update scripts, PRRT, cflib

crazyflie-lib-python @ b3ef5eb2

-Subproject commit b9612f7d1905e98d4d22fa2367f144c6cd5c0ad0
+Subproject commit b3ef5eb222f83f71a5d0a6e7ab29965783e51523

salt/drone/scripts/bridge.py

-#!/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

-"""
-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 = 'radio://0/80/2M'
+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)
@@ -21,43 +30,44 @@ 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)
-                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.start_linear_motion(0.0, -0.121792748 , 0.6122934918 )
+                time.sleep( 0.25 )
+                mc.start_linear_motion(0.0, -0.3468364021 , 0.5190773581 )
+                time.sleep( 0.25 )
+                mc.start_linear_motion(0.0, -0.5190773581 , 0.3468364021 )
+                time.sleep( 0.25 )
+                mc.start_linear_motion(0.0, -0.6122934918 , 0.121792748 )
+                time.sleep( 0.25 )
+                mc.start_linear_motion(0.0, -0.6122934918 , -0.121792748 )
+                time.sleep( 0.25 )
+                mc.start_linear_motion(0.0, -0.5190773581 , -0.3468364021 )
+                time.sleep( 0.25 )
+                mc.start_linear_motion(0.0, -0.3468364021 , -0.5190773581 )
+                time.sleep( 0.25 )
+                mc.start_linear_motion(0.0, -0.121792748 , -0.6122934918 )
+                time.sleep( 0.25 )
+                mc.start_linear_motion(0.0, 0.121792748 , -0.6122934918 )
+                time.sleep( 0.25 )
+                mc.start_linear_motion(0.0, 0.3468364021 , -0.5190773581 )
+                time.sleep( 0.25 )
+                mc.start_linear_motion(0.0, 0.5190773581 , -0.3468364021 )
+                time.sleep( 0.25 )
+                mc.start_linear_motion(0.0, 0.6122934918 , -0.121792748 )
+                time.sleep( 0.25 )
+                mc.start_linear_motion(0.0, 0.6122934918 , 0.121792748 )
+                time.sleep( 0.25 )
+                mc.start_linear_motion(0.0, 0.5190773581 , 0.3468364021 )
+                time.sleep( 0.25 )
+                mc.start_linear_motion(0.0, 0.3468364021 , 0.5190773581 )
+                time.sleep( 0.25 )
+                mc.start_linear_motion(0.0, 0.121792748 , 0.6122934918 )
+                time.sleep( 0.25 )
 
             mc.stop()
             time.sleep(1.5)

salt/drone/scripts/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:
-        # 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

-"""
-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 = 'serial://pi'
+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)

salt/drone/scripts/prrt_simple_flightscript.py → salt/drone/scripts/log_gen_flightscript.py

-"""
-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 = 'prrt://10.8.0.208:5000'
+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 +30,22 @@ if __name__ == '__main__':
     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(0.1)
-            # We land when the MotionCommander goes out of scope
+            time.sleep(0.5)
+
+            print('Moving forward')
+            mc.forward(0.3)
+            time.sleep(0.5)
+
+            print('Moving up')
+            mc.up(0.2)
+
+            print('Turn left')
+            mc.turn_left(90)
+
+            print('Moving left')
+            mc.left(0.3)
+            time.sleep(0.5)
+
             print('Landing!')

salt/drone/scripts/simple_flightscript.py

-"""
-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 = 'radio://0/80/2M'
+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)

salt/drone/scripts/uart_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 = 'serial://pi'
-
-# 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!')
\ No newline at end of file

salt/drone/scripts/velocity_point_generation.py

 import numpy as np
 
-n_points = 16
-radius = 0.4
-time_for_segment = 4/n_points
+n_points = 2
+radius = 0.25
+circle_time = 2
+time_for_segment = circle_time/n_points
 
 y_points = np.arange(n_points+1, dtype=np.float64)
 z_points = np.arange(n_points+1, dtype=np.float64)
@@ -13,8 +14,8 @@ 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_points = [x * radius for x in y_points]
+z_points = [x * radius 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)]
@@ -22,5 +23,8 @@ 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)]
 
+y_velocity = np.around(y_velocity, 10)
+z_velocity = np.around(z_velocity, 10)
+
 for i in range(n_points):
-    print("mc.start_linear_motion(0.0,", y_velocity[i], ",", z_velocity[i], ")\ntime.sleep(", time_for_segment, ")")
+    print("mc.start_linear_motion(0.0,", y_velocity[i], ",", z_velocity[i], ")\ntime.sleep(", time_for_segment, ")")
\ No newline at end of file