diff --git a/colorTrackerUtils.js b/colorTrackerUtils.js
index 523c119..52775d1 100644
--- a/colorTrackerUtils.js
+++ b/colorTrackerUtils.js
@@ -55,7 +55,7 @@ var TrackerUtils = (function() {
deltaG = gRatio / gRatio2;
return deltaColorTotal > 0.8 && deltaColorTotal < 1.2 &&
- deltaR > 0.8 && deltaR < 1.2 &&
+ deltaR > 0.005 && deltaR < 5.0 &&
deltaG > 0.8 && deltaG < 1.2;
});
}
diff --git a/drone-backend.js b/drone-backend.js
index f37ea06..59d5311 100644
--- a/drone-backend.js
+++ b/drone-backend.js
@@ -16,7 +16,35 @@ Cylon.robot()
// Fly the bot
function fly(robot) {
-
+ bot = robot;
+ //bot.nav.on("navdata", function(data) {
+ //console.log(data);
+ //});
+ bot.drone.config('general:navdata_demo', 'TRUE');
+ bot.drone.disableEmergency();
+ bot.drone.ftrim();
+ bot.drone.takeoff();
+ bot.drone.left(0.2);
+ after(0.85*1000, function() {
+ bot.drone.front(0.4);
+ });
+ after(1.8*1000, function() {
+ bot.drone.right(0.4);
+ });
+ after(2.65*1000, function() {
+ bot.drone.back(0.4);
+ });
+ after(3.5*1000, function() {
+ bot.drone.left(0.4);
+ });
+ after(3.8*1000, function() {
+ bot.drone.land();
+});
+ after(4.1*1000, function() {
+ bot.drone.stop();
+ });
}
-Cylon.start();
\ No newline at end of file
+Cylon.start();
+
+
diff --git a/drone-frontend.js b/drone-frontend.js
index 8c32169..09f43f9 100644
--- a/drone-frontend.js
+++ b/drone-frontend.js
@@ -6,15 +6,54 @@ function init() {
function initTracker(element) {
// Initialise a color tracker
var tracker = new tracking.ColorTracker();
-
+ TrackerUtils.addTrackingColor("#63A75E", "green", tracker);
+ TrackerUtils.addTrackingColor("#5EA24E", "green", tracker);
+ TrackerUtils.addTrackingColor("#57AE78", "green", tracker);
+ TrackerUtils.addTrackingColor("#CC7E86", "light red", tracker);
+ TrackerUtils.addTrackingColor("#C4767C", "light red", tracker);
+ TrackerUtils.addTrackingColor("#B04D3F", "red", tracker);
+ TrackerUtils.addTrackingColor("#A54F4C", "red", tracker);
+ TrackerUtils.addTrackingColor("#333A35", "black", tracker);
+ TrackerUtils.addTrackingColor("#4C5851", "black", tracker);
+ TrackerUtils.addTrackingColor("#74727C", "grey", tracker);
+ TrackerUtils.addTrackingColor("#A9A8B6", "grey", tracker);
+ TrackerUtils.addTrackingColor("#787882", "grey", tracker);
+ TrackerUtils.addTrackingColor("#A6A6B1", "grey", tracker);
+ TrackerUtils.addTrackingColor("#BCC0C2", "white", tracker);
+ TrackerUtils.addTrackingColor("#B9BBB8", "white", tracker);
+ TrackerUtils.addTrackingColor("#B8B9BE", "white", tracker);
+ TrackerUtils.addTrackingColor("#C1BAA9", "white", tracker);
TrackerUtils.startTrackingColors(tracker);
-
// Whenever there is a new color detected, mark them
tracker.on('track', function(event) {
console.log(event.data);
+ markColors(event.data, element);
});
return tracker;
}
+function writeRectangle(rect) {
+ jQuery(".output").append("
");
+ jQuery(".output").append(rect.color + ": " + rect.x + ", " + rect.y);
+}
+
+function markColors(colors, element) {
+ var canvas = $(element + ' .canvas').get(0);
+ var context = canvas.getContext('2d');
+ context.clearRect(0, 0, context.width, context.height);
+
+ for (var i = 0; i < colors.length; i++) {
+ drawRectangle(colors[i], context);
+ }
+}
+
+function drawRectangle(rect, context) {
+ context.strokeStyle = rect.color;
+ context.strokeRect(rect.x, rect.y, rect.width, rect.height);
+
+ console.log(rect);
+ writeRectangle(rect);
+}
+
window.addEventListener("load", init);
\ No newline at end of file
diff --git a/index.html b/index.html
new file mode 100644
index 0000000..23ada21
--- /dev/null
+++ b/index.html
@@ -0,0 +1,54 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Seek 'n' Destroy Drone
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
What do I see?
+
+ Colours!
+
+
+