N'ime nkuzi a, anyị ga-eleba anya na ịmepụta mmemme maka drone nwere njikwa olu site na iji Node.js na API okwu Weebụ. Copter - Parrot ARDrone 2.0.
Anyị na -echetara: maka ndị na-agụ Habr niile - ego 10 ruble mgbe ị na-edebanye aha na nkuzi Skillbox ọ bụla site na iji koodu mgbasa ozi Habr.
Skillbox na-atụ aro: Usoro bara uru .
Okwu Mmalite
Drones dị ịtụnanya. Ọ na-atọ m ụtọ ka mụ na quad m na-egwu egwu, ịse foto na vidiyo, ma ọ bụ naanị na-ekpori ndụ. Mana a na-eji ụgbọ ala ikuku (UAV) eme ihe karịa naanị ntụrụndụ. Ha na-arụ ọrụ na sinima, na-amụ glaciers, ndị agha na ndị nnọchianya nke ngalaba ọrụ ugbo na-ejikwa ha.
N'ime nkuzi a, anyị ga-eleba anya na ịmepụta mmemme ga-enye gị ohere ijikwa drone. iji iwu olu. Ee, kopter ga-eme ihe ị gwara ya mee. Na njedebe nke isiokwu ahụ enwere mmemme dị njikere na vidiyo nke njikwa UAV.
Ígwè
Anyị chọrọ ihe ndị a:
- Parrot ARDrone 2.0;
- eriri Ethernet;
- ezigbo igwe okwu.
A ga-eme mmepe na njikwa na ebe a na-arụ ọrụ na Windows/Mac/Ubuntu. Onwe m, arụrụ m ọrụ na Mac na Ubuntu 18.04.
Software
Budata Node.js kacha ọhụrụ site na .
Ọ dịkwa mkpa .
Ịghọta copter
Ka anyị gbalịa ịghọta ka Parrot ARDrone si arụ ọrụ. Copter a nwere moto anọ.
Moto ndị na-emegide na-arụ ọrụ n'otu ụzọ ahụ. Otu ụzọ na-aga n'akụkụ elekere, nke ọzọ na-atụgharị na elekere elekere. The drone aga site na-agbanwe n'akuku nke ọchịchọ ikwu n'elu ụwa, na-agbanwe ọsọ nke adiana nke Motors na ọtụtụ ndị ọzọ na-emegharị mmegharị.
Dị ka anyị nwere ike ịhụ na eserese dị n'elu, ịgbanwe paramita dị iche iche na-eduga ná mgbanwe n'ụzọ mmegharị nke copter. Dịka ọmụmaatụ, ibelata ma ọ bụ ịbawanye ọsọ ntụgharị nke rotors aka ekpe na aka nri na-emepụta mpịakọta. Nke a na-enye ohere ka drone efe n'ihu ma ọ bụ azụ azụ.
Site n'ịgbanwe ọsọ na ntụziaka nke moto, anyị na-edozi akụkụ tilt nke na-ekwe ka copter na-agagharị n'akụkụ ndị ọzọ. N'ezie, maka ọrụ ugbu a ọ dịghị mkpa ka ị mụọ aerodynamics, naanị ị ga-achọ ịghọta ụkpụrụ ndị bụ isi.
Kedu ka Parrot ARDrone si arụ ọrụ
Drone bụ ebe a na-enweta Wi-Fi. Iji nata na zipu iwu na copter, ịkwesịrị ijikọ na ebe a. Enwere ọtụtụ ngwa dị iche iche na-enye gị ohere ijikwa quadcopters. Ọ niile dị ka nke a:
Ozugbo ejikọrọ drone, mepee ọnụ na telnet 192.168.1.1 - nke a bụ IP nke copter. Maka Linux ị nwere ike iji .
Ngwa ije
A ga-ekewa koodu anyị na modul ndị a:
- interface onye ọrụ nwere API okwu maka nchọpụta olu;
- iwu nzacha na iji ọkọlọtọ atụnyere;
- izipu iwu na drone;
- mgbasa ozi vidiyo dị ndụ.
API na-arụ ọrụ ma ọ bụrụhaala na enwere njikọ ịntanetị. Iji hụ na nke a, anyị na-agbakwunye njikọ Ethernet.
Ọ bụ oge ịmepụta ngwa!
Koodu
Nke mbụ, ka anyị mepụta folda ọhụrụ wee gbanwee na ya site na iji ọnụ.
Mgbe ahụ, anyị na-emepụta ọrụ Node site na iji iwu ndị dị n'okpuru.
Nke mbụ, anyị na-etinye ihe ndabere achọrọ.
npm tinye
Anyị ga-akwado iwu ndị a:
- gbapụ;
- ọdịda;
- вверх — дрон поднимается на полметра и зависает;
- ala - dara ọkara mita na friza;
- n'aka ekpe - na-aga ọkara mita n'aka ekpe;
- n'aka nri - na-aga ọkara mita n'aka nri;
- ntụgharị - na-atụgharị na elekere 90 degrees;
- n'ihu - na-aga n'ihu na ọkara mita;
- azụ - laghachi azụ ọkara mita;
- Kwụsị.
Nke a bụ koodu na-enye gị ohere ịnakwere iwu, nyochaa ha ma jikwaa 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);Na ebe a bụ HTML na koodu Javascript na-ege onye ọrụ ntị ma na-eziga iwu na sava 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>Na kwa koodu Javascript iji iwu olu rụọ ọrụ, na-eziga ha na sava 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'
});
};Ịmalite ngwa ahụ
Enwere ike ịmalite mmemme ahụ dị ka ndị a (ọ dị mkpa ijide n'aka na ejikọta copter na Wi-Fi na eriri Ethernet jikọọ na kọmputa).
Mepee localhost:3000 na ihe nchọgharị wee pịa Malite Nchọpụta.
Anyị na-agbalị ịchịkwa drone ma nwee obi ụtọ.
Na-agbasa vidiyo site na drone
N'ime oru ngo a, mepụta faịlụ ọhụrụ ma detuo koodu a ebe ahụ:
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);Na ebe a bụ HTML koodu, anyị na-etinye ya n'ime ọha nchekwa.
<!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>Mwepụta na jikọọ na localhost:8080 ka ịlele vidiyo site na igwefoto n'ihu.
Ntuziaka bara uru
- Fee drone a n'ime ụlọ.
- Tinye mkpuchi mkpuchi mgbe niile na drone gị tupu ịpụpụ.
- Lelee ma chajịrị batrị.
- Ọ bụrụ na drone na-akpa àgwà dị iche iche, jide ya ma tụgharịa ya. Omume a ga-etinye copter n'ime ọnọdụ mberede na rotors ga-akwụsị ozugbo.
Koodu njikere na ngosi
Emere!
Ide koodu na mgbe ahụ ikiri igwe na-amalite irube isi ga-enye gị obi ụtọ! Ugbu a, anyị achọpụtala otu esi akụzi drone ka ọ na-ege ntị n'iwu olu. N'ezie, enwere ọtụtụ ohere ndị ọzọ: njirimara ihu onye ọrụ, ụgbọ elu kwụụrụ onwe ya, njirimara mmegharị ahụ na ọtụtụ ndị ọzọ.
Kedu ihe ị nwere ike ịtụ aro iji melite mmemme?
Skillbox na-atụ aro:
- etinyere usoro mmụta n'ịntanetị .
- N'ezie online .
- Ihe ọmụmụ otu afọ bara uru .
isi: www.habr.com