def setup_drone(self):
"Setup drone motors, create drone object and make it ready for startup"
m_FL = ServoMotor(18, "front-left")
m_FR = ServoMotor(23, "front-right")
m_RL = ServoMotor(24, "rear-left")
m_RR = ServoMotor(25, "rear-right")
self.drone = QuadCopter(m_FL, m_FR, m_RL, m_RR)
self.drone.start()
print("Ready for operation!!!")
def setup_drone(self):
"Setup drone motors, create drone object and make it ready for startup"
m_FL = ServoMotor(18, "front-left")
m_FR = ServoMotor(23, "front-right")
m_RL = ServoMotor(24, "rear-left")
m_RR = ServoMotor(25, "rear-right")
self.drone = QuadCopter(m_FL, m_FR, m_RL, m_RR)
self.drone.start()
print("Ready for operation!!!")
from quad_controller import QuadCopter
from motor import ServoMotor
import time
if __name__ == '__main__':
m_FL = ServoMotor(4, "front-left")
m_FR = ServoMotor(17, "front-right")
m_RL = ServoMotor(22, "rear-left")
m_RR = ServoMotor(27, "rear-right")
drone = QuadCopter(m_FL, m_FR, m_RL, m_RR)
drone.start()
print("Ready for operation!!!")
# flying
drone.set_speed(60, "ALL")
time.sleep(5)
# landing
drone.set_speed(45, "ALL")
drone.set_speed(43, "ALL")
drone.set_speed(40, "ALL")
drone.set_speed(38, "ALL")
drone.set_speed(30, "ALL")
drone.set_speed(20, "ALL")
drone.set_speed(0, "ALL")
drone.stop()
time.sleep(2)
class DroneController(object):
"""
Class to control a drone
"""
def __init__(self):
self.server_sock = None
self.balancer_thread = None
self.stop_balancing = False
self.drone = None
self.average_speed = 0
self.angle_x = 0
self.angle_y = 0
def setup_drone(self):
"Setup drone motors, create drone object and make it ready for startup"
m_FL = ServoMotor(18, "front-left")
m_FR = ServoMotor(23, "front-right")
m_RL = ServoMotor(24, "rear-left")
m_RR = ServoMotor(25, "rear-right")
self.drone = QuadCopter(m_FL, m_FR, m_RL, m_RR)
self.drone.start()
print("Ready for operation!!!")
def _drone_balancer(self):
"""
This method keeps balancing the drone accordign to current vector
"""
print("Drone balancer running!")
while not self.stop_balancing:
print("*Drone balancer*")
self.drone.maintain_vector(self.average_speed, self.angle_x,
self.angle_y)
#print(self.drone)
time.sleep(0.1)
def _handle_client_connection(self, client_connection):
"Handle a client connection"
try:
print('connected to client')
self.balancer_thread = Thread(
target=DroneController._drone_balancer, args=(self, ))
self.balancer_thread.start()
while True:
client_connection.setblocking(0)
sock_file = client_connection.makefile()
#line = connection.recv(1024)
try:
line = sock_file.readline()
line = line.strip()
if line:
#print(line)
# line either contains quit or instructions of the form:
# average_speed x_angle y_angle
if 'quit' == line.lower():
self.stop_balancing = True
break
parts = line.split(' ')
if 3 != len(parts):
print("ERROR: Invalid instruction: %s" % line)
else:
avg_speed, rot_x, rot_y = [int(i) for i in parts]
self.average_speed = avg_speed
self.angle_x = rot_x
self.angle_y = rot_y
else:
time.sleep(0.1)
except socket.error, err:
if err.args[0] == errno.EWOULDBLOCK:
#print('EWOULDBLOCK')
time.sleep(0.2) # short delay, no tight loops
else:
print(err)
break
finally:
# Clean up the connection
if self.balancer_thread:
self.balancer_thread.join()
self.balancer_thread = None
client_connection.close()
def start_server(self, socket_address):
"""
Start a listening unix domain socket used for receiving
drone control instructions
"""
try:
os.unlink(socket_address)
except OSError:
if os.path.exists(socket_address):
raise
self.server_sock = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
print('starting up on %s' % socket_address)
self.server_sock.bind(socket_address)
# Listen for incoming connections
self.server_sock.listen(1)
while True:
# Wait for a connection
print('waiting for a connection')
connection, client_address = self.server_sock.accept()
self._handle_client_connection(connection)
class DroneController(object):
"""
Class to control a drone
"""
def __init__(self):
self.server_sock = None
self.balancer_thread = None
self.stop_balancing = False
self.drone = None
self.average_speed = 0
self.angle_x = 0
self.angle_y = 0
def setup_drone(self):
"Setup drone motors, create drone object and make it ready for startup"
m_FL = ServoMotor(18, "front-left")
m_FR = ServoMotor(23, "front-right")
m_RL = ServoMotor(24, "rear-left")
m_RR = ServoMotor(25, "rear-right")
self.drone = QuadCopter(m_FL, m_FR, m_RL, m_RR)
self.drone.start()
print("Ready for operation!!!")
def _drone_balancer(self):
"""
This method keeps balancing the drone accordign to current vector
"""
print("Drone balancer running!")
while not self.stop_balancing:
print("*Drone balancer*")
self.drone.maintain_vector(self.average_speed,
self.angle_x,
self.angle_y)
#print(self.drone)
time.sleep(0.1)
def _handle_client_connection(self, client_connection):
"Handle a client connection"
try:
print('connected to client')
self.balancer_thread = Thread(
target=DroneController._drone_balancer,
args=(self, ))
self.balancer_thread.start()
while True:
client_connection.setblocking(0)
sock_file = client_connection.makefile()
#line = connection.recv(1024)
try:
line = sock_file.readline()
line = line.strip()
if line:
#print(line)
# line either contains quit or instructions of the form:
# average_speed x_angle y_angle
if 'quit' == line.lower():
self.stop_balancing = True
break
parts = line.split(' ')
if 3 != len(parts):
print("ERROR: Invalid instruction: %s" % line)
else:
avg_speed, rot_x, rot_y = [int(i) for i in parts]
self.average_speed = avg_speed
self.angle_x = rot_x
self.angle_y = rot_y
else:
time.sleep(0.1)
except socket.error, err:
if err.args[0] == errno.EWOULDBLOCK:
#print('EWOULDBLOCK')
time.sleep(0.2) # short delay, no tight loops
else:
print(err)
break
finally:
# Clean up the connection
if self.balancer_thread:
self.balancer_thread.join()
self.balancer_thread = None
client_connection.close()
def start_server(self, socket_address):
"""
Start a listening unix domain socket used for receiving
drone control instructions
"""
try:
os.unlink(socket_address)
except OSError:
if os.path.exists(socket_address):
raise
self.server_sock = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
print('starting up on %s' % socket_address)
self.server_sock.bind(socket_address)
# Listen for incoming connections
self.server_sock.listen(1)
while True:
# Wait for a connection
print('waiting for a connection')
connection, client_address = self.server_sock.accept()
self._handle_client_connection(connection)
from quad_controller import QuadCopter
from motor import ServoMotor
import time
if __name__ == '__main__':
m_FL = ServoMotor(4, "front-left")
m_FR = ServoMotor(17, "front-right")
m_RL = ServoMotor(22, "rear-left")
m_RR = ServoMotor(27, "rear-right")
drone = QuadCopter(m_FL, m_FR, m_RL, m_RR)
drone.start()
print("Ready for operation!!!")
# flying
drone.set_speed(60, "ALL")
time.sleep(5)
# landing
drone.set_speed(45, "ALL")
drone.set_speed(43, "ALL")
drone.set_speed(40, "ALL")
drone.set_speed(38, "ALL")
drone.set_speed(30, "ALL")
drone.set_speed(20, "ALL")
drone.set_speed(0, "ALL")
drone.stop()
time.sleep(2)
