Class: Artoo::Drivers::Ardrone

Inherits:
Driver
  • Object
show all
Defined in:
lib/artoo/drivers/ardrone.rb

Overview

Ardrone driver behaviors

See Also:

Constant Summary collapse

COMMANDS = 
[:start, :stop, :hover, :land, :take_off, :enable_emergency, :disable_emergency,
:front_camera, :bottom_camera, :up, :down, :left, :right, 
:forward, :backward, :turn_left, :turn_right, :reset_watchdog, :led, :animate].freeze

Instance Method Summary collapse

Instance Method Details

#disable_emergency ⇒ Object 



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# File 'lib/artoo/drivers/ardrone.rb', line 45

def disable_emergency
  connection.disable_emergency
  after(1) do
    connection.disable_emergency(false)
  end
end

#enable_emergency ⇒ Object 



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# File 'lib/artoo/drivers/ardrone.rb', line 38

def enable_emergency
  connection.enable_emergency
  after(1) do
    connection.enable_emergency(false)
  end
end

#start(nav = nil) ⇒ Object 



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# File 'lib/artoo/drivers/ardrone.rb', line 12

def start(nav=nil)
  connection.start(false) # send false, so Argus does not use NavMonitor

  if nav
    start_with_nav(nav)
  else
    publish(event_topic_name("ready"))
  end
end

#start_with_nav(nav) ⇒ Object 



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# File 'lib/artoo/drivers/ardrone.rb', line 22

def start_with_nav(nav)
  until !nav.emergency_landing?.nil?
    sleep 0.1
  end

  if nav.emergency_landing?
    connection.disable_emergency
    after(1) do
      connection.disable_emergency(false)
      publish(event_topic_name("ready"))
    end
  else
    publish(event_topic_name("ready"))
  end
end