aerogel
v0.0.5
Published
CrazyFlie control software
Downloads
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Readme
aerogel
A node.js control library for the Crazyflie nano-copter. This is a work in progress! Your contributions are more than welcome.
Installation
libusb is required for the radio driver. On OS X, install with homebrew:
brew install libusb
Then install Aerogel:
npm install aerogel
Aerogel uses new-style node streams so it requires node 0.10.x or later.
Basics
The copter
object is what your control scripts should manipulate.
A simple script for taking off then landing again immediately looks like this:
var Aerogel = require('../index');
var driver = new Aerogel.CrazyDriver();
var copter = new Aerogel.Copter(driver);
process.on('SIGINT', copter.land.bind(copter));
driver.findCopters()
.then(function(copters)
{
if (copters.length === 0)
{
console.error('No copters found! Is your copter turned on?');
process.exit(1);
}
var uri = copters[0];
console.log('Using copter at', uri);
return uri;
})
.then(function(uri) { return copter.connect(uri); })
.then(function() { return copter.takeoff(); })
.then(function() { return copter.land(); })
.then(function() { return copter.shutdown(); })
.done();
Telemetry
The protocol driver emits telemetry information as events that the copter object listens for. The handlers for these events don't do anything yet, but the plan is that they'll eventually be used to implement higher-level flight control constructs & autonomous goal-seeking.
copter.handleStabilizerTelemetry()
gets an object with three orientation fields:
roll
pitch
yaw
copter.handleMotorTelemetry()
gets an object with the state of the four motors: m1
, m2
, m3
, and m4
.
API
TODO
Aerogel exposes a promises API at the moment. Eventually I plan to offer a standard callback API as well. If you do not pass a callback to a method, a promise is returned.
To-do
Everything.
Contributing
Allman bracing, tabs to indent, camel case. Write tests in Mocha. mocha-as-promised and chai-as-promised are available. Do cool things.
License
MIT.