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124 lines
5.4 KiB
Markdown
124 lines
5.4 KiB
Markdown
# Blocks programming for Clover
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<img src="../assets/blocks/blockly.svg" width=200 align="right">
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Visual blocks programming feature has been added to the [RPi image](image.md), starting with the version **0.21**. Blocks programming is implemented using [Google Blockly](https://developers.google.com/blockly) library. Blocks programming integration can lower the entry barrier to a minimum.
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## Configuration
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For correct work of the blocks programming, `blocks` argument in the Clover launch-file (`~/catkin_ws/src/clover/clover/launch/clover.launch`) [should be equal to](cli.md#editing) `true`:
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```xml
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<arg name="blocks" default="true"/>
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```
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## Running
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To run Clover's blocks programming interface, [connect to Clover's Wi-Fi](wifi.md) and go to web-page http://192.168.11.1/clover_blocks/ or click the link *Blocks programming* at the [main page](wifi.md#web-interface).
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The page looks as follows:
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<img src="../assets/blocks/blocks.png" width=600 class=center>
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Assemble your program using blocks in the menu at the left and then click *Run* button for running. You can also view generated Python-code, switching to *Python* tab.
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The *Stop* button stops the program. Clicking *Land* button also stops the program and lands the drone.
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## Storing and loading
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<img src="../assets/blocks/save.png" width=300 align=right>
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To store the program, open the menu at the top right, select *Save* item and input your program's name. The name should contain only Latin characters, hyphen, underline and dot characters. All your stored programs are available at the same menu.
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Your programs are stored as XML-files in the `/catkin_ws/src/clover/clover_blocks/programs/` directory of the SD-card.
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> **Note** Note also example programs, available at the same menu.
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## Blocks
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The set of blocks is somewhat similar to the set of ROS-services of [Clover's autonomous flights API](simple_offboard.md). This section contains descriptions of some of them.
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Clover's blocks are separated into 4 categories:
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* <span style="padding:2px;color:white;background:#9d5ca6">Flight</span> – autonomous flight related commands.
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* <span style="padding:2px;color:white;background:#ff9b00">State</span> – blocks for obtaining the drone state parameters.
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* <span style="padding:2px;color:white;background:#01d754">LED</span> – blocks for controlling [LED strip](leds.md).
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* <span style="padding:2px;color:white;background:#5b97cc">GPIO</span> – blocks for working with [GPIO pins](gpio.md).
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The rest of categories contains standard Blockly's blocks.
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### take_off
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<img src="../assets/blocks/take-off.png" srcset="../assets/blocks/take-off.png 2x">
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Take off to specified altitude in meters. The altitude may be an arbitrary block, that returns a number.
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The `wait` flag specifies, if the drone should wait until take off is complete, before executing the next block.
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### navigate
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<img src="../assets/blocks/navigate.png" srcset="../assets/blocks/navigate.png 2x">
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Navigate to specified point. Coordinates are specified in meters.
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The `wait` flag specifies, if the drone should wait until navigation is complete, before executing the next block.
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#### *Relative to* field {#relative_to}
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This block allows to specify the [coordinate frame](frames.md) of the target point:
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* *body* – coordinates, relative to the drone: *forward*, *left*, *up*.
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* *markers map* – coordinates, relative to the [map of ArUco-markers](aruco_map.md).
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* *marker* – coordinates, relative to an [ArUco-marker](aruco_marker.md); marker's ID input fields appears.
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* *last navigate target* – coordinates, relative to the last specified navigate point.
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* *map* – drone's local coordinate system, linked with the point of its initialization.
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* *global* – global coordinates system (latitude and longitude) and relative altitude.
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* *global, WGS 84 alt.* – global coordinates system and [WGS 84](https://en.wikipedia.org/wiki/WGS_84) altitude.
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### land
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<img src="../assets/blocks/land.png" srcset="../assets/blocks/land.png 2x">
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Land the drone.
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The `wait` flag specifies, if the drone should wait until landing is complete, before executing the next block.
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### wait
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<img src="../assets/blocks/wait.png" srcset="../assets/blocks/wait.png 2x">
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Wait specified time period in seconds. The time period may be an arbitrary block, that returns a number.
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### wait_arrival
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<img src="../assets/blocks/wait-arrival.png" srcset="../assets/blocks/wait-arrival.png 2x">
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Wait, until the drone reaches [navigate](#navigate)-block's target point.
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### get_position
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<img src="../assets/blocks/get-position.png" srcset="../assets/blocks/get-position.png 2x">
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The block returns current position, velocity or yaw angle of the drone relative to the specified [coordinate frame](#relative_to).
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### set_effect
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<img src="../assets/blocks/set-effect.png" srcset="../assets/blocks/set-effect.png 2x">
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The block allows to set animations to LED strip, similarly to [`set_effect`](leds.md#set_effect) ROS-service.
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Example of using the block with a random color (colors-related blocks are located in *Colour* category):
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<img src="../assets/blocks/random-color.png" srcset="../assets/blocks/random-color.png 2x">
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### Work with GPIO {#GPIO}
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<span style="padding:2px;color:white;background:#5b97cc">GPIO</span> category contains blocks for working with GPIO. Note, that for correct work of these blocks, `pigpiod` daemon should be running:
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```bash
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sudo systemctl enable pigpiod.service
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sudo systemctl start pigpiod.service
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```
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See details on GPIO in the [appropriate article](gpio.md).
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