Module: Tello::DSL

Defined in:
lib/tello/dsl.rb

Constant Summary collapse

TIMEOUT_SEC =

Needs to be tweaked after more testing

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Instance Method Summary collapse

Instance Method Details

#acceleration ⇒ Object

Get IMU angular acceleration data



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# File 'lib/tello/dsl.rb', line 183

def acceleration
  send('acceleration?')
end

#ap_mode(ssid, passwd) ⇒ Object 



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# File 'lib/tello/dsl.rb', line 43

def ap_mode(ssid, passwd)
  if ssid.to_s.strip.size == 0
    puts 'Cannot set AP mode when SSID is empty'
    return false
  end
  cmd = "ap #{ssid.to_s} #{passwd.to_s}"
  send(cmd)
end

#attitude ⇒ Object

Get IMU attitude data



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# File 'lib/tello/dsl.rb', line 178

def attitude
  send('attitude?')
end

#baro ⇒ Object

Get barometer value



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# File 'lib/tello/dsl.rb', line 188

def baro
  Tello::Client.return_num send('baro?')
end

#battery ⇒ Object

Get the battery level



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# File 'lib/tello/dsl.rb', line 203

def battery
  b = send('battery?')
  b == false ? false : Tello::Client.return_num(b)
end

#bye! ⇒ Object 



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# File 'lib/tello/dsl.rb', line 221

def bye!
  ## Tell the server to exit gracefully.
  ## Only applicable in test mode.
  if Tello.testing
    send('bye!')
    exit(0) if connected?
  end
end

#connect(ssid = nil, ip = nil, bind_port = nil) ⇒ Object

Connect to the drone



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# File 'lib/tello/dsl.rb', line 16

def connect(ssid=nil, ip=nil, bind_port=nil)
  Tello::Client.connect(ssid, ip, bind_port)
end

#connected? ⇒ Boolean

Is the drone connected?

Returns:

  • (Boolean) 


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# File 'lib/tello/dsl.rb', line 21

def connected?
  Tello::Client.connected?
end

#curve(x1, y1, z1, x2, y2, z2, speed = 10) ⇒ Object

Fly in a curve; If arc radius is not within 0.5..10 m, command responds false



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# File 'lib/tello/dsl.rb', line 138

def curve(x1, y1, z1, x2, y2, z2, speed = 10)

  # Check if coordinates are in range
  # TODO: x/y/z can't be between -20..20 at the same time
  unless in_move_range?(x1) && in_move_range?(y1) && in_move_range?(z1) &&
         in_move_range?(x2) && in_move_range?(y2) && in_move_range?(z2)
    puts "x/y/z coordinates must be between 20..500 cm"
    return false
  end

  # Check if speed is in range
  unless (10..60).include? speed
    puts "Speed must be between 10..60 cm/s"
    return false
  end

  Tello::Client.return_bool send("curve #{x1} #{y1} #{z1} #{x2} #{y2} #{z2} #{speed}")
end

#disconnect ⇒ Object

Disconnect the drone



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# File 'lib/tello/dsl.rb', line 26

def disconnect
  Tello::Client.disconnect
end

#flip(f) ⇒ Object

Flip in a given direction



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# File 'lib/tello/dsl.rb', line 89

def flip(f)
  case f
  when :left, :l
    Tello::Client.return_bool send('flip l')
  when :right, :r
    Tello::Client.return_bool send('flip r')
  when :forward, :f
    Tello::Client.return_bool send('flip f')
  when :backward, :b
    Tello::Client.return_bool send('flip b')
  else
    puts "Not a valid direction to flip"
    false
  end
end

#go(x, y, z, speed = 10) ⇒ Object

Fly to a location in x/y/z coordinates and provided speed



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# File 'lib/tello/dsl.rb', line 120

def go(x, y, z, speed = 10)

  # Check if coordinates are in range
  unless in_move_range?(x) && in_move_range?(y) && in_move_range?(z)
    puts "x/y/z coordinates must be between 20..500 cm"
    return false
  end

  # Check if speed is in range
  unless (10..100).include? speed
    puts "Speed must be between 10..100 cm/s"
    return false
  end

  Tello::Client.return_bool send("go #{x} #{y} #{z} #{speed}")
end

#halt ⇒ Object

Halt all motors immediately



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# File 'lib/tello/dsl.rb', line 246

def halt
  Tello::Client.return_bool send('emergency')
end

#height ⇒ Object

Get the height of the drone



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# File 'lib/tello/dsl.rb', line 173

def height
  Tello::Client.return_num send('height?')
end

#in_move_range?(v) ⇒ Boolean

Check if value is within the common movement range

Returns:

  • (Boolean) 


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# File 'lib/tello/dsl.rb', line 53

def in_move_range?(v)
  (20..500).include? v
end

#rc(a, b, c, d) ⇒ Object

Send RC control via four channels:

a: left/right, b: forward/backward, c: up/down, d: yaw



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# File 'lib/tello/dsl.rb', line 159

def rc(a, b, c, d)

  # Check if channel values are in range
  [a, b, c, d].each do |v|
    unless (-100..100).include? v
      puts "RC channel values must be between -100..100"
      return false
    end
  end

  Tello::Client.return_bool send("rc #{a} #{b} #{c} #{d}")
end

#sdk ⇒ Object 



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# File 'lib/tello/dsl.rb', line 213

def sdk
  send('sdk?')
end

#send(s) ⇒ Object

Send a native Tello command to the drone



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# File 'lib/tello/dsl.rb', line 31

def send(s)
  puts s
  begin
    ### WARNING: Ruby Timeout considered harmful (according to Dr. Google)
    Timeout::timeout(TIMEOUT_SEC) { Tello::Client.send(s) }
  rescue
    err = $!.to_s
    puts err unless err == 'execution expired'
    puts "timeout after #{TIMEOUT_SEC} seconds"
  end
end

#sn ⇒ Object 



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# File 'lib/tello/dsl.rb', line 217

def sn
  send('sn?')
end

#speed(s = nil) ⇒ Object

Get or set the flight speed



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# File 'lib/tello/dsl.rb', line 106

def speed(s = nil)
  if s
    if (10..100).include? s
      Tello::Client.return_bool send("speed #{s}")
    else
      puts "Speed must be between 10..100 cm/s"
    end
  else
    s = send('speed?')
    s == false ? false : s.to_f
  end
end

#stop ⇒ Object Also known as: hover

stop: hovers in the air per Tello SDK 2.0 User Guide



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# File 'lib/tello/dsl.rb', line 240

def stop
  Tello::Client.return send('stop')
end

#temp ⇒ Object

Get the temperature of the drone



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# File 'lib/tello/dsl.rb', line 209

def temp
  send('temp?')
end

#time ⇒ Object

Get the flight time



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# File 'lib/tello/dsl.rb', line 198

def time
  Tello::Client.return_num send('time?')
end

#tof ⇒ Object

Get distance value from TOF



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# File 'lib/tello/dsl.rb', line 193

def tof
  Tello::Client.return_num send('tof?')
end

#wifi(ssid: nil, pass: nil) ⇒ Object

Get Wi-Fi signal-to-noise ratio (SNR); if parameters, set SSID and password



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# File 'lib/tello/dsl.rb', line 231

def wifi(ssid: nil, pass: nil)
  if ssid && pass
    Tello::Client.return_bool send("wifi #{ssid} #{pass}")
  else
    Tello::Client.return_num send('wifi?')
  end
end