OrgGo/hybridgroup.gobot
1
0
Fork 0
mirror of https://github.com/hybridgroup/gobot.git synced 2025-04-24 13:48:49 +08:00
Code Issues Projects Releases Wiki Activity

slow/fast mode switch function

Browse Source
This commit is contained in:
cbwang2016 2018-05-21 15:06:27 +08:00 committed by GitHub
parent 68fef4ebf9
commit 244d26c993
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 21 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
platforms/dji/tello/driver.go
View File

@ -186,7 +186,8 @@ type Driver struct {
respPort string
cmdMutex sync.Mutex
seq int16
rx, ry, lx, ly, throttle float32
rx, ry, lx, ly float32
throttle int
bouncing bool
gobot.Eventer
}
@ -364,6 +365,24 @@ func (d *Driver) SetVideoEncoderRate(rate VideoBitRate) (err error) {
return
}
// SetFastMode sets the drone throttle to 1.
func (d *Driver) SetFastMode() error {
d.cmdMutex.Lock()
defer d.cmdMutex.Unlock()
d.throttle = 1
return nil
}
// SetSlowMode sets the drone throttle to 0.
func (d *Driver) SetSlowMode() error {
d.cmdMutex.Lock()
defer d.cmdMutex.Unlock()
d.throttle = 0
return nil
}
// Rate queries the current video bit rate.
func (d *Driver) Rate() (err error) {
buf, _ := d.createPacket(videoRateQuery, 0x48, 0)
@ -628,7 +647,7 @@ func (d *Driver) SendStickCommand() (err error) {
axis4 := int16(660.0*d.lx + 1024.0)
// speed control
axis5 := int16(660.0*d.throttle + 1024.0)
axis5 := int16(d.throttle)
packedAxis := int64(axis1)&0x7FF | int64(axis2&0x7FF)<<11 | 0x7FF&int64(axis3)<<22 | 0x7FF&int64(axis4)<<33 | int64(axis5)<<44
binary.Write(buf, binary.LittleEndian, byte(0xFF&packedAxis))