Difference between revisions of "AngelR-PFC-Drone01"

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* '''Project Name:''' AR. Drone
+
* '''Project Name:''' PFC-Drone01
 +
* '''Author:'''  Ángel Rojo Román
 +
* '''Email Addres:'''  infarr00@estudiantes.unileon.es
 +
* '''Academic Year:''' 2010-2011
 +
* '''Degree:''' Undergraduate
 +
* '''Technologies:''' c, opencv, ARDrone API: sdk 1.5, svn
 +
* '''Status:''' Finished
 +
 
 +
 
 +
=Flying AR.Drone(9 May 2011)=
 +
 
 +
* Taking off
 +
 
 +
      ardrone_tool_set_ui_pad_start(1);
 +
 
 +
* Landing
 +
 
 +
      ardrone_tool_set_ui_pad_start(1);
 +
 
 +
* Turn to left
 +
 
 +
      ardrone_at_set_progress_cmd(1, 0, 0, 0, -0.3);
 +
 
 +
* Turn to right
 +
 
 +
      ardrone_at_set_progress_cmd(1, 0.3, 0, 0,0);
 +
 
 +
* Move Forward
 +
 
 +
      ardrone_at_set_progress_cmd(1,0,-0.3,0,0);
 +
 
 +
* Move Backward
 +
 
 +
      ardrone_at_set_progress_cmd(1, 0, 0.3, 0, 0);
 +
 
 +
* Move Up
 +
 
 +
      ardrone_at_set_progress_cmd(1, 0.3, 0, 0.5, 0);
 +
 
 +
* Move Down
 +
 
 +
      ardrone_at_set_progress_cmd(1, 0.3, 0, 0.5, 0);
 +
 
 +
* Move to Left
 +
 
 +
      ardrone_at_set_progress_cmd (1, -0.3, 0, 0,0);
 +
 
 +
* Move to Right
 +
 
 +
      ardrone_at_set_progress_cmd (1, 0.3, 0, 0,0);
 +
 
 +
=Using Subversion(18 dec 2010)=
 +
 
 +
* Creating a new Branch for your project
 +
 
 +
      $ svn copy http://robotica.unileon.es/svn/Projects/PFC/ardrone \
 +
            http://robotica.unileon.es/svn/Projects/PFC/ardrone/branches/InterfazArdrone_aroro_18122010 \
 +
            -m "Creating a new branch InterfazArdrone_aroro_18122010."
 +
 
 +
* Import your project in your branch:
 +
 
 +
      $svn import /(YOUR PROJECT DIR) http://robotica.unileon.es/svn/Projects/PFC/ardrone/branches/InterfazArdrone_aroro_18122010 -m "first import"
 +
 
 +
* Getting your project:
 +
 
 +
      $svn checkout http://robotica.unileon.es/svn/Projects/PFC/ardrone/branches/InterfazArdrone_aroro_18122010
 +
 
 +
* Remove a directory in svn repository:
 +
 
 +
      $svn delete http://(URL DIRECTORY) -m "DIRECTORY DELETED"
 +
 
 +
=Makefile(18 dec 2010)=
 +
 
 +
Don't forget use:
 +
 
 +
* gtk and ardrone libraries:
 +
 
 +
      GENERIC_LIBS=-lpc_ardrone -lgtk-x11-2.0 -lrt
  
−
* '''Authors:'''  Ángel Rojo Román
+
* compile fichero.c:
  
−
* '''Academic Year:''' 2010-2011
+
      GENERIC_BINARIES_COMMON_SOURCE_FILES+= \
 +
            fichero/fichero.c  \
 +
 
 +
     
 +
 
 +
=Debug File(18 dec 2010)=
 +
 
 +
I do an other two files called fichero.c and fichero.h
 +
 
 +
* '''fichero.h''' had the declaration of the function.
 +
 
 +
* '''fichero.c''' implements ''InsertarDatos'' function. InsertaDatos uses fopen(ruta, "a") to create a debug file or append text if the file already exist.
 +
 
 +
 
 +
To check if debug is active, I use a control variable called debug in main. If debug = 0, debug file is not active. If debug =1, debug file is active.
 +
 
 +
=Building a GTK window(18 dec 2010)=
 +
 
 +
To Build a window you need gtk library: #include <gtk/gtk.h>. To keep a clear code, the main function have a call to paint the window.
 +
 
 +
      int
 +
      main (int argc, char *argv[]){
 +
            GtkWidget *window;
 +
            gtk_init (&argc, &argv);
 +
            window = create_window ();
 +
            gtk_widget_show_all (window);
 +
            gtk_main ();
 +
            return 0;
 +
      }
 +
 
 +
There is an other functions for received the events for the buttons:
 +
 
 +
      void on_button_aterrizar(GtkButton * button, gpointer user_data);
 +
      void on_button_despegar(GtkButton * button, gpointer user_data);
 +
      void on_button_mostrar_video(GtkButton * button, gpointer user_data);
 +
      void on_button_debug(GtkButton * button, gpointer user_data);
 +
      void on_button_ocultar_video(GtkButton * button, gpointer user_data);
 +
      void func_crea_ventana_video(GtkButton * button, gpointer user_data);
 +
      void func_oculta_ventana_video(GtkButton * button, gpointer user_data);
 +
 
 +
 
 +
 
 +
 
 +
 
 +
=Installing OpenCv (1 dec 2010)=
 +
 
 +
Open a new terminal and go to your workspace. The fist step is get the Opencv package:
 +
   
 +
      svn co https://opencvlibrary.svn.sourceforge.net/svnroot/opencvlibrary/tags/latest_tested_snapshot
 +
 
 +
Building Opencv:
 +
 
 +
      cd /opencv 
 +
      mkdir release
 +
      cd release
 +
      cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D BUILD_PYTHON_SUPPORT=ON ..
 +
 
 +
After this command, you can see a list of libraries you don't have. Use Synaptic to install it.
 +
 
 +
      make
 +
      sudo make install
 +
 +
 
 +
 
 +
=Configuring ARDrone API: sdk 1.5 with Ps3pad in Linux (25 nov 2010)=
 +
 
 +
 
 +
 
 +
'''Downloading sdk 1.5'''
 +
 
 +
*You should register in  [https://projects.ardrone.org ARDRONE open API platform].
 +
*Download [https://projects.ardrone.org/attachments/download/221/ARDrone_SDK_1_5_Version_20101004.tar.gz sdk 1.5].
 +
*Unpack the archive ARDrone_SDK_1_5_Version_20101004.tar.gz
 +
 
 +
 
 +
'''Configure example files'''
 +
 
 +
*'''sdk_demo: '''It's the most simple example, you should change two files, so:
 +
 
 +
      cd (SKD)/Examples/Linux/sdk_demo/Sources
 +
 
 +
The first file is ''ardrone_testing_tool.c'', it contains the main function in the project. You need to edit the input device, so copy this line into your file:
 +
 
 +
      ardrone_tool_input_add( &ps3pad );
 +
 
 +
The other file is ''/UI/gamepad.h'' and serves to configure Ps3pad buttons, you can copy the next values:
 +
 
 +
    #define GAMEPAD_PLAYSTATION3_ID 0x054C0268
 +
    typedef enum
 +
    {
 +
          PS3BTN_SELECT=0,
 +
          PS3BTN_L3=1,
 +
          PS3BTN_R3=2,
 +
          PS3BTN_START=3,
 +
          PS3BTN_UPARROW=4,
 +
          PS3BTN_RIGHTARROW=5,
 +
          PS3BTN_DOWNARROW=6,
 +
          PS3BTN_LEFTARROW=7,
 +
          PS3BTN_L2=8,
 +
          PS3BTN_R2=9,
 +
          PS3BTN_L1=10,
 +
          PS3BTN_R1=11,
 +
          PS3BTN_TRIANGLE=12,
 +
          PS3BTN_CIRCLE=13,
 +
          PS3BTN_CROSS=14,
 +
          PS3BTN_SQUARE=15,
 +
          PS3BTN_PS3=16,
 +
    }PS3PAD_BUTTONS;
 +
 
 +
*'''Navigation: '''This is a more complete example, the change is exactly the same as the second step in the '''sdk_demo example'''.
 +
 
 +
 
 +
'''Compile and Running the examples'''
 +
 
 +
*The first step is get some libraries that let us compile ARDONE skd:
 +
 
 +
      $sudo apt-get install libsdl-dev libgtk2.0-dev libiw-dev
 +
 
 +
*Next you must build the ARDroneLIB library
  
−
* '''Degree:''' undergraduate
+
      $cd SDK /ARDroneLib/Soft/Build
 +
      $make
  
−
* '''SVN Repository:'''
+
* Compile the sdk_demo example:
  
−
* '''Tags:'''
+
      $cd SDK /Examples/Linux/sdk_demo/Build
 +
      $make
  
−
* '''Technology:''' c, opencv
+
* Compile the Navigation example:
  
−
* '''State:''' Developing
+
      $cd SDK /Examples/Linux/Navigation/Build
 +
      $make
  
−
* '''Source License:'''
+
Now, you should have two executable files in (SDK)/Examples/Linux/Build/Release. Plug your ps3pad and prepare yourself to fly the PARROT ARDrone.
  
−
* '''Document License:'''
+
*Execute the sdk_demo example:
  
−
----
+
      ./linux_sdk_demo
  
−
----
+
*Execute the Navigation example:
  
−
=Installing the Drone=
+
      ./ardrone_navigation

Latest revision as of 08:37, 25 June 2014

  • Project Name: PFC-Drone01
  • Author: Ángel Rojo Román
  • Email Addres: infarr00@estudiantes.unileon.es
  • Academic Year: 2010-2011
  • Degree: Undergraduate
  • Technologies: c, opencv, ARDrone API: sdk 1.5, svn
  • Status: Finished


Flying AR.Drone(9 May 2011)

  • Taking off
     ardrone_tool_set_ui_pad_start(1);
  • Landing
     ardrone_tool_set_ui_pad_start(1);
  • Turn to left
     ardrone_at_set_progress_cmd(1, 0, 0, 0, -0.3);
  • Turn to right
     ardrone_at_set_progress_cmd(1, 0.3, 0, 0,0);
  • Move Forward
     ardrone_at_set_progress_cmd(1,0,-0.3,0,0);
  • Move Backward
     ardrone_at_set_progress_cmd(1, 0, 0.3, 0, 0);
  • Move Up
     ardrone_at_set_progress_cmd(1, 0.3, 0, 0.5, 0);
  • Move Down
     ardrone_at_set_progress_cmd(1, 0.3, 0, 0.5, 0);
  • Move to Left
     ardrone_at_set_progress_cmd (1, -0.3, 0, 0,0);
  • Move to Right
     ardrone_at_set_progress_cmd (1, 0.3, 0, 0,0);

Using Subversion(18 dec 2010)

  • Creating a new Branch for your project
     $ svn copy http://robotica.unileon.es/svn/Projects/PFC/ardrone \
           http://robotica.unileon.es/svn/Projects/PFC/ardrone/branches/InterfazArdrone_aroro_18122010 \
           -m "Creating a new branch InterfazArdrone_aroro_18122010."
  • Import your project in your branch:
     $svn import /(YOUR PROJECT DIR) http://robotica.unileon.es/svn/Projects/PFC/ardrone/branches/InterfazArdrone_aroro_18122010 -m "first import"
  • Getting your project:
     $svn checkout http://robotica.unileon.es/svn/Projects/PFC/ardrone/branches/InterfazArdrone_aroro_18122010
  • Remove a directory in svn repository:
     $svn delete http://(URL DIRECTORY) -m "DIRECTORY DELETED"

Makefile(18 dec 2010)

Don't forget use:

  • gtk and ardrone libraries:
     GENERIC_LIBS=-lpc_ardrone -lgtk-x11-2.0 -lrt
  • compile fichero.c:
     GENERIC_BINARIES_COMMON_SOURCE_FILES+=			\
           fichero/fichero.c  \


Debug File(18 dec 2010)

I do an other two files called fichero.c and fichero.h

  • fichero.h had the declaration of the function.
  • fichero.c implements InsertarDatos function. InsertaDatos uses fopen(ruta, "a") to create a debug file or append text if the file already exist.


To check if debug is active, I use a control variable called debug in main. If debug = 0, debug file is not active. If debug =1, debug file is active.

Building a GTK window(18 dec 2010)

To Build a window you need gtk library: #include <gtk/gtk.h>. To keep a clear code, the main function have a call to paint the window. 

     int
     main (int argc, char *argv[]){
           GtkWidget *window;
           gtk_init (&argc, &argv);
           window = create_window ();
           gtk_widget_show_all (window);
           gtk_main ();
           return 0;
     }

There is an other functions for received the events for the buttons: 

     void on_button_aterrizar(GtkButton * button, gpointer user_data);
     void on_button_despegar(GtkButton * button, gpointer user_data);
     void on_button_mostrar_video(GtkButton * button, gpointer user_data);
     void on_button_debug(GtkButton * button, gpointer user_data);
     void on_button_ocultar_video(GtkButton * button, gpointer user_data);
     void func_crea_ventana_video(GtkButton * button, gpointer user_data);
     void func_oculta_ventana_video(GtkButton * button, gpointer user_data);



Installing OpenCv (1 dec 2010)

Open a new terminal and go to your workspace. The fist step is get the Opencv package: 

     svn co https://opencvlibrary.svn.sourceforge.net/svnroot/opencvlibrary/tags/latest_tested_snapshot

Building Opencv: 

     cd /opencv  
     mkdir release
     cd release
     cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D BUILD_PYTHON_SUPPORT=ON ..

After this command, you can see a list of libraries you don't have. Use Synaptic to install it. 

     make
     sudo make install


Configuring ARDrone API: sdk 1.5 with Ps3pad in Linux (25 nov 2010)

Downloading sdk 1.5


Configure example files

  • sdk_demo: It's the most simple example, you should change two files, so:
      cd (SKD)/Examples/Linux/sdk_demo/Sources

The first file is ardrone_testing_tool.c, it contains the main function in the project. You need to edit the input device, so copy this line into your file: 

      ardrone_tool_input_add( &ps3pad );

The other file is /UI/gamepad.h and serves to configure Ps3pad buttons, you can copy the next values: 

    #define GAMEPAD_PLAYSTATION3_ID 0x054C0268
    typedef enum
    {
         PS3BTN_SELECT=0,
         PS3BTN_L3=1,
         PS3BTN_R3=2,
         PS3BTN_START=3,
         PS3BTN_UPARROW=4,
         PS3BTN_RIGHTARROW=5,
         PS3BTN_DOWNARROW=6,
         PS3BTN_LEFTARROW=7,
         PS3BTN_L2=8,
         PS3BTN_R2=9,
         PS3BTN_L1=10,
         PS3BTN_R1=11,
         PS3BTN_TRIANGLE=12,
         PS3BTN_CIRCLE=13,
         PS3BTN_CROSS=14,
         PS3BTN_SQUARE=15,
         PS3BTN_PS3=16,
    }PS3PAD_BUTTONS;
  • Navigation: This is a more complete example, the change is exactly the same as the second step in the sdk_demo example.


Compile and Running the examples

  • The first step is get some libraries that let us compile ARDONE skd:
      $sudo apt-get install libsdl-dev libgtk2.0-dev libiw-dev
  • Next you must build the ARDroneLIB library
      $cd SDK /ARDroneLib/Soft/Build
      $make
  • Compile the sdk_demo example:
      $cd SDK /Examples/Linux/sdk_demo/Build
      $make
  • Compile the Navigation example:
      $cd SDK /Examples/Linux/Navigation/Build
      $make

Now, you should have two executable files in (SDK)/Examples/Linux/Build/Release. Plug your ps3pad and prepare yourself to fly the PARROT ARDrone.

  • Execute the sdk_demo example:
      ./linux_sdk_demo
  • Execute the Navigation example:
      ./ardrone_navigation
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