Commit c7b26111 authored by Marlene Böhmer's avatar Marlene Böhmer
Browse files

update scripts, PRRT, cflib

parent 550cf702

crazyflie-lib-python @ b3ef5eb2

Compare b9612f7d to b3ef5eb2
Changes for salt/drone/crazyflie-lib-python: 1 added line, 1 removed line.
Original line number Diff line number Diff line 
Subproject commit b9612f7d1905e98d4d22fa2367f144c6cd5c0ad0
 
Subproject commit b3ef5eb222f83f71a5d0a6e7ab29965783e51523

salt/drone/scripts/bridge.py

+1 −2
Changes for salt/drone/scripts/bridge.py: 1 added line, 2 removed lines.
Original line number Diff line number Diff line 
#!/usr/bin/env python

#!/usr/bin/env python3



import logging

import sys
@@ -176,4 +176,3 @@ if __name__ == '__main__': 
    except KeyboardInterrupt:

        print('\n')

        bridge.stop()

salt/drone/scripts/circle_flightscript.py

+31 −21
Changes for salt/drone/scripts/circle_flightscript.py: 31 added lines, 21 removed lines.
Original line number Diff line number Diff line 
"""

This script shows a simple scripted flight path using the MotionCommander class.

#!/usr/bin/env python3



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 sys



import cflib.crtp

from cflib.crazyflie.syncCrazyflie import SyncCrazyflie

from cflib.positioning.motion_commander import MotionCommander



URI = ''



if len(sys.argv) >= 2:

    if sys.argv[1] == 'radio':

        URI = 'radio://0/80/2M'

    elif sys.argv[1] == 'prrt':

        URI = 'prrt://10.8.0.208:5000'

    elif sys.argv[1] == 'serial':

        URI = 'serial://pi'

    else:

        sys.exit('Give a valid argument.')

else:

    sys.exit('Give a commandline argument.')



# Only output errors from the logging framework

logging.basicConfig(level=logging.ERROR)
@@ -21,42 +30,43 @@ if __name__ == '__main__': 
    cflib.crtp.init_drivers(enable_debug_driver=False)



    with SyncCrazyflie(URI) as scf:

        # n_points = 16 radius = 0.4 circle_time = 4

        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)

                mc.start_linear_motion(0.0, -0.121792748 , 0.6122934918 )

                time.sleep( 0.25 )

                mc.start_linear_motion(0.0, -0.34683640211958267, 0.5190773581143323)

                mc.start_linear_motion(0.0, -0.3468364021 , 0.5190773581 )

                time.sleep( 0.25 )

                mc.start_linear_motion(0.0, -0.5190773581143324, 0.3468364021195829)

                mc.start_linear_motion(0.0, -0.5190773581 , 0.3468364021 )

                time.sleep( 0.25 )

                mc.start_linear_motion(0.0, -0.6122934917841437, 0.12179274798194117)

                mc.start_linear_motion(0.0, -0.6122934918 , 0.121792748 )

                time.sleep( 0.25 )

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

                mc.start_linear_motion(0.0, -0.6122934918 , -0.121792748 )

                time.sleep( 0.25 )

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

                mc.start_linear_motion(0.0, -0.5190773581 , -0.3468364021 )

                time.sleep( 0.25 )

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

                mc.start_linear_motion(0.0, -0.3468364021 , -0.5190773581 )

                time.sleep( 0.25 )

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

                mc.start_linear_motion(0.0, -0.121792748 , -0.6122934918 )

                time.sleep( 0.25 )

                mc.start_linear_motion(0.0, 0.12179274798194095, -0.6122934917841437)

                mc.start_linear_motion(0.0, 0.121792748 , -0.6122934918 )

                time.sleep( 0.25 )

                mc.start_linear_motion(0.0, 0.3468364021195829, -0.5190773581143325)

                mc.start_linear_motion(0.0, 0.3468364021 , -0.5190773581 )

                time.sleep( 0.25 )

                mc.start_linear_motion(0.0, 0.5190773581143316, -0.34683640211958244)

                mc.start_linear_motion(0.0, 0.5190773581 , -0.3468364021 )

                time.sleep( 0.25 )

                mc.start_linear_motion(0.0, 0.6122934917841443, -0.12179274798194162)

                mc.start_linear_motion(0.0, 0.6122934918 , -0.121792748 )

                time.sleep( 0.25 )

                mc.start_linear_motion(0.0, 0.6122934917841444, 0.1217927479819414)

                mc.start_linear_motion(0.0, 0.6122934918 , 0.121792748 )

                time.sleep( 0.25 )

                mc.start_linear_motion(0.0, 0.5190773581143318, 0.34683640211958244)

                mc.start_linear_motion(0.0, 0.5190773581 , 0.3468364021 )

                time.sleep( 0.25 )

                mc.start_linear_motion(0.0, 0.34683640211958267, 0.5190773581143315)

                mc.start_linear_motion(0.0, 0.3468364021 , 0.5190773581 )

                time.sleep( 0.25 )

                mc.start_linear_motion(0.0, 0.12179274798194162, 0.6122934917841443)

                mc.start_linear_motion(0.0, 0.121792748 , 0.6122934918 )

                time.sleep( 0.25 )



            mc.stop()

salt/drone/scripts/flightscript.py

deleted100755 → 0
+0 −53
Changes for salt/drone/scripts/flightscript.py: 0 added lines, 53 removed lines.
Original line number Diff line number Diff line 
"""

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!')

salt/drone/scripts/uart_simple_flightscript.py→salt/drone/scripts/line_flightscript.py

+28 −10
Changes for salt/drone/scripts/line_flightscript.py: 28 added lines, 10 removed lines.
Original line number Diff line number Diff line 
"""

This script shows a simple scripted flight path using the MotionCommander class.

#!/usr/bin/env python3



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 sys



import cflib.crtp

from cflib.crazyflie.syncCrazyflie import SyncCrazyflie

from cflib.positioning.motion_commander import MotionCommander



URI = ''



if len(sys.argv) >= 2:

    if sys.argv[1] == 'radio':

        URI = 'radio://0/80/2M'

    elif sys.argv[1] == 'prrt':

        URI = 'prrt://10.8.0.208:5000'

    elif sys.argv[1] == 'serial':

        URI = 'serial://pi'

    else:

        sys.exit('Give a valid argument.')

else:

    sys.exit('Give a commandline argument.')



# Only output errors from the logging framework

logging.basicConfig(level=logging.ERROR)
@@ -21,9 +30,18 @@ if __name__ == '__main__': 
    cflib.crtp.init_drivers(enable_debug_driver=False)



    with SyncCrazyflie(URI) as scf:

        # We take off when the commander is created

        # n_points = 2 radius = 0.25 circle_time = 2

        with MotionCommander(scf) as mc:

            print('Taking off!')

            time.sleep(0.1)

            # We land when the MotionCommander goes out of scope

            print('Landing!')
 
            time.sleep(1.5)



            for i in range(5):

                mc.start_linear_motion(0.0, -0.5 , 0.0 )

                time.sleep( 1.0 )

                mc.stop()

                time.sleep(0.2)

                mc.start_linear_motion(0.0, 0.5 , -0.0 )

                time.sleep( 1.0 )

                mc.stop()

                time.sleep(0.2)



            time.sleep(1.3)