Ma kēia kumu aʻo e nānā mākou i ka hana ʻana i kahi papahana no kahi drone me ka hoʻokele leo me ka hoʻohana ʻana iā Node.js a me ka API haʻiʻōlelo pūnaewele. Copter - Parrot ARDrone 2.0.
Hoʻomaopopo mākou iā ʻoe: no ka poʻe heluhelu a pau o "Habr" - kahi ho'ēmi o 10 rubles i ka wā e kākau inoa ai i kekahi papa Skillbox e hoʻohana ana i ka code promotional "Habr".
Manaʻo ʻo Skillbox: Papa hana .
Hōʻike
He mea kupaianaha nā drones. Nui koʻu hauʻoli i ka pāʻani ʻana me kaʻu quad, paʻi kiʻi a me nā wikiō, a i ʻole leʻaleʻa wale. Akā, hoʻohana ʻia nā kaʻa mokulele unmanned (UAV) no ka ʻoliʻoli. Hana lākou i ka hale kiʻiʻoniʻoni, aʻo i nā glaciers, a hoʻohana ʻia e ka pūʻali koa a me nā ʻelele o ka ʻoihana mahiʻai.
Ma kēia kumu aʻo e nānā mākou i ka hana ʻana i kahi papahana e ʻae iā ʻoe e kāohi i kahi drone. hoʻohana i nā kauoha leo. ʻAe, e hana ka copter i kāu mea e ʻōlelo ai e hana. Ma ka hopena o ka ʻatikala aia kahi papahana mākaukau a me ka wikiō o ka mana UAV.
ʻO ka hao
Pono mākou i kēia:
- Parrot ARDrone 2.0;
- Uea Ethernet;
- microphone maikaʻi.
E hoʻokō ʻia ka hoʻomohala ʻana a me ka hoʻokele ma nā hale hana me Windows/Mac/Ubuntu. ʻO wau iho, ua hana wau me Mac a me Ubuntu 18.04.
Pūnaewele
Hoʻoiho i ka mana hou o Node.js mai .
Pono pū kekahi .
ʻO ka hoʻomaopopo ʻana i ka copter
E ho'āʻo kākou e hoʻomaopopo i ka hana ʻana o Parrot ARDrone. ʻEhā mau kaʻa o kēia copter.
Ke hana nei nā motika kū'ē i ka ʻaoʻao like. Hoʻololi ʻia kekahi ma ka ʻaoʻao o ka uaki, a ʻo kekahi ma ka ʻaoʻao. Ke neʻe nei ka drone ma ka hoʻololi ʻana i ke kihi o ka inclination e pili ana i ka ʻili o ka honua, e hoʻololi i ka wikiwiki o ka hoʻololi ʻana o nā kaʻa a me nā ʻano hana maneuverable ʻē aʻe.
E like me kā mākou e ʻike ai ma ke kiʻikuhi ma luna nei, ʻo ka hoʻololi ʻana i nā ʻāpana like ʻole e alakaʻi i kahi hoʻololi i ke ala o ka neʻe ʻana o ka copter. No ka laʻana, hoʻemi a hoʻonui paha i ka wikiwiki o ka hoʻololi ʻana o nā rotors hema a ʻākau e hana i kahi ʻōwili. ʻAe kēia i ka drone e lele i mua a i hope paha.
Ma ka hoʻololi ʻana i ka wikiwiki a me ke kuhikuhi o nā kaʻa, hoʻonoho mākou i nā kihi tilt e hiki ai i ka copter ke neʻe i nā ʻaoʻao ʻē aʻe. ʻOiaʻiʻo, no ka papahana o kēia manawa ʻaʻohe pono e aʻo i ka aerodynamics, pono ʻoe e hoʻomaopopo i nā kumu kumu.
Pehea e hana ai ʻo Parrot ARDrone
ʻO ka drone kahi kikowaena Wi-Fi. I mea e loaʻa ai a hoʻouna i nā kauoha i ka copter, pono ʻoe e hoʻopili i kēia wahi. Nui nā noi like ʻole e ʻae iā ʻoe e kāohi i nā quadcopters. Ke nānā aku nei nā mea a pau e like me kēia:
Ke hoʻopili koke ʻia ka drone, wehe i ka pahu a me ka telnet 192.168.1.1 - ʻo ia ka IP o ka copter. No Linux hiki iā ʻoe ke hoʻohana .
Hoʻolālā noi
E hoʻokaʻawale ʻia kā mākou code i nā modula aʻe:
- mea hoʻohana me ka API haʻiʻōlelo no ka ʻike leo;
- kānana kauoha a hoʻohālikelike me kahi maʻamau;
- hoʻouna i nā kauoha i ka drone;
- hoʻolaha wikiō ola.
Hana ka API inā loaʻa kahi pilina pūnaewele. No ka hōʻoia ʻana i kēia, hoʻohui mākou i kahi pilina Ethernet.
ʻO ka manawa kēia e hana ai i kahi noi!
Code
ʻO ka mea mua, e hana i kahi waihona hou a hoʻololi iā ia me ka hoʻohana ʻana i ka terminal.
A laila hana mākou i kahi papahana Node me ka hoʻohana ʻana i nā kauoha ma lalo nei.
ʻO ka mea mua, hoʻokomo mākou i nā mea hilinaʻi e pono ai.
npm hoʻokomo
E kākoʻo mākou i kēia mau kauoha:
- haʻalele;
- pae ʻana;
- piʻi - piʻi ka drone i ka hapalua mika a lele;
- i lalo - hāʻule i ka hapalua mika a maloʻo;
- i ka hema - hele i ka hapalua mika i ka hema;
- i ka ʻākau - hele i ka hapalua mika i ka ʻākau;
- ka hoʻololi ʻana - hoʻololi i ka uaki 90 degere;
- i mua - hele i mua i ka hapalua mika;
- hope - hoʻi i ka hapalua mika;
- kū.
Eia ka code e hiki ai iā ʻoe ke ʻae i nā kauoha, kānana iā lākou a mālama i ka drone.
const express = require('express');
const bodyparser = require('body-parser');
var arDrone = require('ar-drone');
const router = express.Router();
const app = express();
const commands = ['takeoff', 'land','up','down','goleft','goright','turn','goforward','gobackward','stop'];
var drone = arDrone.createClient();
// disable emergency
drone.disableEmergency();
// express
app.use(bodyparser.json());
app.use(express.static(__dirname + '/public'));
router.get('/',(req,res) => {
res.sendFile('index.html');
});
router.post('/command',(req,res) => {
console.log('command recieved ', req.body);
console.log('existing commands', commands);
let command = req.body.command.replace(/ /g,'');
if(commands.indexOf(command) !== -1) {
switch(command.toUpperCase()) {
case "TAKEOFF":
console.log('taking off the drone');
drone.takeoff();
break;
case "LAND":
console.log('landing the drone');
drone.land();
break;
case "UP":
console.log('taking the drone up half meter');
drone.up(0.2);
setTimeout(() => {
drone.stop();
clearTimeout();
},2000);
break;
case "DOWN":
console.log('taking the drone down half meter');
drone.down(0.2);
setTimeout(() => {
drone.stop();
clearTimeout();
},2000);
break;
case "GOLEFT":
console.log('taking the drone left 1 meter');
drone.left(0.1);
setTimeout(() => {
drone.stop();
clearTimeout();
},1000);
break;
case "GORIGHT":
console.log('taking the drone right 1 meter');
drone.right(0.1);
setTimeout(() => {
drone.stop();
clearTimeout();
},1000);
break;
case "TURN":
console.log('turning the drone');
drone.clockwise(0.4);
setTimeout(() => {
drone.stop();
clearTimeout();
},2000);
break;
case "GOFORWARD":
console.log('moving the drone forward by 1 meter');
drone.front(0.1);
setTimeout(() => {
drone.stop();
clearTimeout();
},2000);
break;
case "GOBACKWARD":
console.log('moving the drone backward 1 meter');
drone.back(0.1);
setTimeout(() => {
drone.stop();
clearTimeout();
},2000);
break;
case "STOP":
drone.stop();
break;
default:
break;
}
}
res.send('OK');
});
app.use('/',router);
app.listen(process.env.port || 3000);A eia ka HTML a me JavaScript code e hoʻolohe i ka mea hoʻohana a hoʻouna i kahi kauoha i ka server Node.
<!DOCTYPE html>
<head>
<meta charset="utf-8">
<meta http-equiv="X-UA-Compatible" content="IE=edge">
<title>Voice Controlled Notes App</title>
<meta name="description" content="">
<meta name="viewport" content="width=device-width, initial-scale=1">
<link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/shoelace-css/1.0.0-beta16/shoelace.css">
<link rel="stylesheet" href="styles.css">
</head>
<body>
<div class="container">
<h1>Voice Controlled Drone</h1>
<p class="page-description">A tiny app that allows you to control AR drone using voice</p>
<h3 class="no-browser-support">Sorry, Your Browser Doesn't Support the Web Speech API. Try Opening This Demo In Google Chrome.</h3>
<div class="app">
<h3>Give the command</h3>
<div class="input-single">
<textarea id="note-textarea" placeholder="Create a new note by typing or using voice recognition." rows="6"></textarea>
</div>
<button id="start-record-btn" title="Start Recording">Start Recognition</button>
<button id="pause-record-btn" title="Pause Recording">Pause Recognition</button>
<p id="recording-instructions">Press the <strong>Start Recognition</strong> button and allow access.</p>
</div>
</div>
<script src="https://cdnjs.cloudflare.com/ajax/libs/jquery/3.2.1/jquery.min.js"></script>
<script src="script.js"></script>
</body>
</html>A me ka code JavaScript e hana me nā kauoha leo, e hoʻouna iā lākou i ka server Node.
try {
var SpeechRecognition = window.SpeechRecognition || window.webkitSpeechRecognition;
var recognition = new SpeechRecognition();
}
catch(e) {
console.error(e);
$('.no-browser-support').show();
$('.app').hide();
}
// other code, please refer GitHub source
recognition.onresult = function(event) {
// event is a SpeechRecognitionEvent object.
// It holds all the lines we have captured so far.
// We only need the current one.
var current = event.resultIndex;
// Get a transcript of what was said.
var transcript = event.results[current][0].transcript;
// send it to the backend
$.ajax({
type: 'POST',
url: '/command/',
data: JSON.stringify({command: transcript}),
success: function(data) { console.log(data) },
contentType: "application/json",
dataType: 'json'
});
};Ke hoʻouka nei i ka noi
Hiki ke hoʻokuʻu ʻia ka papahana e like me kēia (he mea nui e hōʻoia i ka pili ʻana o ka copter i Wi-Fi a pili ke kaula Ethernet i ke kamepiula).
E wehe i ka localhost: 3000 i ka polokalamu kele pūnaewele a kaomi i ka Hoʻomaka ʻike.
Ho'āʻo mākou e hoʻomalu i ka drone a hauʻoli.
Hoʻolaha wikiō mai kahi drone
Ma ka papahana, hana i kahi faila hou a kope i kēia code ma laila:
const http = require("http");
const drone = require("dronestream");
const server = http.createServer(function(req, res) {
require("fs").createReadStream(__dirname + "/public/video.html").pipe(res);
});
drone.listen(server);
server.listen(4000);A eia ke code HTML, waiho mākou i loko o ka waihona lehulehu.
<!doctype html>
<html>
<head>
<meta http-equiv="content-type" content="text/html; charset=utf-8">
<title>Stream as module</title>
<script src="/dronestream/nodecopter-client.js" type="text/javascript" charset="utf-8"></script>
</head>
<body>
<h1 id="heading">Drone video stream</h1>
<div id="droneStream" style="width: 640px; height: 360px"> </div>
<script type="text/javascript" charset="utf-8">
new NodecopterStream(document.getElementById("droneStream"));
</script>
</body>
</html>E hoʻokuʻu a hoʻohui i localhost: 8080 e nānā i ke wikiō mai ke kāmela mua.
Kōkua kōkua
- E lele i kēia drone i loko.
- E kau mau i ka uhi pale ma kāu drone ma mua o ka haʻalele ʻana.
- E nānā inā ua kau ʻia ka pākaukau.
- Inā ʻano ʻē ke ʻano o ka drone, e paʻa i lalo a hoʻohuli i luna. Na kēia hana e hoʻokomo i ka copter i ke ʻano pilikia a hoʻopau koke nā rotors.
Mākaukau code a demo
Ua hiki mai!
ʻO ke kākau ʻana i ke code a laila ke nānā ʻana i ka mīkini e hoʻomaka e hoʻolohe e hauʻoli ʻoe! I kēia manawa ua noʻonoʻo mākou pehea e aʻo ai i kahi drone e hoʻolohe i nā kauoha leo. ʻO ka ʻoiaʻiʻo, ʻoi aku ka nui o nā mea hiki: ka ʻike maka o ka mea hoʻohana, nā mokulele autonomous, ka ʻike ʻana a me nā mea hou aku.
He aha kāu e manaʻo ai e hoʻomaikaʻi i ka papahana?
Manaʻo ʻo Skillbox:
- Hoʻohana i ka papa pūnaewele .
- Papa hana pūnaewele .
- Papa makahiki hoʻomaʻamaʻa .
Source: www.habr.com