Matlabscript DroneCamera

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Hieronder staat de Matlab-code voor de lokale camera. Comments over gebruikte code staan in het script erbij vermeldt.

function dronecamdata(drone, Xball_l,Yball_l, Diam)
   % Dronecamdata is a function that interprets the output data from the 
   % video analysis and converts it to the drone's movement

if (Xball_l == 0 && Yball_l == 0)  % do nothing if ball is undetected drone.drive([0,0,0,0]); else Xref = 640/2;  % middle of the screen Yref = 0; Diamref_min = 70; Diamref_max = 90; x_l_target = Xball_l - Xref; y_l_target = Yball_l - Yref;
 %% Calling upon the drone's drive function
rSpeed = 0; %right/left turn speed revSpeed = 0; %reverse/forward speed
 % a quadratic correlation is used to reposition the drone.  % the further the distance from the reference line, the faster it moves
if x_l_target > 0 rSpeed = (0.000015*(x_l_target)^2); disp('turning right') elseif x_l_target < 0 rSpeed = - (0.000015*(x_l_target)^2); disp('turning left') end
 % to ensure the right distance, the drone has to get the diameter of the  % ball to be between a certain range, otherwise act as necessary if 1 if Diam > Diamref_max; revSpeed = max(0.0003*(Diam-Diamref_max)^2,0.3);  %backwards elseif Diam < Diamref_min revSpeed = - max(0.0003*(Diam-Diamref_min)^2,0.3); %forward end end
drone.drive([revSpeed, 0, 0, rSpeed ]); end end

linkje Matlabscript: All-Project Matlab Files


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