ardrone

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 Connect(config Config) (*Client, error)
  • 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
  • func DefaultConfig() Config
• type KeyVal
• type State

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

	Navdata chan *navdata.Navdata // @TODO: make read-only
	// contains filtered or unexported fields
}

func Connect

func Connect(config Config) (*Client, error)

func (*Client) Animate

func (client *Client) Animate(id AnimationId, arg int)

func (*Client) Apply

func (client *Client) Apply(state State)

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

func (client *Client) ApplyFor(duration time.Duration, state State)

Applies a given state for a certain duration, and resets the state to its zero value (hover) before returning.

func (*Client) Backward

func (client *Client) Backward(speed float64)

func (*Client) Clockwise

func (client *Client) Clockwise(speed float64)

func (*Client) Connect

func (client *Client) Connect() error

func (*Client) Counterclockwise

func (client *Client) Counterclockwise(speed float64)

func (*Client) Down

func (client *Client) Down(speed float64)

func (*Client) Forward

func (client *Client) Forward(speed float64)

func (*Client) Hover

func (client *Client) Hover()

func (*Client) Land

func (client *Client) Land()

@TODO Implement error return value

func (*Client) Left

func (client *Client) Left(speed float64)

func (*Client) Pitch

func (client *Client) Pitch(duration time.Duration, speed float64)

func (*Client) Right

func (client *Client) Right(speed float64)

func (*Client) Roll

func (client *Client) Roll(duration time.Duration, speed float64)

func (*Client) Takeoff

func (client *Client) Takeoff() bool

@TODO Implement error return value

func (*Client) Up

func (client *Client) Up(speed float64)

func (*Client) Vertical

func (client *Client) Vertical(duration time.Duration, speed float64)

func (*Client) Yaw

func (client *Client) Yaw(duration time.Duration, speed float64)

type Config

type Config struct {
	Ip             string
	NavdataPort    int
	AtPort         int
	NavdataTimeout time.Duration
}

func DefaultConfig

func DefaultConfig() Config

type KeyVal

type KeyVal struct {
	Key   string
	Value string
}

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
}