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()