if res == 'i': quadcopter.motor_init() if res == 'a': quadcopter.inc_height(5) if res == 'z': quadcopter.dec_height(5) if res == 'b': quadcopter.balancer() if res == 'r': quadcopter.set_zero_angle() if res == 'x': quadcopter.set_height() quadcopter.stop() if res == 'p': p = raw_input() i = raw_input() d = raw_input() quadcopter.set_PID(p, i, d) if res == 's': quadcopter.stop() cycling = False finally: # shut down cleanly mymotor1.stop() mymotor2.stop() mymotor3.stop() mymotor4.stop() print ("well done!") quadcopter.stop()