Commit 69d3877c authored by Marlene Böhmer's avatar Marlene Böhmer

Added own crazyflie-lib repro as git module.

parent 4a3fd62e
......@@ -16,3 +16,6 @@
[submodule "salt/drone/crazyflie-lib-python"]
path = salt/drone/crazyflie-lib-python
url = https://github.com/bitcraze/crazyflie-lib-python.git
[submodule "salt/drone/my-crazyflie-lib-python"]
path = salt/drone/my-crazyflie-lib-python
url = git@git.nt.uni-saarland.de:s9meboeh/crazyflie-lib-python.git
"""
This script shows a simple scripted flight path using the MotionCommander class.
Simple example that connects to the crazyflie at `URI` and runs a
sequence. Change the URI variable to your Crazyflie configuration.
"""
import logging
import time
import cflib.crtp
from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
from cflib.positioning.motion_commander import MotionCommander
URI = 'radio://0/80/2M'
# Only output errors from the logging framework
logging.basicConfig(level=logging.ERROR)
if __name__ == '__main__':
# Initialize the low-level drivers (don't list the debug drivers)
cflib.crtp.init_drivers(enable_debug_driver=False)
with SyncCrazyflie(URI) as scf:
# We take off when the commander is created
with MotionCommander(scf) as mc:
print('Taking off!')
time.sleep(1)
# There is a set of functions that move a specific distance
# We can move in all directions
print('Moving forward 0.5m')
mc.forward(0.5)
# Wait a bit
time.sleep(1)
print('Moving up 0.2m')
mc.up(0.2)
# Wait a bit
time.sleep(1)
print('Doing a 180deg circle')
mc.circle_right(0.1, velocity=0.1, angle_degrees=180)
print('Moving down 0.2m')
mc.down(0.2)
# Wait a bit
time.sleep(1)
print('Moving forward 0.5m')
mc.forward(0.5)
# We land when the MotionCommander goes out of scope
print('Landing!')
"""
This script shows a simple scripted flight path using the MotionCommander class.
Simple example that connects to the crazyflie at `URI` and runs a
sequence. Change the URI variable to your Crazyflie configuration.
"""
import logging
import time
import cflib.crtp
from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
from cflib.positioning.motion_commander import MotionCommander
URI = 'i2c://42'
# Only output errors from the logging framework
logging.basicConfig(level=logging.ERROR)
if __name__ == '__main__':
# Initialize the low-level drivers (don't list the debug drivers)
cflib.crtp.init_drivers(enable_debug_driver=False)
with SyncCrazyflie(URI) as scf:
# We take off when the commander is created
with MotionCommander(scf) as mc:
print('Taking off!')
time.sleep(1)
# There is a set of functions that move a specific distance
# We can move in all directions
print('Moving forward 0.5m')
mc.forward(0.5)
# Wait a bit
time.sleep(1)
print('Moving up 0.2m')
mc.up(0.2)
# Wait a bit
time.sleep(1)
print('Doing a 180deg circle')
mc.circle_right(0.1, velocity=0.1, angle_degrees=180)
print('Moving down 0.2m')
mc.down(0.2)
# Wait a bit
time.sleep(1)
print('Moving forward 0.5m')
mc.forward(0.5)
# We land when the MotionCommander goes out of scope
print('Landing!')
pigpio:
pkg.installed
python3-setuptools:
pkg.installed
cf_lib_dir:
file.directory:
- name: /opt/crazyflie-lib-python
- user: rna
- group: rna
- recurse:
- user
- group
cf_lib_repro:
file.recurse:
- name: /opt/crazyflie-lib-python
- source: salt://drone/my-crazyflie-lib-python
- clean: True
- user: rna
- group: rna
- file_mode: keep
cf_lib_build:
cmd.run:
- name: python3 setup.py install
- cwd: /opt/crazyflie-lib-python
- watch:
- file: cf_lib_repro
- require:
- file: cf_lib_repro
flightscripts:
file.managed:
- name: /home/rna/flightscript.py
- source: salt://drone/flightscript.py
- user: rna
- group: rna
- mode: 777
- template: jinja
Subproject commit 6c41a1033564fda8b1061407d3b9751d8d8d407e
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