From f431421be9f4d5a7ee53437660fcdef15d30add5 Mon Sep 17 00:00:00 2001
From: Kotaro Terada <tera@toki.waseda.jp>
Date: Tue, 6 Nov 2018 13:46:41 +0900
Subject: [PATCH] Update a project file

---
 ARDroneForP5_Sample.pde | 51 +++++++++++++++++++++++++++++++++++------
 1 file changed, 44 insertions(+), 7 deletions(-)

diff --git a/ARDroneForP5_Sample.pde b/ARDroneForP5_Sample.pde
index 5ced5d0..3252969 100644
--- a/ARDroneForP5_Sample.pde
+++ b/ARDroneForP5_Sample.pde
@@ -2,8 +2,10 @@ import com.shigeodayo.ardrone.processing.*;
 
 ARDroneForP5 ardrone;
 
+char state='n';
+
 void setup() {
-  size(320, 240);
+  size(640, 360);
 
   ardrone=new ARDroneForP5("192.168.1.1");
   // connect to the AR.Drone
@@ -20,7 +22,7 @@ void draw() {
   background(204);  
 
   // getting image from AR.Drone
-  // true: resizeing image automatically
+  // true: resizeing image automatically;
   // false: not resizing
   PImage img = ardrone.getVideoImage(false);
   if (img == null)
@@ -37,6 +39,8 @@ void draw() {
   float altitude = ardrone.getAltitude();
   float[] velocity = ardrone.getVelocity();
   int battery = ardrone.getBatteryPercentage();
+  
+  float vx = velocity[0], vy = velocity[1];
 
   String attitude = "pitch:" + pitch + "\nroll:" + roll + "\nyaw:" + yaw + "\naltitude:" + altitude;
   text(attitude, 20, 85);
@@ -46,20 +50,25 @@ void draw() {
   text(bat, 20, 170);
 }
 
-//PCのキーに応じてAR.Droneを操作できる．
+//PC AR.Drone
 // controlling AR.Drone through key input
 void keyPressed() {
+
   if (key == CODED) {
     if (keyCode == UP) {
+      state='f';
       ardrone.forward(); // go forward
     } 
     else if (keyCode == DOWN) {
+      state='b';
       ardrone.backward(); // go backward
     } 
     else if (keyCode == LEFT) {
+      state='l';
       ardrone.goLeft(); // go left
     } 
     else if (keyCode == RIGHT) {
+      state='r';
       ardrone.goRight(); // go right
     } 
     else if (keyCode == SHIFT) {
@@ -69,10 +78,36 @@ void keyPressed() {
       ardrone.landing();
       // landing
     }
-  } 
+  }
   else {
     if (key == 's') {
-      ardrone.stop(); // hovering
+      if(vx > 30){  
+        ardrone.parallel(,);
+      }
+      //switch(state){
+      //  case 'f':  //if current move is forward      
+      //    ardrone.backward();
+      //    delay(1500);
+      //    break;
+          
+      //  case 'b':  //if current move is backword      
+      //    ardrone.forward();
+      //    delay(1500);
+      //    break;
+          
+      //  case 'l':  //if current move is right      
+      //    ardrone.goRight();
+      //    delay(1500);
+      //    break;
+          
+      //  case 'r':  //if current move is left      
+      //    ardrone.goLeft();
+      //    delay(1500);
+      //    break;
+         
+      //  default:break;
+      //  }
+      //ardrone.stop(); // hovering
     } 
     else if (key == 'r') {
       ardrone.spinRight(); // spin right
@@ -101,6 +136,8 @@ void keyPressed() {
     else if (key == '5') {
       ardrone.toggleCamera(); // set next camera setting
     }
+    else if (key == 'e'){
+      ardrone.parallel(-5,5);
+    }
   }
-}
-
+}
\ No newline at end of file
-- 
2.22.0