import com.shigeodayo.ardrone.processing.*; ARDroneForP5 ardrone; char state='n'; void setup() { size(640, 360); ardrone=new ARDroneForP5("192.168.1.1"); // connect to the AR.Drone ardrone.connect(); // for getting sensor information ardrone.connectNav(); // for getting video informationp ardrone.connectVideo(); // start to control AR.Drone and get sensor and video data of it ardrone.start(); } void draw() { background(204); // getting image from AR.Drone // true: resizeing image automatically; // false: not resizing PImage img = ardrone.getVideoImage(false); if (img == null) return; image(img, 0, 0); // print out AR.Drone information ardrone.printARDroneInfo(); // getting sensor information of AR.Drone float pitch = ardrone.getPitch(); float roll = ardrone.getRoll(); float yaw = ardrone.getYaw(); 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); String vel = "vx:" + velocity[0] + "\nvy:" + velocity[1]; text(vel, 20, 140); String bat = "battery:" + battery + " %"; text(bat, 20, 170); } //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) { ardrone.takeOff(); // take off, AR.Drone cannot move while landing } else if (keyCode == CONTROL) { ardrone.landing(); // landing } } else { if (key == 's') { 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 } else if (key == 'l') { ardrone.spinLeft(); // spin left } else if (key == 'u') { ardrone.up(); // go up } else if (key == 'd') { ardrone.down(); // go down } else if (key == '1') { ardrone.setHorizontalCamera(); // set front camera } else if (key == '2') { ardrone.setHorizontalCameraWithVertical(); // set front camera with second camera (upper left) } else if (key == '3') { ardrone.setVerticalCamera(); // set second camera } else if (key == '4') { ardrone.setVerticalCameraWithHorizontal(); //set second camera with front camera (upper left) } else if (key == '5') { ardrone.toggleCamera(); // set next camera setting } else if (key == 'e'){ ardrone.parallel(-5,5); } } }