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
Original line number Original line Diff line number Diff line 
Subproject commit b9612f7d1905e98d4d22fa2367f144c6cd5c0ad0
 
Subproject commit b3ef5eb222f83f71a5d0a6e7ab29965783e51523

salt/drone/scripts/bridge.py

+1 −2
Original line number Original line Diff line number Diff line 
#!/usr/bin/env python

#!/usr/bin/env python3





import logging

import logging

import sys

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

    except KeyboardInterrupt:

        print('\n')

        print('\n')

        bridge.stop()
 
        bridge.stop()

salt/drone/scripts/circle_flightscript.py

+48 −38
Original line number Original line Diff line number Diff line 
"""

#!/usr/bin/env python3

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 logging

import time

import time

import sys





import cflib.crtp

import cflib.crtp

from cflib.crazyflie.syncCrazyflie import SyncCrazyflie

from cflib.crazyflie.syncCrazyflie import SyncCrazyflie

from cflib.positioning.motion_commander import MotionCommander

from cflib.positioning.motion_commander import MotionCommander





URI = ''



if len(sys.argv) >= 2:

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

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

        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

# Only output errors from the logging framework

logging.basicConfig(level=logging.ERROR)

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

    cflib.crtp.init_drivers(enable_debug_driver=False)





    with SyncCrazyflie(URI) as scf:

    with SyncCrazyflie(URI) as scf:

        # n_points = 16 radius = 0.4 circle_time = 4

        with MotionCommander(scf) as mc:

        with MotionCommander(scf) as mc:

            mc.up(0.4)

            mc.up(0.4)

            time.sleep(1.5)

            time.sleep(1.5)





            for i in range(2):

            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 )

                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 )

                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 )

                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 )

                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 )

                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 )

                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 )

                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 )

                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 )

                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 )

                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 )

                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 )

                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 )

                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 )

                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 )

                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 )

                time.sleep( 0.25 )





            mc.stop()

            mc.stop()

salt/drone/scripts/flightscript.py

deleted100755 → 0
+0 −53
Original line number Original line 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

+47 −0
Original line number Original line Diff line number Diff line 
"""

#!/usr/bin/env python3

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 logging

import time

import time

import sys





import cflib.crtp

import cflib.crtp

from cflib.crazyflie.syncCrazyflie import SyncCrazyflie

from cflib.crazyflie.syncCrazyflie import SyncCrazyflie

from cflib.positioning.motion_commander import MotionCommander

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'

        URI = 'serial://pi'

    else:

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

else:

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





# Only output errors from the logging framework

# Only output errors from the logging framework

logging.basicConfig(level=logging.ERROR)

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

    cflib.crtp.init_drivers(enable_debug_driver=False)





    with SyncCrazyflie(URI) as scf:

    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:

        with MotionCommander(scf) as mc:

            print('Taking off!')

            time.sleep(1.5)

            time.sleep(0.1)



            # We land when the MotionCommander goes out of scope

            for i in range(5):

            print('Landing!')
 
                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)