ARDrone Helper Methods

ardrone

function moveForward (speed, duration, cb) {
    client.front(speed);
    setTimeout(function () {
        client.stop();
        cb();
    }, duration);
}

function rotateTo(finalDirection, spinDirection, cb) {
    // TODO set speed based on how much rotation is left
    var rotationSpeed = 0.1;

    // reset finalDirection if OOB
    if (finalDirection > 180) {
        // need to convert to -180
        finalDirection = finalDirection - 360;
        rotateTo(finalDirection, spinDirection, cb);
        return false;
    } else if (finalDirection < -180) {
        // need to convert to 180
        finalDirection = finalDirection + 360;
        rotateTo(finalDirection, spinDirection, cb);
        return false;
    }


    if (direction !== "unset" &&  ((direction > finalDirection) || (direction < finalDirection)) ) {
        console.log(direction);
        client[spinDirection](rotationSpeed);
        setTimeout(function () {
            rotateTo(finalDirection, spinDirection, cb);
        }, 20);
    } else {
        client.stop();
        setTimeout(cb, 200);
    }
}