0829.cpp

0829.cpp

#include <CoDrone.h>

int mode = 0; // 0 none 1 start 2 running
int index = 0, fly = 0;
int throttleCount = 0;
int yy[800], tt[800], rr[800], pp[800];


void setup() {
  CoDrone.begin(115200);
  CoDrone.AutoConnect(NearbyDrone);
  CoDrone.LedColor(EyeHold, 100, 100, 100, 200);
}

void loop() {
  int yaw = -1 * CoDrone.AnalogScaleChange(analogRead(22));
  int throttle = CoDrone.AnalogScaleChange(analogRead(23));
  int roll = -1 * CoDrone.AnalogScaleChange(analogRead(24));
  int pitch = CoDrone.AnalogScaleChange(analogRead(25));

  if( mode == 0 ){
    if( throttle > 90 ){
      throttleCount++;
    }else throttleCount = 0;

    if( throttleCount >= 5 ){ mode = 1; throttleCount = 0; }
    else {
      CoDrone.LedColor(EyeDimming, 255, 0, 0,100);
    }
  }
  if( mode == 1 ){
    yy[index] = yaw;
    tt[index] = throttle;
    rr[index] = roll;
    pp[index] = pitch;
    index++;
    if( throttle < -90 ){ throttleCount--; } else{ throttleCount = 0; }
    if( throttleCount <= -5 ){
      mode = 2;
      throttleCount = 0;
      // fly init 
      CoDrone.FlightEvent(TakeOff);
    }else{
      CoDrone.LedColor(EyeDimming, 0, 255,0, 100);
    }
  }
  if( mode == 2 ){
    YAW = yy[fly];
    THROTTLE = tt[fly];
    ROLL = rr[fly];
    PITCH = pp[fly];
    CoDrone.Control();
    fly++;
    if( fly >= index ){
      CoDrone.FlightEvent(Landing);
      YAW = 0; THROTTLE = 0; ROLL = 0; PITCH = 0;
      mode = 3; 
    }else {
      CoDrone.LedColor(EyeDimming, 0, 0, 255, 100);
    }
  }
  if( mode == 3 ){
    CoDrone.LedColor(EyeDimming, 255, 0, 255, 100);
  }
  delay(200);
}

33.cpp

#include <CoDrone.h>

void setup(){
  CoDrone.begin(115200);
  CoDrone.AutoConnect(NearbyDrone);
  CoDrone.LedColor(EyeHold, 100, 100, 100, 500);
  CoDrone.FlightEvent(TakeOff);
  delay(2000);
  CoDrone.FlightEvent(Landing);
}

void loop(){
}

controller.cpp

#include <CoDrone.h>

int flight = 1;
int throttleCounter = 0;

void setup(){
  CoDrone.begin(115200);
  CoDrone.AutoConnect(NearbyDrone);
  CoDrone.LedColor(EyeHold, 200, 0, 200, 500);
  CoDrone.FlightEvent(TakeOff);
}

void loop(){
  int yaw = -1 * CoDrone.AnalogScaleChange(analogRead(22));
  YAW = yaw;
  int throttle = CoDrone.AnalogScaleChange(analogRead(23));
  THROTTLE = throttle;
  if( throttle > 90 && flight == 0 ){
    CoDrone.FlightEvent(TakeOff);
    flight = 1;
  }
  if( throttle < -90 && flight == 1 ){
    CoDrone.FlightEvent(Landing);
    flight = 0;
  }
  int roll = -1 * CoDrone.AnalogScaleChange(analogRead(24));
  ROLL = roll;
  int pitch = CoDrone.AnalogScaleChange(analogRead(25));
  PITCH = pitch;
  CoDrone.Control();
  delay(200);
}

other.cpp

#include <CoDrone.h>

int mode = 0;
void setup(){
  CoDrone.begin(115200);
  CoDrone.AutoConnect(NearbyDrone);
  CoDrone.LedColor(EyeHold, 100, 100, 100, 500);
}

void loop() {
  mode = (mode + 1) % 4;
  if( mode == 0 ){ CoDrone.FlightEvent(Landing); }
  if( mode == 1 ){ CoDrone.FlightEvent(TakeOff); }
  if( mode == 2 ){ YAW = 100; CoDrone.Control(); }
  if( mode == 3 ){ YAW = 0; CoDrone.Control(); }
  delay(1000);
}