def command_thread_wrapper_function (distance):
while True:
# Step 1: Get range
for i in range (0, configuration.config['num_directions']):
print "Command_Thread::::Tian:: i = ", i, "distance[i] = ", distance[i]
# Step 2: Come up with commands
# Step 3: Issue commands
operations.hover()
def main ():
loop = 0
#Step 1: Initialzation
initialization.initialize()
#Step 2: Departure
operations.take_off()
#while True :
while (loop < 300): #time for a loop: 0.15s
loop += 1
#Step 2: Detect Range
# for i in range(0, range_sensor.num_directions):
# distance[i] = range_sensor.detect_range(i)
distance[4] = range_sensor.detect_range(4)
time.sleep(0.05)
#Step 3: Analyze Range
# if (distance[4] > 180):
# #operations.hover()
# operations.move_backward()
# elif (distance[4] < 180):
# #operations.hover()
# operations.move_backward()
# else:
# #operations.hover()
# operations.move_backward()
#Step 4: Generate Next Command
if (loop < 50):
operations.hover()
elif (loop < 100):
operations.move_backward()
elif (loop < 150):
operations.hover()
elif (loop < 200):
operations.move_backward()
elif (loop < 250):
operations.drop()
else :
operations.drop()
cleanup.cleanup()
