CAF (Cloud Assistant Framework)

Co-design permanent, active, stateful, reliable cloud proxies with your web app.

See http://www.cafjs.com

CAF Library to interact with AR drone hardware

This is a wrapper to the node.js ar-drone library in

https://github.com/felixge/node-ar-drone

that adds serialization and timing constraints to a bundle of commands.

API

var cafDr = require('caf_ardrone');

var b1 = new cafDr.ArDroneBundle();
b1
.takeoff(10000) // takeoff in 10 seconds
.move(0, 0, 0.5, 0, 5000) // 5 sec later move up at half top speed
.stop(5000) // 5 sec later hover at that altitude
.video('15.135.32.12', 9832, 0) // forward video to that IP/port
.move(0, 0, 0, 0.05, 2000) // slowly turn around in-place
.land(100000) // 100 sec later land
.video(null, 0, 0); // switch off camera

var cl = cafDr.client({ip: '127.0.0.1'}) // node running in the drone
b1.schedule(cl); // do it now
b1.schedule(cl, new Date().getTime()+60601000); // do it again in 1 hour
b1.schedule(cl, new Date().getTime()+120601000); // do it again in 2 hours

// same actions, different drone
var cl2 = cafDr.client({ip: '192.168.1.7'}) // node running in laptop
b1.schedule(cl2, new Date().getTime()+60601000); // do it in 1 hour

// serialize/deserialize bundle
var s1 = b1.toJSON();
var b2 = cafDr.parseBundle(s1);
b2.schedule(cl); // do the same actions now

// change config properties
cl.config
.euler_angle_max(0.52) // 30 degrees
.altitud_max(10000) // 10 meters
.control_vz_max(1000) // 1 m/sec max vertical speed
.video_codec('H264_720P_CODEC') // high res video
.bitrate(4000) // video at 4 mbits/sec
.update();

// read navdata
var last = cl.navData.last() // most recent snapshot of navdata
console.log('timestamp': last.now + ' data:' + JSON.stringify(last.data));
var all = cl.navData.all() // array with the last 100 snapshots
cl.navData.velocity() // safe shortcut to last().data.demo.velocity

// read gps data (needs gpsd installed in drone and USB GPS dongle)
var last = cl.gpsData.last() // most recent snapshot of gpsdata
console.log('timestamp': last.now + ' data:' + JSON.stringify(last.data));
var all = cl.gpsData.all() // array with the last 100 snapshots
cl.gpsData.lat() // safe shortcut to last().data.lat (i.e., lattitude)

Configuration Example

$3

None

$3

None

API