public MotorRoutes(Webserver.Webserver server, Controllers.NanoDrone drone) : base(server)
{
AddRoute(new Route("motors/:side/speed", (Request request) =>
{
string side = request.path[1];
var motors = drone.MotorController.motorsBySide;
if (motors.TryGetValue(side, out Motor motor))
{
return(motor.Speed.ToString());
}
return("Motor not found");
}));
AddRoute(new Route("motors/test", (Request request) =>
{
Task.Run(() =>
{
foreach (KeyValuePair <string, Motor> kvPair in drone.MotorController.motorsBySide)
{
kvPair.Value.Test();
}
});
return("");
}));
AddRoute(new Route("motors/:side/test", (Request request) =>
{
string side = request.path[1];
var motors = drone.MotorController.motorsBySide;
if (motors.TryGetValue(side, out Motor motor))
{
Task.Run(() =>
{
motor.Test();
});
return("Test ran");
}
return("Motor not found");
}));
AddRoute(new Route("motors/:side/arm", (Request request) =>
{
string side = request.path[1];
var motors = drone.MotorController.motorsBySide;
if (motors.TryGetValue(side, out Motor motor))
{
Task.Run(() =>
{
motor.Arm();
});
return("Armed");
}
return("Motor not found");
}));
}
public FlightRoutes(Webserver.Webserver server, Controllers.NanoDrone drone) : base(server)
{
AddRoute(new Route("flight/test/:speed", (Request request) =>
{
Task.Run(() =>
{
string speed = request.path[2];
double numericSpeed = double.Parse(speed);
for (double i = 0; i < numericSpeed / 100; i += 0.005)
{
drone.MotorController.Throttle(i);
Task.Delay(500).Wait();
}
for (double i = numericSpeed / 100; i >= 0; i -= 0.005)
{
drone.MotorController.Throttle(i);
Task.Delay(500).Wait();
}
});
return("");
}));
AddRoute(new Route("flight/shutdown", (Request request) =>
{
drone.Stop();
return("");
}));
AddRoute(new Route("flight/start", (Request request) =>
{
drone.Start();
return("");
}));
}
public OrientationRoutes(Webserver.Webserver server, Controllers.NanoDrone drone) : base(server)
{
/* Routes for getting the current orientation */
AddRoute(new Route("orientation/yaw", (Request request) => {
return(drone.OrientationController.Yaw.ToString());
}));
AddRoute(new Route("orientation/pitch", (Request request) => {
return(drone.OrientationController.Pitch.ToString());
}));
AddRoute(new Route("orientation/roll", (Request request) => {
return(drone.OrientationController.Roll.ToString());
}));
AddRoute(new Route("orientation/all", (Request request) =>
{
return(string.Format("{0}|{1}|{2}", drone.OrientationController.Yaw, drone.OrientationController.Pitch, drone.OrientationController.Roll));
}));
/* routes for enabling, disabling and getting auto mode */
AddRoute(new Route("orientation/auto/enable", (Request request) =>
{
bool result = drone.OrientationController.Enable();
return(string.Format("Enabling orientation assist, result: {0}", result));
}));
AddRoute(new Route("orientation/auto/disable", (Request request) =>
{
bool result = drone.OrientationController.Disable();
return(string.Format("Disabling orientation assit, result: {0}", result));
}));
AddRoute(new Route("orientation/auto", (Request request) =>
{
return(drone.OrientationController.Running.ToString());
}));
}
