どうしてもPerlでドローンを飛ばしたい人のためのハードウェアハック概論

by mackee

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Ͳ͏ͯ͠΋PerlͰ υϩʔϯΛ ඈ͹͍ͨ͠ ਓͷͨΊͷϋʔυ΢Σ ΞϋοΫ֓࿦ Ϛίϐʔ a.k.a mackee_w ໘ന๏ਓΧϠοΫ YAPC::Asia 2015  2015-08-21 #yapcasiaC

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͜Μʹͪ͸

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@mackee_w a.k.a Ϛίϐʔ  ໘ന๏ਓΧϠοΫ ࢓ࣄ ιʔγϟϧήʔϜͷ αʔόαΠυΤϯδχΞ  ӡ༻&։ൃ ओʹPerlͱGolang

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1िؒલʹϦϦʔε͠·ͨ͠ PR

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࿩୊ʹग़͔ͨ͠Βʹ͸ ͪΐͬͱຊ୊ʹͭͳ͍͛ͯ͘ ΜͰ͚͢ΕͲ

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Pocket Footballer(PSGI) yellowpages (Go)

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ෳ਺ͷΞʔΩςΫνϟͰ ໾ׂΛ෼୲ͯ͠ Ұͭͷ໨తΛୡ੒͢Δ

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ϋʔυ΢ΣΞʹ΋ಉ͡Α͏ͳ ͜ͱ ద༻Ͱ͖ͳ͍͔ͱ͍͏࿩Λ͠ ·͢

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Agenda (લ൒ઓ) • ങͬͨΫΞουίϓλʔΛ֎෦͔Βૢ࡞͢Δ • ిؾతհೖ • ͦΕͰ΋μϝͳΒྫ͑͹෺ཧͰ཈͑͜Ή • ΈΜͳେ޷͖ి೾ͷ࿩ • ৐ͬऔΔͷ͕μϝͳΒج൘͝ͱೖΕସ͑Δ

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• ങͬͨΫΞουίϓλʔΛ֎෦͔Βૢ࡞͢Δ • ిؾతհೖ • ͦΕͰ΋μϝͳΒྫ͑͹෺ཧͰ཈͑͜Ή • ΈΜͳେ޷͖ి೾ͷ࿩ • ৐ͬऔΔͷ͕μϝͳΒج൘͝ͱೖΕସ͑Δ Agenda (લ൒ઓ)

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͕࣌ؒ༨ͬͨΒΞΠσΟΞϨ ϕϧͰ͕͢ ×ͷ෦෼Λ࿩ͦ͏͔ͱ

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Agenda (ޙ൒ઓ) • ͕Μ͹ͬͯΫΞουίϓλʔΛ࡞Δ • ΫΞουίϓλʔͷߏ੒ཁૉ • AmazonͰύʔπΛങ͍ͬͯ͘ • PerlͰૢ࡞ͯ͠ΈΔ

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ͬͪ͜͸ͳΜͱ͔ͳͬͨ ͷͰָ͓͠Έʹ

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ങ͖ͬͯͨυϩʔϯΛ ૢ࡞͢Δ

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τΠϔϦ(ʙ̎ສԁ)

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Parrotͷυϩʔϯ(3ສԁʙ)

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DJI Phantom(10ສԁʙ)

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Ready To Fly • ϓϩϙ(ૹ৴ػ)ͱຊମ͕ηοτͰೖ͍ͬͯΔౕ • ϖΞϦϯάࡁΈ ௐ੔ࡁΈ • ໨తͱͯ͠͸ۭࡱ or ඈߦ

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ిؾతհೖ

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DJI Phantom • ͜Μͳײ͡ͷίϯτϩʔϥ͕ೖ͍ͬͯΔ

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DJI Phantom • ͜Μͳײ͡ͷίϯτϩʔϥ͕ೖ͍ͬͯΔ →Ϟʔλʔ ϓϩϙˠ

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NAZAͱ͍͏ίϯτϩʔϥ • த਎Ͳ͏ͳ͍ͬͯΔͷ͔ෆ໌ • WindowsͰPID஋Λ͍͡Διϑτ͕͋Δ͚Ε Ͳɺϓϩτίϧͱ͔Θ͔Βͳ͍ • ϋοΫ͢Δޱ͸ͳ͍ͷͰ͸ɾɾɾɾʁ

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ϒϥοΫϘοΫεతʹ ϋοΫ͍ͯ͘͠

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ϓϩϙͷग़͢৴߸ • ݹ͖ྑ͖αʔϘ1ຊʹ͖ͭ1ຊͷέʔϒϧΛ࢖ ͏৴߸ = PWM (Pulse Width Modulation) • ύϧε෯੍ޚ • 0ͱ1ͷ࣌ؒͷ௕͞Ͱ஋ΛܾΊΔ

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೾ܗΛݟͯΈΔ

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೾ܗΛݟͯΈΔ ͜͜ͷ෯͕஋

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ϋʔυ΢ΣΞߏ੒

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ϋʔυ΢ΣΞߏ੒ Firmata (UART) PWM

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ೖΔ͔ͳʔೖΔ͔ͳʔ

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RaspberryPi͕ͬ͢ΆΓऩ·Δ

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Firmata • ArduinoΈ͍ͨͳϚΠίϯͱPCؒͷ௨৴ϓϩτί ϧ UART(Serial)Λ༻͍Δͷ͕جຊ • MIDIϕʔε • ArduinoIDEͷඪ४ϥΠϒϥϦͰ࢖͏͜ͱ͕ग़དྷΔ • PerlͩͱDevice::Firmata͕CPANʹ͋Δ

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ArduinoͰͷPWMग़ྗ • analogWriteͱ͍͏ͷ͕͋Δ͕͜Ε͸ແࢹ(0-255 ·Ͱͷ஋͔͠औΕͳ͍ɻͦͷ͏ͪ࢖͑Δͷ͸͘͝ Θ͔ͣͰਫ਼౓͕ѱ͍) • Arduinoʹ͸αʔϘϞʔλͷϥΠϒϥϦ͕͋Δͷ ͰͦΕΛ࢖͏ɻus୯ҐͰॻ͖ࠐΊΔ • ϓϩϙ৴߸͸௨ৗ1000us - 2000usͷؒΛऔΔ

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RaspberryPiଆͷϓϩάϥϜ • OpenCVΛ૊Έ߹ΘͤΔؔ܎্ɺ࣮੷ͷ͋Δ PythonΛ࢖༻ • pyﬁrmataͰarduinoͱ௨৴͢ΔϓϩηεͱOpenCV ΍֎෦API͔Βͷૢ࡞Λड͚෇͚ΔϓϩηεΛ෼཭ • ͜ͷؒΛੜιέοτ௨৴ͷςΩετϓϩτίϧͰ΍ ΓͱΓ͢ΔΑ͏ʹͨ͠

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ϘʔυΛ҆શʹ࡞Δ • Phantomͷͱ͖͸հೖ͢ΔϘʔυ͕ڰ͏ͱͲ͔ͬඈΜ Ͱ͍ͬͯ͠·͏ͷͰɺ੾Γସ͑Λඪ४ICΛ࢖ͬͨσΟ εΫϦʔτͷճ࿏Ͱߦ͍ͬͯͨ • 2chϚϧνϓϨΫαICΛԿݸ͔૊Έ߹Θͤͯ࢖͏PWM ΛεΠον • հೖϘʔυ͕ނোͯ͠΋ϓϧΞοϓ఍߅Ͱ͋Δఔ౓ͷ έʔε͸खಈଆʹ੾ΓସΘΔΑ͏ʹ͍ͯͨ͠

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ICͷதͷճ࿏͕༨ͬͨͷͰ • ࢖ͬͨIC͸4053Ͱɺ2chϚϧνϓϨΫα͕3ݸ ೖ͍ͬͯͯɺϓϩϙ৴߸4ͭΛ੾Γସ͑Δʹ͸ 2ͭඞཁ • ͔ͦ͠͠ͷ৔߹2ݸ෼ͷճ࿏͕༨Δ

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ICͷதͷճ࿏͕༨ͬͨͷͰ • ͪͳΈʹհೖճ࿏͸पลػثͷIO͕଍Γͳͯ͘2 ͭ෼ͷArduinoΛࠞࡌ͍ͯͨ͠ • Arduinoͷॻ͖ࠐΈʹ͸UARTΛ࢖͏ • ιϑτ΢ΣΞͰॻ͖ࠐΈઌͷArduinoΛεΠον ͯ͠ܨ͗ม͑ͣʹεέονΛॻ͖ࠐΉΑ͏ʹͨ͠

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લ൒ઓऴྃ

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Agenda (ޙ൒ઓ) • ͕Μ͹ͬͯΫΞουίϓλʔΛ࡞Δ • ΫΞουίϓλʔͷߏ੒ཁૉ • AmazonͰύʔπΛങ͍ͬͯ͘ • PerlͰૢ࡞ͯ͠ΈΔ

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͕Μ͹ͬͯ ΫΞουίϓλʔΛ࡞Δ

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ͷલʹɺΫΞουίϓλʔ͸ ԿނඈͿͷ͔ʁ

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࣮͸ͦΕͧΕճసํ޲͕ҧ͏

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࣮ࡍʹճͯ͠Έͯ ԻͰฉ͍ͯΈΔ

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ΫΞουίϓλʔͷߏ੒ཁૉ ϑϨʔϜ

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ΫΞουίϓλʔͷߏ੒ཁૉ ϒϥγϨεϞʔλʔ

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ΫΞουίϓλʔͷߏ੒ཁૉ ESC(Ξϯϓ)

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ΫΞουίϓλʔͷߏ੒ཁૉ ίϯτϩʔϥʔ

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MultiWii • Arduino + WiiϦϞίϯͷ9࣠ηϯαΛ ࢖ͬͨΦʔϓϯιʔεϓϩδΣΫτ • ΦʔϓϯιʔεͳͷͰNAZAͱҧͬͯ த਎ΛݟΔ͜ͱ͕ग़དྷΔ

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MultiWii

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ΫΞουίϓλʔͷߏ੒ཁૉ όοςϦʔ

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ΫΞουίϓλʔͷߏ੒ཁૉ ϓϩϙͱड৴ػ

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͜ΕΒΛਖ਼ͭ͘͠ͳ͙ͱඈͿʂ

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ϑϨʔϜ

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഑ઢ

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ग़དྷͨͷ͕ίνϥͰ͢

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ඈ͹ͯ͠ΈΔ

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্ख͘ඈ͹ͳ͍࣌͸ • ΊͪΌͪ͘Όૢॎ͕೉͍͠ • খܕͷػମͳͷͰϑΟʔυόοΫ੍ޚΛڧΊ ʹೖΕͯ΍Δඞཁ͕͋Δ • MultiWii͸GUI/CUI͔ΒPID஋Λ͍͡Δ͜ͱ͕ ग़དྷΔ -> DΛߴΊʹͯ҆͠ఆ

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MultiWiiͷνϡʔχϯά MultiWiiConf

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MultiWiiͷνϡʔχϯά https://github.com/c---/MultiWiiCL

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ͦͯ͜͠͏ͳΔ

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Perl͔Βඈ͹ͯ͠ΈΔ

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MultiWii Serial Protocol • MultiWiiͱ͍͏ϓϩδΣΫτͷίϯτϩʔϥΛ ࢖͓ͬͯΓɺத਎͸Φʔϓϯιʔε • UARTͰίϚϯυܦ༝Ͱͷૢ࡞΋Մೳ(PID஋Λ GUI͔Β͍͡ΔϓϩάϥϜ͸͜ΕΛ࢖͍ͬͯΔ) • ͔ͤͬ͘ͳͷͰϞδϡʔϧΛ࡞ͬͨ

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Device::MultiWii Protocol::MultiWii

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͜Μͳײ͡ use Device::MultiWii; my $port = "/dev/tty.usbserial"; my $mw = Device::MultiWii->new(port => $port); is exception { $mw->open }, undef; my $ident = $mw->fetch_ident; cmp_deeply $ident, { version => 230, multitype => 3, capability => ignore(), };

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͜Μͳײ͡ my $rc = $mw->fetch_rc; cmp_deeply $rc, { yaw => 1500, pitch => 1500, roll => 1500, throttole => 1500, auxs => ignore(), }; $rc->{yaw} = 1400; ok $mw->set_raw_rc(%$rc); $refetched_rc = $mw->fetch_rc; cmp_deeply $refetched_rc, { yaw => 1400, pitch => 1500, roll => 1500, throttole => 1500, auxs => ignore(), };

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໰୊఺ ৗʹૹΓଓ͚ͳ͍ͱ ϓϩϙ৴߸Ͱ্ॻ͖͞ΕΔ

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MSPʹΑΔRC্ॻ͖ͷ࢓૊Έ MSP(UART) PWM

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MSPʹΑΔRC্ॻ͖ͷ࢓૊Έ 1. MSPͰRC্ॻ͖

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MSPʹΑΔRC্ॻ͖ͷ࢓૊Έ 1. MSPͰRC্ॻ͖ 2. Χ΢ϯλ͕50ʹηοτ͞Εͯ ͦͷؒ͸্ॻ͖

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MSPʹΑΔRC্ॻ͖ͷ࢓૊Έ 1. MSPͰRC্ॻ͖ 2. Χ΢ϯλ͕50ʹηοτ͞Εͯ ͦͷؒ͸্ॻ͖ ←͜ͷΧ΢ϯλ͕ ҰॠͰ0ʹͳΔʂʂʂ

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MSPʹΑΔRC্ॻ͖ͷ࢓૊Έ 1. MSPͰRC্ॻ͖ 2. Χ΢ϯλ͕50ʹηοτ͞Εͯ ͦͷؒ͸্ॻ͖ ←͜ͷΧ΢ϯλ͕ ҰॠͰ0ʹͳΔʂʂʂ 3. ͬͪ͜ͷ৴߸Ͱ ্ॻ͖͞ΕΔ

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֘౰෦෼ͷίʔυ if (chan<8 && rcSerialCount > 0) { rcSerialCount --; #if defined(FAILSAFE) failsafeCnt = 0; #endif if (rcSerial[chan] >900) { rcData[chan] = rcSerial[chan]; } }

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͜͏ม͑ͨίʔυ if ( chan<8 && (rcData4Values[AUX1][rc4ValuesIndex] > 1800 || rcSerialCount > 0)) { rcSerialCount --; #if defined(FAILSAFE) failsafeCnt = 0; #endif if (rcSerial[chan] >900 && (chan == ROLL || chan == PITCH || chan == THROTTLE || chan == YAW)) { rcData[chan] = rcSerial[chan]; } }

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AUXΛεΠονϯάʹ࢖͏ • εςΟοΫҎ֎ʹ͍Ζ ͍ΖεΠονͱ͔͍ͭ ͍ͯΔ͚ΕͲɺ͜Εͷ ஋΋ૹ৴Ͱ͖Δ -> AUX • ࠓճ͸ӈ্ͷεΠον ΛAUX1ʹׂΓ౰ͯͨ

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ͯ͞Perl͔Β࢖͑ΔΑ͏ʹ ͳͬͨͷͰ

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Q: Perl͕ಈ͘ೖख༰қͷதͰ ΋ͬͱ΋ϑοτϓϦϯτখ͞ ͍ίϯϐϡʔλ͸ʁ

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Raspberry Pi

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Raspberry Pi 85.60 mm × 56.5 mm

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Raspberry Pi 85.60 mm × 56.5 mm

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Intel Edison

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Intel Edison 35.5mm × 25.0mm

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Intel Edison + Breakout Board 61mm x 29mm

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Intel Edison + Breakout Board 61mm x 29mm

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Intel Edison • 500MHz Atom σϡΞϧίΞ (x86ͩʂʂʂʂ) • ϔϦ੎ͱͯ͠͸7V - 15Vͷిݯ͕৯͑ΔͷͰ3 ηϧLiPo12V͕ͦͷ··৯͑Δͷ͕͏Ε͍͠ • RasPiʹ͍͍ͭͯͳ͍WiFi ͱ BT ͕͋Δ

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Intel Edison meets MultiWii • Edison͸UARTΛ2ܥ౷͍࣋ͬͯΔ͕Ϩϕϧม׵͕ ඞཁ(1.8V IO)ͳͷͰOTGέʔϒϧͰUSB-UARTม ׵Λհͯ͠઀ଓɻϋϯμ෇͚ෆཁͩʂ • Breakout boardఈ໘ʹ2.54mmϐονͷϗʔϧ͕ ۭ͍͍ͯΔ͕͜ͷ഑ஔͩͱϒϨουϘʔυʹͤ͞ ͳ͍ͷͰळ݄ిࢠͷม׵Ϙʔυ͕࣮ݧ༻ʹ͸͓͢ ͢ΊͰ͢

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ىಈͯ͠ΈΔ (ةͳ͍ͷͰӋͳ͠Ͱ͢)

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EdisonʹೖΕͨ΋ͷ • plenv (System PerlͷίΞϞδϡʔϧ͕ශ૬Ͱ opkgͰಥͬࠐΈ·͘Βͳ͍ͱ͍͚ͳ͍) • mackerel-agent(ωλ࿮ɻόοςϦʔిѹͱ͔ ߴ౓ͱ͔ܭଌͰ͖ͨΒ౤͛ͯ΋͍͍͔΋)

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Slack௨஌ೖΕ͍ͯΔͷͰ ى͖Δ·Ͱ଴ͬͯΈ·͢

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جຊCRITICALͰىಈͨ࣌͠ʹ OKʹͳΔײ͡Ͱ෺૽

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Perl͔Βૢ࡞͢Δ͚ͩͰ͸෺ ଍Γͳ͍ͷͰ ͪ͜ΒΛPerlͰಡΈ·͢

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LeapMotion

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LeapMotion • Ұ࣌ظ࿩Λฉ͔ͳ͘ͳΓ·͕ͨ͠ɺࠓͰ͸ OculusͳͲͷVRϔουηοτʹ෇͚ͯࣗ෼ͷ खΛVRʹු͔͹ͤΔ༻్Ͱ෮ݖ͖͍ͯͯ͠Δ • ࠷ۙਫ਼౓্͕͕ͬͨΒ͍͠(͍ͭ࠷ۙങͬͨͷ ͰΑ͘Θ͔Βͳ͍Ͱ͕͢……)

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LeapMotion x QuadCopter • WebSocketͰܨ͛ΒΕΔͷͰPerl͔ΒͰ΋৘ ใΛऔΔ͜ͱ͕ग़དྷΔ • ͜͜Ͱ͸AnyEvent::LeapMotionΛ࢖͏ • ϓϩϙ͡Όͳͯ͘खͷͻΒ͚ͩͰු͔ͤͯΈ Δ

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σϞ

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݁ߏݫ͍͠ɾɾɾ

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No content

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1. खͷ܏͖ΛऔΔ

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1. खͷ܏͖ΛऔΔ 2. Edisonʹཱ͍ͬͯΔPSGIʹ ϦΫΤετΛ౤͛Δ

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1. खͷ܏͖ΛऔΔ 2. Edisonʹཱ͍ͬͯΔPSGIʹ ϦΫΤετΛ౤͛Δ 3. PSGIͷதͰDevice::MultiWiiʹ ॻ͖ࠐΈ

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1. खͷ܏͖ΛऔΔ 2. Edisonʹཱ͍ͬͯΔPSGIʹ ϦΫΤετΛ౤͛Δ 3. PSGIͷதͰDevice::MultiWiiʹ ॻ͖ࠐΈ 4. ΪϡΠϯΪϡΠʔϯʂ

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·ͱΊ • ϋʔυ΢ΣΞϋοΫʹ͸༷ʑͳํ๏͕͋Δ͕ɺ ΍͸Γத਎͕෼͔͍ͬͯΔ΋ͷΛ৐ͬऔΔͷ ͕Ұ൪༰қ͍ • υϩʔϯ͸࡞ΕΔɹΈΜͳ࡞Ζ͏ • Perl͔Βૢ࡞Ͱ͖Ε͹͍ΖΜͳ͍͍͜ͱ΍ѱ͍ ͜ͱ͕ग़དྷָ͍ͯ͠Ͷʂ

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ϙέοτϑοτϘʔϥʔͰݕࡧ PR

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ڈ೥ͷҾ͖ଓ͖શһਓࣄ෦

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͋Γ͕ͱ͏͍͟͝·ͨ͠

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ී௨ͷϔϦͷ࢓૊Έ

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ΫΞουίϓλʔͷ৔߹ • ্ঢԼ߱ • શମͷճస਺ͷ্͛Լ͛ • ԣͷҠಈ(ϩʔϧ) • ࠨӈͷճస਺Ͱ܏͔ͤΔ • લޙͷҠಈ(ϐον) • લޙͷճస਺Ͱ܏͔ͤΔ

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ΊͪΌͪ͘Ό؆୯ͩʂ

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ϔϦͷ৔߹ • ্ঢɺԼ߱ • ڧ͍ऑ͍ ← Θ͔Δ • લޙࠨӈ • ʁʁʁʁʁʁʁʁ

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ϔϦͷϩʔλʔͷ෇͚ࠜΛ Α͘ݟͯΈΑ͏ʂ

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ϔϦͷϩʔλʔͷ෇͚ࠜΛ Α͘ݟͯΈΑ͏ʂ

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εϫογϡϓϨʔτ • ϩʔλʔͷ֯౓͸ճస͢Δ͏ͪʹՄม͢Δ • લʹਐΈ͍ͨ࣌͸ޙΖͷͱ͖ʹཱͯͯલʹདྷ ͨ࣌͸৸͔ͤΔ -> ػମ͕܏͘ • εϫογϡϓϨʔτͳΔ෦඼Ͱʮ͜ͷ֯౓ͷ དྷͨ࣌͸৸͔ͤΔɺཱͨͤΔʯΈ͍ͨͳͷΛ ܾΊ͍ͯΔ