def step1(robot):
# move( robot, 20, 30 )
move(robot, -20, 20)
robot.wait(1.0)
robot.update(cmd=jumpCmd(1), ackRequest=True)
robot.wait(5.0)
move(robot, 20, 10)
move(robot, 0, 10)
move(robot, -20, 5)
robot.wait(1.0)
def step1( robot ):
# move( robot, 20, 30 )
move( robot, -20, 20 )
robot.wait(1.0)
robot.update( cmd=jumpCmd(1), ackRequest=True )
robot.wait(5.0)
move( robot, 20, 10 )
move( robot, 0, 10 )
move( robot, -20, 5 )
robot.wait(1.0)
def step2(robot):
robot.update(cmd=jumpCmd(1), ackRequest=True)
robot.wait(5.0)
move(robot, 20, 20)
move(robot, -20, 5)
robot.update(cmd=addCapOffsetCmd(math.radians(10)))
def runSumo(robot):
DEG_STEP = 30
robot.setVideoCallback(keepLastImage)
im = None
global g_lastImage
global lastkey
global rcnn
global stats
global video
global videorecording
while True:
lastkey = True
dobreak = False
move = False
k = cv2.waitKey(30)
if k == 27:
if videorecording:
video.release()
dobreak = True
elif k == ord(' '):
robot.update(cmd=jumpCmd(1), ackRequest=True)
elif k == ord('r'):
rcnn = not rcnn
if rcnn:
print 'rcnn now on'
else:
print 'rcnn now off'
elif k == ord('s'):
stats = not stats
if stats:
print 'stats now on'
else:
print 'stats now off'
elif k == ord('v'):
videorecording = not videorecording
if videorecording:
fps = 5
open_cv_image = cvImage(g_lastImage)
height, width, layers = open_cv_image.shape
today = datetime.datetime.now()
filename = "img{:%Y-%m-%d-%H%M%S}".format(today)
video = cv2.VideoWriter(
os.path.join('ardrone', 'video', filename + '.avi'), -1,
fps, (width, height))
video.write(open_cv_image)
print 'Video recording on'
else:
video.release()
print 'Video recording stopped'
elif k == ord('w'):
open_cv_image = cvImage(g_lastImage)
today = datetime.datetime.now()
filename = "img{:%Y-%m-%d-%H%M%S}".format(today)
cv2.imwrite(os.path.join('ardrone', 'images', filename + '.png'),
open_cv_image)
print 'Screenshot saved to ' + os.path.join(
'ardrone', 'images', filename + '.png')
elif k == ord('j') or k == ord('i') or k == ord('k') or k == ord('l'):
move = k
if dobreak:
break
if move:
MOVE_STEP = 0
if move == ord('j'):
DEG_STEP = -25
elif move == ord('l'):
DEG_STEP = 25
elif move == ord('i'):
DEG_STEP = 0
MOVE_STEP = 25
elif move == ord('k'):
DEG_STEP = 0
MOVE_STEP = -25
if MOVE_STEP != 0:
robot.update(cmd=moveCmd(MOVE_STEP, 0))
#robot.update( cmd=moveCmd(0,0) )
if DEG_STEP != 0:
robot.update(cmd=addCapOffsetCmd(math.radians(DEG_STEP)))
print "Battery:", robot.battery
#robot.wait(0.1)
else:
robot.update(cmd=moveCmd(0, 0))
def step2( robot ):
robot.update( cmd=jumpCmd(1), ackRequest=True )
robot.wait(5.0)
move( robot, 20, 20 )
move( robot, -20, 5 )
robot.update( cmd=addCapOffsetCmd(math.radians(10)) )