examples.dlife.robot.ardrone
Class ARDroneTagTracker

java.lang.Object
  dlife.robot.Controller
      dlife.robot.controllers.fsm.FiniteStateController
          examples.dlife.robot.ardrone.ARDroneTagTracker

public class ARDroneTagTracker
extends FiniteStateController

The ARDrone can be controlled by holding April Tags in front of its camera. When this controller is run it will respond to April Tags in the Tag36h11 family as follows:

• Tag 0: Causes the drone to land.
• Tag 1: If the drone is landed it will take off. If the drone is flying it will track Tag 1, attempting to keep it in the center of its image (both up/down and left/right). It will also attempt to maintain a steady distance from the tag (the larger the tag the larger the distance will be).
• Tag 2: If the drone will rotate toward the tag.

  As you control the robot, its led's will turn green when it sees a tag and red when it does not. The drone will hover when it does not see a tag. A useful technique is to hide the tag from the drone if its behavior becomes erratic.

  To run this example:

  1. Complete the Basic dLife Installation.
  2. Complete the ARDrone Setup.
     
     
  3. Launch the dlife.robot.gui.controlcenter
  4. Select dlife.robot.ardrone.ARDrone in the "Robot:" drop down list.
  5. Click the button next to the "Controller:" label.
  6. Navigate to the dLifeDist/examples/dlife/robot/ardrone/ directory.
  7. Choose the ARDroneTagTracker.class file.
  8. Connect the computer to the ARDrone's wifi network.
  9. Click the "Start Up" button. The ARDrone will take-off.
  10. Click "Run". Show the AprilTags to the robot as described above.

  The source code for this class is contained in the file:

  examples/dlife/robot/ardrone/ARDroneTagTracker.java

  Version:

  Feb 15, 2012

  Author:

  Grant Braught, Dickinson College

  Constructor Summary

  ARDroneTagTracker()
  

  Method Summary

  void	startUp(Robot robot) This method is invoked automatically when the Start Up button in the ContolCenter is clicked.

  Methods inherited from class dlife.robot.controllers.fsm.FiniteStateController

  addState, getCurrentState, getInitialState, peekReturnState, popReturnState, pushReturnState, setInitialState, step

  Methods inherited from class dlife.robot.Controller

  shutDown

  Methods inherited from class java.lang.Object

  clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  Constructor Detail

  ARDroneTagTracker

  public ARDroneTagTracker()

  Method Detail

  startUp

  public void startUp(Robot robot)

  Description copied from class: dlife.robot.Controller

  This method is invoked automatically when the Start Up button in the ContolCenter is clicked. This is typically where Sensors and Effectors are created and added to the Robot.

  Specified by:

  startUp in class Controller

  Parameters:

  robot - the Robot that this Controller will be controlling.