int main()
{
drone_connect();
printf("Press A for SEEDING, B for PUSH_BOTGUY\n");
while (1) {
if (a_button())
{
while (a_button());
msleep(500);
printf("Running SEEDING program.\n");
start(SEEDING_SERVO_POSITION);
seeding();
}
else if (b_button())
{
while (b_button());
msleep(500);
printf("Running PUSH_BOTGUY program.\n");
start(PUSH_BOTGUY_SERVO_POSITION);
push_botguy();
}
}
// Don't need the rest anymore.
// start(SEEDING_SERVO_POSITION);
// start(PUSH_BOTGUY_SERVO_POSITION);
// seeding();
// push_botguy();
return 0;
}
int main ()
{
float CENTER = 79.5;
float OFFSET = 0.05;
drone_connect();
enable_drone_vision();
drone_front_camera();
sleep(2);
drone_takeoff();
printf("Black button to exit test loop and land the drone");
float x, y;
track_update();
while(!black_button())
{
x = OFFSET * ((track_x(0,0) - CENTER) / CENTER);
y = OFFSET * ((track_y(0,0) - CENTER) / CENTER);
if(track_count(0) > 0)
{
printf("Items tracking: %d\n", track_count(0));
drone_move(0,0, x, y);
}
els
{
printf("No items: Hovering \n");
drone_hover();
}
sleep(4);
track_update();
}
printf("Landing");
drone_move(0,0,0,-.25);
sleep(0.5);
drone_land();
drone_disconnect();
return 0;
}
/*
* Class: Drone
* Method: connect
* Signature: ()V
*/
JNIEXPORT void JNICALL Java_cbccore_ARDrone_connect(JNIEnv * env, jobject obj){
drone_connect();
}
