Difference between revisions of "AngelR-PFC-Drone01"
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* '''Project Name:''' PFC-Drone01 | * '''Project Name:''' PFC-Drone01 | ||
| − | * ''' | + | * '''Author:''' Ángel Rojo Román |
* '''Email Addres:''' infarr00@estudiantes.unileon.es | * '''Email Addres:''' infarr00@estudiantes.unileon.es | ||
* '''Academic Year:''' 2010-2011 | * '''Academic Year:''' 2010-2011 | ||
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
Contents
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
- You should register in ARDRONE open API platform.
- Download 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
$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
