if not (joystick.get_button(0) == 1) and joystick.get_axis(5) > 0.05:
tiltDelta = scale(joystick.get_axis(5), 10)
tilt = clip(tilt + tiltDelta, tiltMin, tiltMax)
pan = clip(pan + panDelta, panMin, panMax)
# Reset camera on B
if joystick.get_button(1) == 1:
tilt = 0
pan = 0
if joystick.get_button(5) == 1:
print("Flying to altitude: 1.5")
drone.flyToAltitude(1.25)
drone.moveCamera(tilt, pan)
# All movement updated here
if userMovement:
drone.update(cmd=movePCMDCmd(True, roll, pitch, yaw, gaz))
elif drone.findSphero:
roll = (drone.objectCenterX -
(drone.frameWidth >> 1)) * drone.moveScaler
pitch = ((drone.frameHeight >> 1) -
drone.objectCenterY) * drone.moveScaler
roll = clip(roll, -50, 50)
pitch = clip(pitch, -50, 50)
# print("Finding Sphero")
# print(roll)
if joystick.get_button(0) == 1 and joystick.get_axis(5) > 0.05:
panDelta = scale(joystick.get_axis(5), 10)
tilt = clip(tilt + tiltDelta, tiltMin, tiltMax)
pan = clip(pan + panDelta, panMin, panMax)
# Reset camera on LB
if joystick.get_button(4) == 1:
tilt = 0
pan = 0
if joystick.get_button(5) == 1:
print("Flying to altitude: 1.5")
drone.flyToAltitude(1.5)
drone.moveCamera(tilt, pan)
# Barcode testing
# Press Y to center
if len(drone.barcodes) > 0 and joystick.get_button(3) == 1:
printCounter += 1
if printCounter > 5:
print("Centering")
printCounter = 0
frameCenterX = drone.frameWidth / 2
frameCenterY = drone.frameHeight / 2
i = drone.barcodes[0]
x = (i.location[0][0] + i.location[1][0] + i.location[2][0] + i.location[3][0]) / 4
y = (i.location[0][1] + i.location[1][1] + i.location[2][1] + i.location[3][1]) / 4
xDistance = frameCenterX - x
cv2.namedWindow("Drone")
def video_end():
print("Ending video...")
cv2.destroyWindow("Drone")
# Have to send waitKey several times on Unix to make window disappear
for i in range(1, 5):
cv2.waitKey(1)
print("Connecting to drone..")
drone = Bebop()
drone.video_callbacks(video_start, video_end, video_frame)
drone.videoEnable()
drone.moveCamera(-90, 0)
print("Connected.")
pygame.init()
size = [100, 100]
screen = pygame.display.set_mode(size)
pygame.display.set_caption("Drone Teleop")
# Loop until the user clicks the close button.
done = False
# Used to manage how fast the screen updates
clock = pygame.time.Clock()
if pygame.joystick.get_count() == 0:
print("No joysticks found")
color = (0, 0, 255)
text = "Go Right"
elif center_x - width * 0.5 < 50:
color = (255, 0, 0)
text = "Go Left"
cv2.line(frame, barcode.location[0], barcode.location[1], color=color, thickness=2)
cv2.line(frame, barcode.location[1], barcode.location[2], color=color, thickness=2)
cv2.line(frame, barcode.location[2], barcode.location[3], color=color, thickness=2)
cv2.line(frame, barcode.location[0], barcode.location[3], color=color, thickness=2)
cv2.circle(frame, (center_x, center_y), 3, color=color, thickness=2)
cv2.putText(frame, org=(width - 100, height - 100), text=text, color=color, fontFace=cv2.FONT_HERSHEY_PLAIN, fontScale=1,)
break
cv2.imshow("Drone feed", frame)
cv2.waitKey(10)
print("Connecting to drone..")
drone = Bebop( metalog=None, onlyIFrames=False, jpegStream=True, fps = 0)
drone.videoCbk = videoCallback
drone.videoEnable()
drone.moveCamera(-90, 0)
print("Connected.")
for i in xrange(10000):
drone.update( );
print("Battery:", drone.battery)
