ardrone_face_tracking_with_gobot.js

var Cylon = require('cylon');
var rest = require('restler');
var haarcascade = "" + __dirname + "/haarcascade_frontalface_alt.xml";
 
var DroneRobot = (function(){ 
 
	function DroneRobot() {} 
 
	DroneRobot.prototype.commands = ["faceOff"];
 
  DroneRobot.prototype.connections = [
    { name: 'opencv', adaptor: 'opencv' }, 
    { name: 'ardrone', adaptor: 'ardrone', port: '192.168.1.1' }
  ];
  
  DroneRobot.prototype.devices = [
    { name: 'drone', driver: 'ardrone', connection: 'ardrone' }, 
    { name: 'window', driver: 'window', conneciton: 'opencv' }, 
    { name: 'mat', driver: 'mat', conneciton: 'opencv' }
  ];
 
  DroneRobot.prototype.work = function(my) {
  	console.log("SHOW ME YOUR FACE!");
  };
 
  DroneRobot.prototype.faceOff = function() {
  	var my = this;
    var self = this;
    self.detect = false;
    self.image = null;
    my.drone.getPngStream().on('data', function(png) {
      my.mat.readImage(png, function(err, img) {
        self.image = img;
        if (self.detect === false) {
          my.window.show(img);
        }
      });
    });
    my.mat.on('facesDetected', function(err, im, faces) {
      var biggest, center_x, f, face, turn;
      biggest = 0;
      face = null;
      for (var i = 0; i < faces.length; i++) {
        f = faces[i];
        if (f.width > biggest) {
          biggest = f.width;
          face = f;
        }
      }
      if (face !== null && (face.width <= 100 && face.width >= 45)) {
        rest.get('http://192.168.1.1:3000/robots/digispark/devices/led/commands/ToggleC').on('complete', function(result) {
          if (result instanceof Error) {
            console.log('Error:', result.message);
          } 
        });
        rest.get('http://127.0.0.1:3001/robots/mod/commands/WakeUp').on('complete', function(result) {
          if (result instanceof Error) {
            console.log('Error:', result.message);
          } 
        });
        im.rectangle([face.x, face.y], [face.x + face.width, face.y + face.height], 
          [0, 255, 0], 2);
        center_x = im.width() * 0.5;
        turn = -(face.x - center_x) / center_x;
        console.log("turning: " + turn);
        if (turn < 0) {
          my.drone.clockwise(Math.abs(turn * 0.7));
        } else {
          my.drone.counterClockwise(Math.abs(turn * 0.7));
        }
      } else {
        rest.get('http://192.168.1.1:3000/robots/digispark/devices/led/commands/OffC').on('complete', function(result) {
          if (result instanceof Error) {
            console.log('Error:', result.message);
          } 
        });
        rest.get('http://127.0.0.1:3001/robots/mod/commands/Snooze').on('complete', function(result) {
          if (result instanceof Error) {
            console.log('Error:', result.message);
          } 
        });
      }
      my.window.show(im);
    });
    my.drone.takeoff();
    after((8).seconds(), function() { my.drone.up(0.5); });
    after((10).seconds(), function() { my.drone.hover(); });
    after((13).seconds(), function() {
      self.detect = true;
      every(0.3.seconds(), function() {
        my.drone.hover();
        my.mat.detectFaces(self.image, haarcascade);
      });
      after((30).seconds(), function() { my.drone.land(); });
    });
  };
 
  return DroneRobot;
})();
 
var robot = new DroneRobot;
robot.name = "drone";
 
Cylon.robot(robot);
Cylon.api({ host: '192.168.1.3', port: '3000' });
Cylon.start();

digispark_api.go

package main

import (
	"github.com/hybridgroup/gobot"
	"github.com/hybridgroup/gobot-digispark"
	"github.com/hybridgroup/gobot-gpio"
)

func main() {
	master := gobot.GobotMaster()
	gobot.Api(master)

	digispark := new(gobotDigispark.DigisparkAdaptor)
	digispark.Name = "digispark"

	led := gobotGPIO.NewLed(digispark)
	led.Name = "led"
	led.Pin = "2"

	master.Robots = append(master.Robots, &gobot.Robot{
		Name:        "digispark",
		Connections: []gobot.Connection{digispark},
		Devices:     []gobot.Device{red},
	})

	master.Start()
}

pebble_ardrone.rb

require 'artoo'
require 'http'

connection :pebble, :adaptor => :pebble
device     :watch,  :driver  => :pebble, :name => 'pebble'

api :host => '0.0.0.0', :port => '8080'

name 'pebble'

def button_push(*data)
  unless data[1].nil?
    puts "Posting to Cylon"
    HTTP[:content_type => 'application/json'].get "https://192.168.1.3:3000/robots/drone/commands/faceOff"
    p "#{data[1]} button pushed"
  end
end

work do
  pebble.send_notification("Hello Pebble!")
  on pebble, :button => :button_push
end

sphero_mod.go

package main

import (
	"fmt"
	"github.com/hybridgroup/gobot"
	"github.com/hybridgroup/gobot-sphero"
)

var master *gobot.Master

func WakeUp(params map[string]interface{}) bool {
	devices := master.FindRobot("mod").GetDevices()
	for _, device := range devices {
		gobot.Call(device.Driver, "SetRGB", uint8(gobot.Rand(255)), uint8(gobot.Rand(255)), uint8(gobot.Rand(255)))
		gobot.Call(device.Driver, "Roll", uint8(70), uint16(gobot.Rand(360)))
	}
	return true
}

func Snooze(params map[string]interface{}) bool {
	devices := master.FindRobot("mod").GetDevices()
	for _, device := range devices {
		gobot.Call(device.Driver, "SetRGB", uint8(255), uint8(0), uint8(0))
		gobot.Call(device.Driver, "Roll", uint8(0), uint16(0))
	}
	return true
}

func main() {
	master = gobot.GobotMaster()
	a := gobot.Api(master)
	a.Port = "3001"

	spheros := map[string]string{
		"/dev/rfcomm0": "Thelma",
		"/dev/rfcomm1": "Louise",
		"/dev/rfcomm2": "Grace",
		"/dev/rfcomm3": "Ada",
	}

	connections := make([]gobot.Connection, 0)
	devices := make([]gobot.Device, 0)

	for port, name := range spheros {
		spheroAdaptor := new(gobotSphero.SpheroAdaptor)
		spheroAdaptor.Name = "Sphero"
		spheroAdaptor.Port = port

		sphero := gobotSphero.NewSphero(spheroAdaptor)
		sphero.Name = name
		connections = append(connections, spheroAdaptor)
		devices = append(devices, sphero)
	}

	mod := new(gobot.Robot)
	mod.Name = "mod"
	mod.Commands = map[string]interface{}{"WakeUp": WakeUp, "Snooze": Snooze}
	mod.Connections = connections
	mod.Devices = devices
	mod.Work = func() {
		fmt.Println("Ready!")
	}

	master.Robots = append(master.Robots, mod)

	master.Start()
}