Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

drone #1

Open
wants to merge 4 commits into
base: master
Choose a base branch
from
Open

drone #1

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
8ccfbd9
drone
Jul 24, 2015
47f79c2
drone
Jul 24, 2015
b487211
Update drone-backend.js
gofarrell Jul 24, 2015
4f8e701
Update drone-backend.js
gofarrell Jul 24, 2015
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion colorTrackerUtils.js
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,7 @@ var TrackerUtils = (function() {
deltaG = gRatio / gRatio2;

return deltaColorTotal > 0.8 && deltaColorTotal < 1.2 &&
deltaR > 0.8 && deltaR < 1.2 &&
deltaR > 0.005 && deltaR < 5.0 &&
deltaG > 0.8 && deltaG < 1.2;
});
}
Expand Down
32 changes: 30 additions & 2 deletions drone-backend.js
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,35 @@ Cylon.robot()

// Fly the bot
function fly(robot) {

bot = robot;
//bot.nav.on("navdata", function(data) {
//console.log(data);
//});
bot.drone.config('general:navdata_demo', 'TRUE');
bot.drone.disableEmergency();
bot.drone.ftrim();
bot.drone.takeoff();
bot.drone.left(0.2);
after(0.85*1000, function() {
bot.drone.front(0.4);
});
after(1.8*1000, function() {
bot.drone.right(0.4);
});
after(2.65*1000, function() {
bot.drone.back(0.4);
});
after(3.5*1000, function() {
bot.drone.left(0.4);
});
after(3.8*1000, function() {
bot.drone.land();
});
after(4.1*1000, function() {
bot.drone.stop();
});
}

Cylon.start();
Cylon.start();


43 changes: 41 additions & 2 deletions drone-frontend.js
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,15 +6,54 @@ function init() {
function initTracker(element) {
// Initialise a color tracker
var tracker = new tracking.ColorTracker();

TrackerUtils.addTrackingColor("#63A75E", "green", tracker);
TrackerUtils.addTrackingColor("#5EA24E", "green", tracker);
TrackerUtils.addTrackingColor("#57AE78", "green", tracker);
TrackerUtils.addTrackingColor("#CC7E86", "light red", tracker);
TrackerUtils.addTrackingColor("#C4767C", "light red", tracker);
TrackerUtils.addTrackingColor("#B04D3F", "red", tracker);
TrackerUtils.addTrackingColor("#A54F4C", "red", tracker);
TrackerUtils.addTrackingColor("#333A35", "black", tracker);
TrackerUtils.addTrackingColor("#4C5851", "black", tracker);
TrackerUtils.addTrackingColor("#74727C", "grey", tracker);
TrackerUtils.addTrackingColor("#A9A8B6", "grey", tracker);
TrackerUtils.addTrackingColor("#787882", "grey", tracker);
TrackerUtils.addTrackingColor("#A6A6B1", "grey", tracker);
TrackerUtils.addTrackingColor("#BCC0C2", "white", tracker);
TrackerUtils.addTrackingColor("#B9BBB8", "white", tracker);
TrackerUtils.addTrackingColor("#B8B9BE", "white", tracker);
TrackerUtils.addTrackingColor("#C1BAA9", "white", tracker);
TrackerUtils.startTrackingColors(tracker);

// Whenever there is a new color detected, mark them
tracker.on('track', function(event) {
console.log(event.data);
markColors(event.data, element);
});

return tracker;
}

function writeRectangle(rect) {
jQuery(".output").append("<br />");
jQuery(".output").append(rect.color + ": " + rect.x + ", " + rect.y);
}

function markColors(colors, element) {
var canvas = $(element + ' .canvas').get(0);
var context = canvas.getContext('2d');
context.clearRect(0, 0, context.width, context.height);

for (var i = 0; i < colors.length; i++) {
drawRectangle(colors[i], context);
}
}

function drawRectangle(rect, context) {
context.strokeStyle = rect.color;
context.strokeRect(rect.x, rect.y, rect.width, rect.height);

console.log(rect);
writeRectangle(rect);
}

window.addEventListener("load", init);
54 changes: 54 additions & 0 deletions index.html
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,54 @@
<!DOCTYPE html>
<html>
<head lang="en">
<meta charset="UTF-8">
<title></title>
<style>
img,
canvas {
position: absolute;
}
</style>

<script src="lib/jquery.js"></script>
<script src="lib/tracking-min.js"></script>
<script src="drone-frontend.js"></script>
<script src="colorTrackerUtils.js"></script>
<link rel="stylesheet" href="lib/bootstrap.min.css">
</head>
<body class="container">
<h1 class="text-center">Seek 'n' Destroy Drone</h1>
<div id="example" class="row">
<div class="col-md-8">
<!-- The Drone View -->
<img class="drone" src="snapshots/camera2.png" width="640" height="360"/>
<canvas class="canvas" width="640" height="360"></canvas>
</div>
<div class="col-md-4">
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<p>

</p>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<br>
<h2>What do I see?</h2>
<div class="output">
Colours!
</div>
</div>
</div>
</body>
</html>