"use strict";
var Cylon = require("cylon");
var TURN_TRESHOLD = 0.2,
TURN_SPEED_FACTOR = 2.0;
var DIRECTION_THRESHOLD = 0.25,
DIRECTION_SPEED_FACTOR = 0.05;
var UP_CONTROL_THRESHOLD = 50,
UP_SPEED_FACTOR = 0.01,
CIRCLE_THRESHOLD = 1.5;
var handStartPosition = [],
handStartDirection = [];
var handWasClosedInLastFrame = false;
Cylon.robot({
connections: {
leapmotion: { adaptor: "leapmotion" },
ardrone: { adaptor: "ardrone", port: "192.168.1.1" },
keyboard: { adaptor: "keyboard" }
},
devices: {
drone: { driver: "ardrone", connection: "ardrone" },
leapmotion: { driver: "leapmotion", connection: "leapmotion" },
keyboard: { driver: "keyboard", connection: "keyboard" }
},
work: function(my) {
my.keyboard.on("right", my.drone.rightFlip);
my.keyboard.on("left", my.drone.leftFlip);
my.keyboard.on("up", my.drone.frontFlip);
my.keyboard.on("down", my.drone.backFlip);
my.keyboard.on("w", my.drone.wave);
my.keyboard.on("s", my.drone.stop);
my.keyboard.on("l", my.drone.land);
my.leapmotion.on("gesture", function(gesture) {
var type = gesture.type,
state = gesture.state,
progress = gesture.progress;
var stop = (state === "stop");
if (type === "circle" && stop && progress > CIRCLE_THRESHOLD) {
if (gesture.normal[2] < 0) {
my.drone.takeoff();
}
if (gesture.normal[2] > 0) {
my.drone.land();
}
}
if (type === "keyTap" || type === "screenTap") {
my.drone.stop();
}
});
my.leapmotion.on("hand", function(hand) {
var signal, value;
var handOpen = !!hand.fingers.filter(function(f) {
return f.extended;
}).length;
if (handOpen) {
if (handWasClosedInLastFrame) {
handStartPosition = hand.palmPosition;
handStartDirection = hand.direction;
}
var horizontal = Math.abs(handStartDirection[0] - hand.direction[0]),
vertical = Math.abs(hand.palmPosition[1] - handStartPosition[1]);
if (horizontal > TURN_TRESHOLD) {
signal = handStartDirection[0] - hand.direction[0];
value = (horizontal - TURN_TRESHOLD) * TURN_SPEED_FACTOR;
if (signal > 0) {
my.drone.counterClockwise(value);
}
if (signal < 0) {
my.drone.clockwise(value);
}
}
if (vertical > UP_CONTROL_THRESHOLD) {
if ((hand.palmPosition[1] - handStartPosition[1]) >= 0) {
signal = 1;
} else {
signal = -1;
}
value = Math.round(vertical - UP_CONTROL_THRESHOLD) * UP_SPEED_FACTOR;
if (signal > 0) {
my.drone.up(value);
}
if (signal < 0) {
my.drone.down(value);
}
}
if ((Math.abs(hand.palmNormal[2]) > DIRECTION_THRESHOLD)) {
if (hand.palmNormal[2] > 0) {
value = Math.abs(
Math.round(hand.palmNormal[2] * 10 + DIRECTION_THRESHOLD) *
DIRECTION_SPEED_FACTOR
);
my.drone.forward(value);
}
if (hand.palmNormal[2] < 0) {
value = Math.abs(
Math.round(hand.palmNormal[2] * 10 - DIRECTION_THRESHOLD) *
DIRECTION_SPEED_FACTOR
);
my.drone.back(value);
}
}
if (Math.abs(hand.palmNormal[0]) > DIRECTION_THRESHOLD) {
if (hand.palmNormal[0] > 0) {
value = Math.abs(
Math.round(hand.palmNormal[0] * 10 + DIRECTION_THRESHOLD) *
DIRECTION_SPEED_FACTOR
);
my.drone.left(value);
}
if (hand.palmNormal[0] < 0) {
value = Math.abs(
Math.round(hand.palmNormal[0] * 10 - DIRECTION_THRESHOLD) *
DIRECTION_SPEED_FACTOR
);
my.drone.right(value);
}
}
if (
(Math.abs(hand.palmNormal[0]) < DIRECTION_THRESHOLD) &&
(Math.abs(hand.palmNormal[2]) < DIRECTION_THRESHOLD) &&
Math.abs(hand.palmPosition[1] - handStartPosition[1]) <
UP_CONTROL_THRESHOLD &&
Math.abs(handStartDirection[0] - hand.direction[0]) <
TURN_TRESHOLD) {
my.drone.stop();
}
}
if (!handOpen && !handWasClosedInLastFrame) {
my.drone.stop();
}
handWasClosedInLastFrame = !handOpen;
});
}
}).start();