class Drone:
"""Drone instance. Starts and flies drone"""
logging.basicConfig(level=logging.ERROR)
URI = 'radio://0/80/250K'
def __init__(self, URI='radio://0/80/250K'):
"""
Init commad connects to drone
:param URI: URI
"""
self._cf = Crazyflie(rw_cache='./cache')
cflib.crtp.init_drivers(enable_debug_driver=False)
self.scf = SyncCrazyflie(URI, cf=self._cf)
self.scf.__enter__()
self.motionCommander = MotionCommander(self.scf)
#self.multiranger = Multiranger(self.scf)
def take_off(self, height=1.0, velocity=0.2):
"""has the drone take off"""
# drone takes off
self.motionCommander.take_off(height=height, velocity=velocity)
def land(self):
self.motionCommander.land()
def move(self, vector):
"""moves the drone at a constant speed in one direction"""
if vector['y'] > 0.1:
print "move up by {}m".format(vector['y'])
self.motionCommander.up(vector['y'], velocity=0.4)
elif vector['y'] < -0.1:
print "move down by {}m".format(abs(vector['y']))
self.motionCommander.down(abs(vector['y']), velocity=0.4)
if vector['x'] > 0.1:
print "move left by {}m".format(vector['x'])
self.motionCommander.left(vector['x'], velocity=0.4)
elif vector['x'] < -0.1:
print "move right by {}m".format(abs(vector['x']))
self.motionCommander.right(abs(vector['x']), velocity=0.4)
if vector['z'] > 2.1:
print "move fowards by {}m".format(vector['z'] - 2.0)
self.motionCommander.forward(vector['z'] - 2.0, velocity=0.4)
self
elif vector['z'] < 1.9:
print "move backwards by {}m".format(2.0 - vector['z'])
self.motionCommander.back(2.0 - vector['z'], velocity=0.4)
def disconnect(self):
self.scf.close_link()
def is_close(range):
MIN_DISTANCE = 0.4 # m
if range is None:
return False
else:
return range < MIN_DISTANCE
