Udded actions

.idea/workspace.xml

@@ -2,14 +2,13 @@
 <project version="4">
   <component name="ChangeListManager">
     <list default="true" id="eeacb93f-73aa-46ec-92c7-08d6fb5d2b5c" name="Default" comment="">
-      <change type="NEW" beforePath="" afterPath="$PROJECT_DIR$/nearest.js" />
       <change type="MODIFICATION" beforePath="$PROJECT_DIR$/go.js" afterPath="$PROJECT_DIR$/go.js" />
       <change type="MODIFICATION" beforePath="$PROJECT_DIR$/.idea/workspace.xml" afterPath="$PROJECT_DIR$/.idea/workspace.xml" />
     </list>
     <ignored path="NodeCopterHack.iws" />
     <ignored path=".idea/workspace.xml" />
-    <file path="/Dummy.txt" changelist="eeacb93f-73aa-46ec-92c7-08d6fb5d2b5c" time="1376143309879" ignored="false" />
+    <file path="/Dummy.txt" changelist="eeacb93f-73aa-46ec-92c7-08d6fb5d2b5c" time="1376145571388" ignored="false" />
-    <file path="/go.js" changelist="eeacb93f-73aa-46ec-92c7-08d6fb5d2b5c" time="1376143525720" ignored="false" />
+    <file path="/go.js" changelist="eeacb93f-73aa-46ec-92c7-08d6fb5d2b5c" time="1376145788053" ignored="false" />
     <file path="/nearest.js" changelist="eeacb93f-73aa-46ec-92c7-08d6fb5d2b5c" time="1376142921730" ignored="false" />
     <option name="TRACKING_ENABLED" value="true" />
     <option name="SHOW_DIALOG" value="false" />
@@ -33,7 +32,7 @@
       <file leaf-file-name="go.js" pinned="false" current="true" current-in-tab="true">
         <entry file="file://$PROJECT_DIR$/go.js">
           <provider selected="true" editor-type-id="text-editor">
-            <state line="104" column="2" selection-start="2594" selection-end="2594" vertical-scroll-proportion="0.34051725">
+            <state line="96" column="22" selection-start="2682" selection-end="2682" vertical-scroll-proportion="0.41379312">
               <folding />
             </state>
           </provider>
@@ -103,7 +102,6 @@
       <sortByType />
     </navigator>
     <panes>
-      <pane id="Scope" />
       <pane id="ProjectPane">
         <subPane>
           <PATH>
@@ -124,14 +122,15 @@
           </PATH>
         </subPane>
       </pane>
+      <pane id="Scope" />
     </panes>
   </component>
   <component name="PropertiesComponent">
     <property name="options.splitter.main.proportions" value="0.3" />
     <property name="WebServerToolWindowFactoryState" value="false" />
     <property name="options.lastSelected" value="Template Data Languages" />
-    <property name="options.searchVisible" value="true" />
     <property name="options.splitter.details.proportions" value="0.2" />
+    <property name="options.searchVisible" value="true" />
   </component>
   <component name="RunManager">
     <configuration default="true" type="DartUnitRunConfigurationType" factoryName="DartUnit">
@@ -236,6 +235,20 @@
     <breakpoint-manager />
   </component>
   <component name="editorHistoryManager">
+    <entry file="file://$PROJECT_DIR$/go.js">
+      <provider selected="true" editor-type-id="text-editor">
+        <state line="0" column="0" selection-start="0" selection-end="0" vertical-scroll-proportion="0.0">
+          <folding />
+        </state>
+      </provider>
+    </entry>
+    <entry file="file://$PROJECT_DIR$/nearest.js">
+      <provider selected="true" editor-type-id="text-editor">
+        <state line="11" column="0" selection-start="0" selection-end="465" vertical-scroll-proportion="0.0">
+          <folding />
+        </state>
+      </provider>
+    </entry>
     <entry file="file://$PROJECT_DIR$/go.js">
       <provider selected="true" editor-type-id="text-editor">
         <state line="0" column="0" selection-start="0" selection-end="0" vertical-scroll-proportion="0.0">
@@ -266,7 +279,7 @@
     </entry>
     <entry file="file://$PROJECT_DIR$/go.js">
       <provider selected="true" editor-type-id="text-editor">
-        <state line="104" column="2" selection-start="2594" selection-end="2594" vertical-scroll-proportion="0.34051725">
+        <state line="96" column="22" selection-start="2682" selection-end="2682" vertical-scroll-proportion="0.41379312">
           <folding />
         </state>
       </provider>

go.js

@@ -76,24 +76,57 @@ app.listen(8076);
 var doAction = function (command) {
     findCommand(command, function (res) {
             if(res) {
-               // console.log("COMMAND: " + res);
+                // console.log("COMMAND: " + res);
                 var commands = {
                     'LAND': function () {
                         client.land();
                     },
-                    'TAKEOFF': function() { client.takeoff(); },
+                    'TAKEOFF': function () {
-                    'TAKE OFF': function() { client.takeoff(); },
+                        client.takeoff();
+                    },
+                    'TAKE OFF': function () {
+                        client.takeoff();
+                    },
                     'PARTY': function () {
                         client.animateLeds('redSnake', 5, 5);
                         client.clockwise(5);
+                        client.animate('thetaDance', 5000);
+                    },
+                    'FLIP': function () {
+                        client.animate('flipBehind', 2000);
+                    },
+
+                    'LEFT': function () {
+                        client.left(0.5).after(1000, function () {
+                            client.stop();
+                        });
+                    },
+
+                    'UP': function () {
+                        client.up(0.5).after(1000, function () {
+                            client.stop();
+                        });
+                    },
+
+                    'DOWN': function () {
+                        client.down(0.5).after(1000, function () {
+                            client.stop();
+                        });
+                    },
+
+                    'RIGHT': function () {
+                        client.right(0.5).after(1000, function () {
+                            client.stop();
+                        });
                     }
+
                 }
 
                 var upper = command.toUpperCase();
                 if(typeof commands[upper] == 'function') {
                     commands[upper]();
                 } else {
-                   // console.log("BAD Command: " + command);
+                    // console.log("BAD Command: " + command);
                 }
             } else {
                 //console.log("BAD Command: " + command);
@@ -111,7 +144,8 @@ var findCommand = function (command, callback) {
         { name: "DOWN"},
         { name: "LEFT"},
         { name: "RIGHT"},
-        { name: "PARTY"}
+        { name: "PARTY"},
+        { name: "FLIP"}
     ];
 
     var query = { name: command};
@@ -123,7 +157,7 @@ var findCommand = function (command, callback) {
     nn.findMostSimilar(query, items, fields, function (nearestNeighbor, probability) {
         //console.log(query);
         //console.log(nearestNeighbor);
-       //console.log(probability);
+        //console.log(probability);
         if(probability > 0.4) {
             callback(nearestNeighbor.name);
         } else {

go.js.orig

@@ -0,0 +1,157 @@
+var express = require('express');
+var engines = require('consolidate');
+var nodecr = require('nodecr');
+var drone = require('dronestream');
+var fs = require('fs');
+var app = express();
+app.engine('html', engines.hogan);
+app.set('view engine', 'html');
+app.set('views', __dirname);
+
+var lastPng;
+
+app.get('/', function (req, res) {
+    res.render('index');
+});
+
+app.get('/image', function (req, res) {
+    if(lastPng) {
+        //console.log('has last png');
+        res.writeHead(200, {'Content-Type:': 'image/png' });
+        res.end(lastPng);
+    }
+});
+
+app.get('/land', function (req, res) {
+    client.land();
+    res.render('index');
+});
+
+var arDrone = require('ar-drone');
+var client = arDrone.createClient();
+var pngStream;
+
+//client.takeoff();
+client.after(2000, function () {
+    pngStream = client.getPngStream();
+    pngStream.on('error', console.log).on('data', function (lastPng = pngBuffer;
+    var filename = new Date() * 1 + '.png';
+    fs.open(filename, "wx", function (err, fd) {
+        fs.write(fd, pngBuffer, 0, pngBuffer.length, null, function () {
+            fs.close(fd, function () {
+                scan(filename);
+
+            });
+        });
+    });
+
+});
+})
+;
+
+var takeoff = function () {
+    client.takeoff();
+};
+
+var scanning = false;
+var scan = function (filename) {
+    if(!scanning) {
+        scanning = true;
+        nodecr.process(__dirname + '/' + filename, function (err, text)
+            //nodecr.process(lastPng, function(err, text)
+        {
+            if(err) {
+                //    console.error(err);
+            } else {
+                var tidiedUp = text.replace("0", "O").replace(/\W/g, "");
+                // if(tidiedUp == "STOP")
+                //{
+                console.log(tidiedUp);
+                doAction(tidiedUp);
+
+                // }
+            }
+        });
+        scanning = false;
+    }
+};
+
+app.listen(8076);
+
+var doAction = function (command) {
+<<<<<<< Updated upstream
+console.log("COMMAND: " + command);
+    var commands = {
+        'LAND': function () {
+            client.land();
+        },
+        'TAKEOFF': function () {
+            client.takeoff();
+        },
+	'DANCE': function()
+        {
+            client.animateLeds('redSnake', 5, 5);
+=======
+    findCommand(command, function (res) {
+            if(res){
+                console.log("COMMAND: " + res);
+            var commands = {
+                'LAND': function () {
+                    client.land();
+                },
+                'TAKE OFF': function () {
+                    client.takeoff();
+                }
+            }
+            var upper = command.toUpperCase();
+            if(typeof commands[upper] == 'function') {
+                commands[upper]();
+            }else{
+                console.log("BAD Command: " + command);
+            }
+        }else{
+                console.log("BAD Command: " + command);
+            }
+>>>>>>> Stashed changes
+        }
+
+    );
+};
+var findCommand = function (command, callback) {
+    nn = require('nearest-neighbor');
+    var items = [
+        { name: "LAND"},
+        { name: "TAKE OFF"},
+        { name: "UP"},
+        { name: "DOWN"},
+        { name: "LEFT"},
+        { name: "RIGHT"},
+        { name: "DANCE"}
+    ];
+
+    var query = { name: command};
+
+    var fields = [
+        { name: "name", measure: nn.comparisonMethods.word },
+    ];
+
+    nn.findMostSimilar(query, items, fields, function (nearestNeighbor, probability) {
+        console.log(query);
+        console.log(nearestNeighbor);
+        console.log(probability);
+        if(probability > 0.6) {
+            callback(nearestNeighbor.name);
+        } else {
+            callback('');
+        }
+    });
+};
+
+<<<<<<< Updated upstream
+}
+//takeoff();
+=======
+takeoff();
+>>>>>>> Stashed changes
+
+