BebopDriver) StopRecording() error {
 func (a *BebopDriver) HullProtection(protect bool) error {
 	return a.adaptor().drone.HullProtection(protect)
 }
+
+// Outdoor tells the drone if flying Outdoor or not. This is needed to adjust flight characteristics of the Bebop.
+func (a *BebopDriver) Outdoor(outdoor bool) error {
+	return a.adaptor().drone.Outdoor(outdoor)
+}

platforms/bebop/test_helper.go

@@ -19,3 +19,4 @@ func (t testDrone) Video() chan []byte { return nil }
 func (t testDrone) StartRecording() error { return nil }
 func (t testDrone) StopRecording() error { return nil }
 func (t testDrone) HullProtection(protect bool) error { return nil }
+func (t testDrone) Outdoor(outdoor bool) error { return nil }