Class: Crubyflie::InputReader

Inherits:
Object
  • Object
show all
Defined in:
lib/crubyflie/input/input_reader.rb

Overview

This class provides functionality basic to all controllers. Specific controller classes inherit from here.

To read an input we must declare axis and buttons. The axis are analog float readings (range decided by the controller) while the buttons are integer where <= 0 means not pressed and > 0 means pressed.

The reading of the values is implemented by children classes.

The InputReader will also apply the #INPUT_ACTIONS to a given Crazyflie. In order to do that it will go through all the read values and perform actions associated to them, like sending a setpoint, shutting down the connection or altering the calibration.

Direct Known Subclasses

Joystick

Constant Summary collapse

INPUT_ACTIONS =

List of current recognized actions that controllers can declare

[:roll, :pitch, :yaw, :thrust,
:roll_inc_cal, :roll_dec_cal,
:pitch_inc_cal, :pitch_dec_cal,
:switch_scaled_output_mode,
:switch_xmode,  :close_link]

Instance Attribute Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(axis, buttons) ⇒ InputReader

An input is composed by several necessary axis and buttons.

Parameters:

  • axis (Hash) —

    A hash of keys identifying axis IDs (the controller should know to what the

    ID maps), and values from #INPUT_ACTIONS
  • buttons (Hash) —

    A hash of keys identifying button IDs (the controller should know to what the ID maps), and values from #INPUT_ACTIONS



53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
 
# File 'lib/crubyflie/input/input_reader.rb', line 53

def initialize(axis, buttons)
    @axis = axis
    @buttons = buttons
    @calibrations = {}
    @xmode = false
    @output_scale = 0 # off

    # Calibrate defaults to 0
    INPUT_ACTIONS.each do |action|
        @calibrations[action] = 0
    end

    @axis_readings = {}
    @button_readings = {}
end

Instance Attribute Details

#axis ⇒ Object (readonly)

Returns the value of attribute axis.



44
45
46
 
# File 'lib/crubyflie/input/input_reader.rb', line 44

def axis
  @axis
end

#axis_readings ⇒ Object (readonly)

Returns the value of attribute axis_readings.



44
45
46
 
# File 'lib/crubyflie/input/input_reader.rb', line 44

def axis_readings
  @axis_readings
end

#button_readings ⇒ Object (readonly)

Returns the value of attribute button_readings.



44
45
46
 
# File 'lib/crubyflie/input/input_reader.rb', line 44

def button_readings
  @button_readings
end

#buttons ⇒ Object (readonly)

Returns the value of attribute buttons.



44
45
46
 
# File 'lib/crubyflie/input/input_reader.rb', line 44

def buttons
  @buttons
end

#xmode ⇒ Object

Returns the value of attribute xmode.



45
46
47
 
# File 'lib/crubyflie/input/input_reader.rb', line 45

def xmode
  @xmode
end

Instance Method Details

#apply_input(crazyflie) ⇒ Object

This will act on current axis readings (by sendint a setpoint to the crazyflie) and on button readings (by, for example, shutting down the link or modifying the calibrations). If the link to the crazyflie is down, it will not send anything.

Parameters:

  • crazyflie (Crazyflie) —

    A crazyflie instance to send the setpoint to.



102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
 
# File 'lib/crubyflie/input/input_reader.rb', line 102

def apply_input(crazyflie)
    return if !crazyflie.active?
    setpoint = {
        :roll => nil,
        :pitch => nil,
        :yaw => nil,
        :thrust => nil
    }

    @button_readings.each do |action, value|
        case action
        when :roll
            setpoint[:roll] = value
        when :pitch
            setpoint[:pitch] = value
        when :yaw
            setpoint[:yaw] = value
        when :thrust
            setpoint[:thrust] = value
        when :roll_inc_cal
            @calibrations[:roll] += 1
        when :roll_dec_cal
            @calibrations[:roll] -= 1
        when :pitch_inc_cal
            @calibrations[:pitch] += 1
        when :pitch_dec_cal
            @calibrations[:pitch] -= 1
        when :switch_xmode
            @xmode = !@xmode if value > 0
            logger.info("Xmode is #{@xmode}") if value > 0
        when :switch_scaled_output_mode
            if value > 0 && @output_scale == 0
                logger.info("Scaling output: x#{value}")
                @output_scale = value.to_f
            elsif value > 0 && @output_scale > 0
                logger.info("Scaling output disabled")
                @output_scale = 0
            end
        when :close_link
            crazyflie.close_link() if value > 0
        end
    end

    return if !crazyflie.active?

    @axis_readings.each do |action, value|
        case action
        when :roll
            setpoint[:roll] = value
        when :pitch
            setpoint[:pitch] = value
        when :yaw
            setpoint[:yaw] = value
        when :thrust
            setpoint[:thrust] = value
        end
    end

    setpoint.keys().each do |k|
        next if k == :thrust
        setpoint[k] *= @output_scale
    end if @output_scale > 0

    pitch  = setpoint[:pitch]
    roll   = setpoint[:roll]
    yaw    = setpoint[:yaw]
    thrust = setpoint[:thrust]

    if pitch && roll && yaw && thrust
        m = "Sending R: #{roll} P: #{pitch} Y: #{yaw} T: #{thrust}"
        logger.debug(m)
        crazyflie.commander.send_setpoint(roll, pitch, yaw, thrust,
                                          @xmode)
    end
end

#read_input ⇒ Object

Read inputs will call read_axis() on all the declared axis and read_button() on all the declared buttons. After obtaining the reading, it will apply calibrations to the result. Apply the read values with #apply_input



73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
 
# File 'lib/crubyflie/input/input_reader.rb', line 73

def read_input
    poll() # In case we need to poll the device
    actions_to_axis = @axis.invert()
    actions_to_axis.each do |action, axis_id|
        if !INPUT_ACTIONS.include?(action)
            logger.error("Unknown action #{action}. Skipping")
            next
        end
        @axis_readings[action] = read_axis(axis_id)
        @axis_readings[action] += @calibrations[action]
    end

    actions_to_buttons = @buttons.invert()
    actions_to_buttons.each do |action, button_id|
        if !INPUT_ACTIONS.include?(action)
            logger.error("Unknown action #{action}. Skipping")
            next
        end
        @button_readings[action] = read_button(button_id)
        @button_readings[action] += @calibrations[action]
    end
end