micro:bitとProcessingで通信してドローン(Tello)を操縦する

タイトルの通り，micro:bitをコントローラとして操作し，Processingにシリアル通信で値を送信します．Pcocessingとドローン(Tello)はUDPで通信します．コードはラピットタイプで書いたので，今後修正します！

micro:bit

コードはこちらからも↓
https://makecode.microbit.org/_KD3XDP6ebejd

Processing

import hypermedia.net.*; //UDP library
import processing.serial.*; //Serial library
Serial microbit;
UDP udp;
DroneContol drone;

String ip = "192.168.10.1"; 
int port = 8889;
int mbitX, mbitY, mbitA ,mbitB, mbitAB = 0;
String recMess;

void setup(){
  String portName[] = Serial.list();
  println(portName);
  microbit = new Serial(this, portName[0], 115200);
  drone = new DroneContol();
  udp = new UDP(this, port);
  udp.listen(true);
  udp.send("command", ip, port);
}

void draw(){
  drone.update(mbitX,mbitY,mbitA,mbitB,mbitAB);

}

void serialEvent(Serial microbit) {
  String str = microbit.readStringUntil('\n');
  if (str != null) {
    str = trim(str);
    int sensors[] = int(split(str, ','));
    mbitX = sensors[0];
    mbitY = sensors[1];
    mbitA = sensors[2];
    mbitB = sensors[3];
    mbitAB = sensors[4];
    //println("x="+ sensors[0]+ ", y="+ sensors[1]+ ", A="+ sensors[2]+ ", B="+ sensors[3]+ ", AB="+ mbitAB);
  }
}

void receive(byte[] data, String ip, int port) {
  data = subset(data, 0, data.length-2);
  recMess = new String(data);
  println(recMess);
}

class DroneContol {

  int a, b, ab, maxRange, minRange;
  String lrStr, fdStr, udStr, yawStr;
  int lrSpeed, fbSpeed, udSpeed, yawSpeed;
  boolean is_flight, is_up, is_down;

  DroneContol() {
    a = b = ab = 0;
    maxRange = 1023;
    minRange = -1023;
    is_flight = is_up = is_down = false;
    lrSpeed = fbSpeed = udSpeed = yawSpeed = 0;
  }

  void update(int x, int y, int A, int B, int AB) {
    if (ab != AB) {
      if (is_flight==false) takeOFF();
      else land();
    }

    if (is_flight) {
      if (a != A) {
        if (!is_down) is_up = !is_up;
      } else if (b != B) {
        if (!is_up) is_down = !is_down;
      } else {
        if (is_up) {
          up();
        } else if (is_down) {
          down();
        } else {
          setSpeed(x, y);
        }
        convertItoS();
        String rcStr = "rc "+ " "+lrSpeed+ " "+fbSpeed+ " "+udSpeed+" "+yawSpeed;
        udp.send(rcStr, ip, port);
      }
    }
    a = A;
    b = B;
    ab = AB;
  }

  void takeOFF() {
    udp.send("takeoff", ip, port);
    is_flight = true;
    int timer = second()+2;
    println("Take OFF Count 2");
    while (timer > second()) {
    }
    println("Take OFF");
  }

  void land() {
    udp.send("land", ip, port);
    int timer = second()+2;
    println("LAND Count 2");
    while (timer > second()) {
    }
    is_flight = false;
    println("LAND");
  }

  void up() {
    lrSpeed = 0;
    fbSpeed = 0;
    udSpeed = 30;
    yawSpeed = 0;
  }

  void down() {
    lrSpeed = 0;
    fbSpeed = 0;
    udSpeed = -30;
    yawSpeed = 0;
  }

  void setSpeed(int x, int y) {
    udSpeed = 0;
    yawSpeed = 0;
    if (x < minRange/2) {
      lrSpeed = -50;
    } else if (x > maxRange/2) {
      lrSpeed = 50;
    } else {
      lrSpeed = 0;
    }
    if (y < minRange/2) {
      fbSpeed = 50;
    } else if (y > maxRange/2) {
      fbSpeed = -50;
    } else {
      fbSpeed = 0;
    }
  }

  void convertItoS() {
    lrStr = str(lrSpeed);
    fdStr = str(fbSpeed);
    udStr = str(udSpeed);
    yawStr = str(yawSpeed);
  }
}

動作の様子

最後に

ドローンとの接続方法などは，ここを参考にしてみてください！
https://qiita.com/tkyko13/items/a873ef8a34dc3f6dc67d

GitHubにもコードをまとめてあります．
kikpond15/tello_p5_microbit