Mind Control Drone

1/*
2 * Drone mind control
3 * 
4 * This sketch sends Serial values  to an receiver  receiver 
5 * 
6 * The input is generated via a Neurosky MindSet  Mobile headset
7 * 
8 * Created 21 March 2018
9 * By Wesley Hartogs 
10 *  Communication and Multimedia Design
11 * Avans University of Applied Sciences
12  * 
13 * 
14 */
15
16// import Serial libary
17import processing.serial.*;
18
19//  Define receiver  Serial
20Serial receiver ;
21
22
23// Import MindSet libary
24import  pt.citar.diablu.processing.mindset.*;
25MindSet mindSet;
26
27// Set inital values
28int  throttle   = 0;
29int yaw        = 127;
30int pitch      = 127;
31int roll       =  127;
32
33
34void setup() {
35
36  size(150, 500);
37
38  // Initiate Serial  communication at COM10 
39  receiver  = new Serial(this, "COM10", 115200);
40
41  // Initiate MindSet communication
42  // The MindSet uses Bluetooth Serial communication,  
43  // Check the COM-pot in the ThinkGear Connector in your Device Manager
44  mindSet = new MindSet(this, "COM5");
45
46  // Enable anti-aliassing
47  smooth();
48
49  // Set stroke properties
50  strokeWeight(5);
51  stroke(255);
52  strokeCap(SQUARE);
53
54  // Set line colour
55  fill(255);
56  
57} // setup()
58
59
60void draw()
61{
62  // Start with a black background
63  background(0);
64
65  // Draw horizontal  line to at 40% from bottom
66  // This line indicates the minimum (40%) attention  needed
67  line( 0, height*0.60, width, height*.60);
68
69  // Draw a line from  the horizontal center upwards
70  // This line gives an indication of your attention
71  // The height is mapped in reverse to get a percentage from top
72  // Example:  by 40% (0.4) attention the height value is (100 - 40) 60% (0.6) from top
73  line(  width*.5, height, width*.5, height*map( float( attentionLevel ) / 100, 0, 1, 1,  0 ) );
74
75  // Push the attention level to the throttle variable
76  // 40  = minimum attention needed to do something
77  // 100 = maximum attention
78  //  30 = 8-bit min value for Arduino
79  // 255 = 8-bit max value for Arduino
80  throttle  = int( map( attentionLevel, 40, 100, 30, 255 ) );
81
82  // Constrain values to  8 bit values to prevent errors
83  throttle    = constrain( throttle,  0, 255);
84  pitch       = constrain( pitch,     0, 255);
85  roll        = constrain( roll,      0, 255);
86  yaw         = constrain( yaw,       0, 255);
87
88  // When  there is communication possible send the values to the Arduino receiver 
89  if  ( receiver .available() > 0) 
90  {  
91    println( "attentionLevel: "+attentionLevel+"  throttle: "+throttle+" yaw: "+yaw+" pitch: "+pitch+" roll: "+roll );
92    receiver .write( "throttle: "+throttle+" yaw: "+yaw+" pitch: "+pitch+"  roll: "+roll );
93  }
94  
95} // draw()
96
97// Killswitch, press K to reset  and close the program
98void keyPressed() {
99  if (key == 'k' || key == ESC)  { 
100    if ( receiver .available() > 0) 
101    {  
102      receiver .write("throttle:  "+0+" yaw: "+127+" pitch: "+127+" roll: "+127);
103      exit();
104    }
105  }
106}
107
108
109// MindSet variables and functions
110int signalStrenght = 0;
111int  attentionLevel = 0;
112
113public void attentionEvent( int attentionLevel_val )  
114{
115  attentionLevel = attentionLevel_val;
116}
117
118// This function is  activated when the connection with the MindSet is not optimal
119public void poorSignalEvent(  int signalNoise ) 
120{
121  // MindSet is adjusting
122  if ( signalNoise == 200  ) {
123    println( "Mindset is not touching your skin!" );
124  }
125
126  //  Map the signal strenght to a percentage
127  signalStrenght = int( map( ( 200-signalNoise  ), 200, 0, 100, 0 ) );
128  println( "Signal strength: " + signalStrenght + "%"  );
129}

1/*
2 * Drone control
3 * 
4 * This sketch receives Serial input  values (from processing) and sends these values to the hacked controller.
5 *  Use this program only with the Arduino MKR1000 (or another 3.3 volt output based  Arduino)
6 * 
7 * The circuit:
8 * - 4 Low Pass filters with 100 µF capacitors  and 220Ω resistors
9 * - Hacked drone controller
10 * 
11 * Created 21 March  2018
12 * By Wesley Hartogs 
13 * Communication and Multimedia Design
14 * Avans  University of Applied Sciences
15 * 
16 * Use this sketch at your own risk.
17  * 
18 */
19
20// Set initial values
21int throttle  = 0;
22int yaw       =  255/2; // 3.3v / 2
23int pitch     = 255/2; // 3.3v / 2
24int roll      = 255/2;  // 3.3v / 2
25
26int throttlePin   = 2; // PWM
27int yawPin        = 3; // PWM
28int  pitchPin      = 4; // PWM
29int rollPin       = 5; // PWM
30
31
32void setup()  {
33
34  // Begin Serial communication at 115200 baud
35  Serial.begin( 115200  );
36
37  // Set pinModes
38  pinMode( throttlePin,  OUTPUT );
39  pinMode(  yawPin,       OUTPUT );
40  pinMode( pitchPin,     OUTPUT );
41  pinMode( rollPin,      OUTPUT );
42}
43
44void loop() {
45  // When there is an Serial connection  available, get the values
46  if ( Serial.available() > 0 ) {
47    throttle    =  Serial.parseInt();    // Store first interger value from Serial buffer
48    yaw         = Serial.parseInt();    // Store second interger value from Serial buffer
49    pitch       = Serial.parseInt();    // Store third interger value from Serial  buffer
50    roll        = Serial.parseInt();    // Store fourth interger value  from Serial buffer
51  }
52
53  // Write values to the drone controller
54  //  Use a low pass filter or DAC (digital to analog converter) to convert PWM to an  analog voltage
55  analogWrite( throttlePin,  throttle );
56  analogWrite( yawPin,       yaw      );
57  analogWrite( pitchPin,     pitch    );
58  analogWrite(  rollPin,      roll     );
59}
60
61
62
63
64
65
66
67
68

1/*
2 * Drone mind control
3 * 
4 * This sketch sends Serial values
5  to an receiver  receiver 
6 * 
7 * The input is generated via a Neurosky MindSet
8  Mobile headset
9 * 
10 * Created 21 March 2018
11 * By Wesley Hartogs 
12 *
13  Communication and Multimedia Design
14 * Avans University of Applied Sciences
15
16  * 
17 * 
18 */
19
20// import Serial libary
21import processing.serial.*;
22
23//
24  Define receiver  Serial
25Serial receiver ;
26
27
28// Import MindSet libary
29import
30  pt.citar.diablu.processing.mindset.*;
31MindSet mindSet;
32
33// Set inital values
34int
35  throttle   = 0;
36int yaw        = 127;
37int pitch      = 127;
38int roll       =
39  127;
40
41
42void setup() {
43
44  size(150, 500);
45
46  // Initiate Serial
47  communication at COM10 
48  receiver  = new Serial(this, "COM10", 115200);
49
50
51  // Initiate MindSet communication
52  // The MindSet uses Bluetooth Serial communication,
53  
54  // Check the COM-pot in the ThinkGear Connector in your Device Manager
55
56  mindSet = new MindSet(this, "COM5");
57
58  // Enable anti-aliassing
59  smooth();
60
61
62  // Set stroke properties
63  strokeWeight(5);
64  stroke(255);
65  strokeCap(SQUARE);
66
67
68  // Set line colour
69  fill(255);
70  
71} // setup()
72
73
74void draw()
75{
76
77  // Start with a black background
78  background(0);
79
80  // Draw horizontal
81  line to at 40% from bottom
82  // This line indicates the minimum (40%) attention
83  needed
84  line( 0, height*0.60, width, height*.60);
85
86  // Draw a line from
87  the horizontal center upwards
88  // This line gives an indication of your attention
89
90  // The height is mapped in reverse to get a percentage from top
91  // Example:
92  by 40% (0.4) attention the height value is (100 - 40) 60% (0.6) from top
93  line(
94  width*.5, height, width*.5, height*map( float( attentionLevel ) / 100, 0, 1, 1,
95  0 ) );
96
97  // Push the attention level to the throttle variable
98  // 40
99  = minimum attention needed to do something
100  // 100 = maximum attention
101  //
102  30 = 8-bit min value for Arduino
103  // 255 = 8-bit max value for Arduino
104  throttle
105  = int( map( attentionLevel, 40, 100, 30, 255 ) );
106
107  // Constrain values to
108  8 bit values to prevent errors
109  throttle    = constrain( throttle,  0, 255);
110
111  pitch       = constrain( pitch,     0, 255);
112  roll        = constrain( roll,
113      0, 255);
114  yaw         = constrain( yaw,       0, 255);
115
116  // When
117  there is communication possible send the values to the Arduino receiver 
118  if
119  ( receiver .available() > 0) 
120  {  
121    println( "attentionLevel: "+attentionLevel+"
122  throttle: "+throttle+" yaw: "+yaw+" pitch: "+pitch+" roll: "+roll );
123
124    receiver .write( "throttle: "+throttle+" yaw: "+yaw+" pitch: "+pitch+"
125  roll: "+roll );
126  }
127  
128} // draw()
129
130// Killswitch, press K to reset
131  and close the program
132void keyPressed() {
133  if (key == 'k' || key == ESC)
134  { 
135    if ( receiver .available() > 0) 
136    {  
137      receiver .write("throttle:
138  "+0+" yaw: "+127+" pitch: "+127+" roll: "+127);
139      exit();
140    }
141
142  }
143}
144
145
146// MindSet variables and functions
147int signalStrenght = 0;
148int
149  attentionLevel = 0;
150
151public void attentionEvent( int attentionLevel_val )
152  
153{
154  attentionLevel = attentionLevel_val;
155}
156
157// This function is
158  activated when the connection with the MindSet is not optimal
159public void poorSignalEvent(
160  int signalNoise ) 
161{
162  // MindSet is adjusting
163  if ( signalNoise == 200
164  ) {
165    println( "Mindset is not touching your skin!" );
166  }
167
168  //
169  Map the signal strenght to a percentage
170  signalStrenght = int( map( ( 200-signalNoise
171  ), 200, 0, 100, 0 ) );
172  println( "Signal strength: " + signalStrenght + "%"
173  );
174}