Modes

February 9th, 2015

Modes help you change the basic behavior of Lily. This define what functions are available to the user. Follow means that Lily is always following the user. Watch means that Lily will maintain latest position and point at the user. Manual means that Lily is free to behave.

void set_behavior(uint8_t behavior)
Function:
Sets the mode of Lily
Arguments:
0 - Follow
1 - Watch
2 - Manual
Returns:
Nothing

Code snippet:
lily.set_behavior(0);
// Lily will start to follow the user
uint8_t get_behavior()<-h5>

Function:
Gets the mode or Lily
Arguments:
None
Returns:
Lily’s current mode
Position Control

You can change Lily’s position to be wherever you want. Some of these functions only work in specific modes.

double get_angle_from_user();
Function:
Gets the angle, relative to North, from which Lily follows the user.
Arguments:
None
Returns:
Angle in radians.
void set_angle_from_user(double theta);
Function:
Sets the angle, relative to North, from which Lily follows the user.
Arguments:
Angle in radians.
Returns:
None.
Valid modes:
Follow
double get_distance_from_user();
Function:
Gets the distance from which Lily follows the user.
Arguments:
None
Returns:
Distance in meters.
void set_distance_from_user(double distance);
Function:
Sets the distance from which Lily follows the user.
Arguments:
Distance in meters.
Returns:
None.
Valid modes:
Follow
void set_relative_position(double theta, double, distance);
Function:
Sets the distance and angle, relative to North, from which Lily follows the user.
Arguments:
Angle in radians, and distance in meters.
Returns:
None.
Valid modes:
Follow
Vector3d get_absolute_position();
Function:
Gets the global position of Lily.
Arguments:
None.
Return:
{lattitude in degrees, longitude in degrees, altitude in WGS84}
void set_absolute_position(Vector3d position);
Function:
Sets the global position of Lily.
Arguments:
{lattitude in degrees, longitude in degrees, altitude in }
Return:
None
Valid modes:
Watch, Manual
double get_attitude();
Function:
Gets the altitude of Lily.
Arguments:
None.
Returns:
Altitude in .
double get_max_speed();
Function:
Gets the software speed limit of Lily.
Arguments:
None.
Returns:
Speed limit in m/s.
void set_max_speed(double mps);
Function:
Sets the software speed limit of Lily.
Arguments:
Speed limit in m/s.
Returns:
None.
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