circle script

"""

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:

        with MotionCommander(scf) as mc:

            mc.up(0.4)

            time.sleep(1.5)

            for i in range(2):

                mc.start_linear_motion(0.0, -0.12179274798194117, 0.6122934917841437)

                time.sleep(0.25)

                mc.start_linear_motion(0.0, -0.34683640211958267, 0.5190773581143323)

                time.sleep(0.25)

                mc.start_linear_motion(0.0, -0.5190773581143324, 0.3468364021195829)

                time.sleep(0.25)

                mc.start_linear_motion(0.0, -0.6122934917841437, 0.12179274798194117)

                time.sleep(0.25)

                mc.start_linear_motion(0.0, -0.6122934917841437, -0.12179274798194117)

                time.sleep(0.25)

                mc.start_linear_motion(0.0, -0.5190773581143324, -0.34683640211958267)

                time.sleep(0.25)

                mc.start_linear_motion(0.0, -0.3468364021195829, -0.5190773581143324)

                time.sleep(0.25)

                mc.start_linear_motion(0.0, -0.12179274798194117, -0.6122934917841436)

                time.sleep(0.25)

                mc.start_linear_motion(0.0, 0.12179274798194095, -0.6122934917841437)

                time.sleep(0.25)

                mc.start_linear_motion(0.0, 0.3468364021195829, -0.5190773581143325)

                time.sleep(0.25)

                mc.start_linear_motion(0.0, 0.5190773581143316, -0.34683640211958244)

                time.sleep(0.25)

                mc.start_linear_motion(0.0, 0.6122934917841443, -0.12179274798194162)

                time.sleep(0.25)

                mc.start_linear_motion(0.0, 0.6122934917841444, 0.1217927479819414)

                time.sleep(0.25)

                mc.start_linear_motion(0.0, 0.5190773581143318, 0.34683640211958244)

                time.sleep(0.25)

                mc.start_linear_motion(0.0, 0.34683640211958267, 0.5190773581143315)

                time.sleep(0.25)

                mc.start_linear_motion(0.0, 0.12179274798194162, 0.6122934917841443)

                time.sleep(0.25)

            mc.stop()

            time.sleep(1.5)

import numpy as np

n_points = 16

radius = 0.4

time_for_segment = 4/n_points

y_points = np.arange(n_points+1, dtype=np.float64)

z_points = np.arange(n_points+1, dtype=np.float64)

y_points = [x * 2*np.pi/n_points for x in y_points]

z_points = [x * 2*np.pi/n_points for x in z_points]

y_points = [np.cos(x) for x in y_points]

z_points = [np.sin(x) for x in z_points]

y_points = [x * 0.4 for x in y_points]

z_points = [x * 0.4 for x in z_points]

y_diff = [y_points[i+1]-y_points[i] for i in range(n_points)]

z_diff = [z_points[i+1]-z_points[i] for i in range(n_points)]

y_velocity = [y_diff[i]/time_for_segment for i in range(n_points)]

z_velocity = [z_diff[i]/time_for_segment for i in range(n_points)]

for i in range(n_points):

    print("mc.start_linear_motion(0.0,", y_velocity[i], ",", z_velocity[i], ")\ntime.sleep(", time_for_segment, ")")

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