circle script

salt/drone/scripts/circle_flightscript.py

+"""
+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)

salt/drone/scripts/velocity_point_generation.py

+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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