def testDroneConnection(self):
# read battery status, extract an image
drone = libardrone.ARDrone(1, 0)
drone.reset()
'''
I = drone.image
if I != None:
frame = I[:, :, ::-1].copy()
# You might need to call drone.reset() before taking off if the drone is in
# emergency mode
# get battery status
bat = drone.navdata.get(0, dict()).get('battery', 0)
print bat
# get an image
#while(1):
img = drone.image
cv2.imwrite('/Users/mangotee/Pictures/imgDroneOut.png',img)
# test flying
#drone.takeoff()
#drone.land()
#drone.halt()
'''
running = True
bat = drone.navdata.get(0, dict()).get('battery', 0)
print('Battery: %i%%' % bat)
counter = 1
while running:
try:
# This should be an numpy image array
pixelarray = drone.get_image()
frame = pixelarray[:, :, ::-1].copy()
if pixelarray != None:
#print "problem"
#frame = drone.image
# Display the Image
pass
if counter == 1:
cv2.imwrite('/Users/mangotee/Pictures/imgDroneOut.png',
frame)
counter = counter + 1
cv2.imshow('Drone', frame)
#print "Success"
except:
pass
#print "Failed"
'''
if cv2.waitKey(1) & 0xFF == ord('w'):
print "Take OFF!!"
drone.reset()
drone.takeoff()
drone.hover()
'''
# Listen for Q Key Press
if cv2.waitKey(1) & 0xFF == ord('q'):
running = False
cv2.destroyAllWindows()
def __init__(self):
self.drone = libardrone.ARDrone(is_ar_drone_2=True)
self.frame = cv2.cvtColor(self.drone.get_image(), cv2.COLOR_BGR2RGB)
cv2.namedWindow('camshift')
cv2.setMouseCallback('camshift', self.onmouse)
self.selection = None
self.drag_start = None
self.tracking_state = 0
self.show_backproj = False
self.ai_control = False
self.leap_control = False
self.speed_multiplier = 1
# Set up leap motion listener
self.listener = LeapToQuadListener()
self.controller = Leap.Controller()
self.listener.parent = self # So it can send messages back if necessary
# Have the listener receive events from the controller
self.controller.add_listener(self.listener)
def __init__(self):
self.drone = None
self.main = Tkinter.Tk()
self.picLabel = Tkinter.Label(self.main, text = "Waiting for ARDrone image")
self.picLabel.grid(row = 0, column = 0)
self.dataLabel = Tkinter.Label(self.main, text = "Waiting for Navdata")
self.dataLabel.grid(row=1, column = 0)
self.main.bind_all('<Any-KeyPress>', self.respondToKeyPress)
#self.main.bind('<KeyPress-n>', self.nextPicture)
#self.main.bind('<KeyPress-r>', self.resetDrone)
#self.main.bind('<KeyPress-Return>', self.takeoff)
#self.main.bind('<KeyPress- >', self.land)
#self.main.bind('<KeyPress-Up>', self.moveUp)
#self.main.bind('<KeyPress-Down>', self.moveDown)
#self.main.bind('<KeyPress-Left>', self.turnLeft)
#self.main.bind('<KeyPress-Right>', self.turnRight)
#self.main.bind('<KeyPress-w>', self.moveForward)
#self.main.bind('<KeyPress-s>', self.moveBackward)
#self.main.bind('<KeyPress-a>', self.bankLeft)
#self.main.bind('<KeyPress-d>', self.bankRight)
self.main.bind_all('<Any-KeyRelease>', self.keyRelease)
self.drone = libardrone.ARDrone(True)
self.mcs = MultiCamShift(self.drone, self)
self.mcs.start()
def run(self):
"""Launch drone class"""
self.drone = libardrone.ARDrone(True)
print "running"
move_forward = 0
move_backward = 0
move_left = 0
move_right = 0
turn = 0
running = True
while running:
try:
event, params = self.event_queue.get(True, 1)
print "got event"
event(*params)
except Queue.Empty:
self.drone.hover()
sleep(0.001)
print "Shutting down...",
drone.reset()
drone.halt()
print "Ok."
quit()
def Takeoff():
pygame.init()
W, H = 320, 240
screen = pygame.display.set_mode((W, H))
drone = libardrone.ARDrone()
clock = pygame.time.Clock()
drone.takeoff()
def main():
#pygame.init()
#W, H = 320, 240
#screen = pygame.display.set_mode((W, H))
drone = libardrone.ARDrone()
drone.takeoff()
drone.hover()
print "Make the ardrone dance!"
running = True
while running:
dance = raw_input("type waltz, boogie or quit> ")
if dance == "boogie":
print "boogying"
funk_leftright(drone)
elif dance == "waltz":
print "waltzing"
formal_waltz(drone)
elif dance == "quit":
print "quitting"
running = False
sleep(10)
print "Shutting down...",
drone.halt()
print "Ok."
def main():
drone = libardrone.ARDrone()
drone.takeoff()
pygame.time.delay(3000)
drone.hover()
pygame.time.delay(2000)
for (action, duration) in path:
print "next action:", action, "duration:", duration
if action == "backward":
drone.move_backward()
elif action == "hover":
drone.hover()
elif action == "forward":
drone.move_forward()
elif action == "left":
drone.move_left()
elif action == "right":
drone.move_right()
elif action == "up":
drone.move_up()
elif action == "down":
drone.move_down()
elif action == "turn_left":
drone.turn_left()
elif action == "turn_right":
drone.turn_right()
pygame.time.delay(duration)
drone.hover()
pygame.time.delay(3000)
drone.land()
def on_init(self, controller):
print "Initialized"
self.tolerance = 10
self.deriv_tol = 5
self.takedoff = False
self.drone = libardrone.ARDrone()
self.new_time;
self.old_time;
def __init__(self):
self.drone = libardrone.ARDrone(True)
self.lock = threading.Lock()
self.runFlag = True
self.scs = SIFTcamshift(self.drone, self)
self.scs.start()
self.width, self.height = self.scs.getFrameDims()
self.cx, self.cy = self.width / 2, self.height / 2
self.targetRelativeArea = 0.38
def __init__(self):
self.drone = libardrone.ARDrone(True)
self.lock = threading.Lock()
self.runFlag = True
self.mcs = MultiCamShift(self.drone, self, trackColors = ["pink", "blue"])
self.mcs.start()
self.height, self.width, self.depth = self.drone.image_shape #self.mcs.getFrameDims()
self.cx, self.cy = self.width / 2, self.height / 2
self.targetRelativeArea = 0.035
def __init__(self):
"""
Initialize the drone.
Moves the drone to the maximal height in its starting point
"""
self.__current_hit_count = 0
self.__drone = libardrone.ARDrone()
self.__drone.takeoff()
time.sleep(3)
def __init__(self):
threading.Thread.__init__(self)
self.drone = libardrone.ARDrone(True)
self.lock = threading.Lock()
self.runFlag = True
self.mcs = MultiCamShift(self.drone, self, trackColors = ["red", "red"])
self.mcs.start()
self.width, self.height = self.mcs.getFrameDims()
self.cx, self.cy = self.width / 2, self.height / 2
self.targetRelativeArea = 0.035
def __init__(self, log=True):
"""
Initialize the connection and variables.
"""
self.log = log
if (log):
self.out = open('odometry', 'w')
print "Connecting..."
self.cam = cv2.VideoCapture('tcp://192.168.1.1:5555')
self.drone = libardrone.ARDrone()
print "Ok."
self.last_thata = self.drone.navdata.get(0, dict()).get('psi', 0)
def __init__(self):
"""Sets up a drone object Binds the keypress and release to callback functions"""
self.drone = None
self.main = cv2.namedWindow("Drone View")
self.drone = libardrone.ARDrone(True)
print("Drone initialized")
print(
"\n q for quit \n spacebar for takeoff/land \n b for battery level check \n AWSD directional control \n "
"x and c for up and down \n i for altitude info")
self.inAir = False
self.quitting = False
def __init__(self):
print "starting drone..."
self.drone = libardrone.ARDrone()
self.K, self.d = parse_calib('calibration.txt')
self.marker_frame = np.array(
[[0, 0, 0], [MARKER_SIZE, 0, 0], [MARKER_SIZE, MARKER_SIZE, 0],
[0, MARKER_SIZE, 0]],
dtype=np.float32)
self.ALLOW_FLIGHT = False
self.record = Queue(1)
self.frame_queue = Queue(2)
self.frame_worker = Process(target=self.query_frames)
self.frame_worker.start()
def __init__(self):
"""Sets up a drone object, and a Tkinter window to display the picture
and other things. Binds the keypress and release to callback functions"""
self.drone = None
#self.main = cv2.namedWindow("Drone View")
#self.displayText = ""
#self.dispFont = cv2.FONT_HERSHEY_SIMPLEX
self.drone = libardrone.ARDrone(True)
print("Drone initialized")
self.inAir = False
self.quitting = False
def __init__(self):
self.drone = libardrone.ARDrone(is_ar_drone_2=True)
self.frame = cv2.cvtColor(self.drone.get_image(), cv2.COLOR_BGR2RGB)
cv2.namedWindow('camshift')
cv2.setMouseCallback('camshift', self.onmouse)
self.selection = None
self.drag_start = None
self.tracking_state = 0
self.show_backproj = False
self.ai_control = False
self.speed_multiplier = 1
def __init__(self):
# Pygame init
pygame.init()
self.drone = libardrone.ARDrone()
print "Connected to drone."
# Gamepad connecting
self.j = pygame.joystick.Joystick(0)
# Gamepad init
self.j.init()
print "Initialized."
self.running = True
self.hover = True
def __init__(self,
map_center=(51.195323, 4.464865),
map_zoom=20,
map_scale=1,
map_height=640,
map_name='staticmap.png',
use_gps=True):
self.drone = libardrone.ARDrone()
self.drone.config('general:navdata_demo', 'TRUE')
self.drone.config('general:ardrone_name', 'DronePhil')
self.drone.config('control:outdoor', 'TRUE')
self.drone.config('control:flight_without_shell', 'TRUE')
self.drone.config('control:altitude_max', '25000')
self.pid = PID()
self.map_center = map_center
self.map_zoom = map_zoom
self.map_scale = map_scale
self.map_height = map_height
self.map_name = map_name
self.use_gps = use_gps
self.flight_data_bg = 'flight_data.png'
self.gps_data = []
self.waypoints = []
# gps tracking
if (self.use_gps):
cv2.namedWindow('Map')
cv2.moveWindow('Map', self.map_height, 0)
cv2.cv.SetMouseCallback('Map', self.mouse_click)
self.gps_thread = threading.Thread(target=self.process_gps)
self.gps_thread.start()
# flight data
cv2.namedWindow('Flight Data')
cv2.moveWindow('Flight Data', 0, 405)
self.data_thread = threading.Thread(target=self.process_flight_data)
self.data_thread.start()
# object tracking
cv2.namedWindow('Video')
cv2.moveWindow('Video', 0, 0)
self.process_video()
cv2.startWindowThread()
def setup():
global state
global drone
global running
global flying
global battery_level
LCD1602.init(0x27, 1) # init(slave address, background light)
LCD1602.write(0, 0, 'Greeting!!')
LCD1602.write(1, 1, 'Coderdojo:-)')
ADC.setup(0x48) # Setup PCF8591
GPIO.setmode(GPIO.BOARD)
GPIO.setup(TRIG, GPIO.OUT)
GPIO.setup(ECHO, GPIO.IN)
drone = libardrone.ARDrone()
drone.set_speed(0.2)
def main():
pygame.init()
drone = libardrone.ARDrone()
print(type(drone.image))
image = cv2.cvtColor(drone.image, cv2.COLOR_BGR2GRAY )
# Displaying the image
cv2.imshow("test", image)
W, H = 320, 240
screen = pygame.display.set_mode((W, H))
print ("init")
print ("takeoff start")
drone.takeoff()
#operation(2)
drone.land()
print ("land end")
pygame.quit()
def __init__(self, port, debug=False):
self.drone = libardrone.ARDrone()
#ALT = self.drone.navdata['altitude']
#print ALT
self.drone.trim()
try:
super(CommandData, self).__init__(port)
self.add_method("/command", 's', self.command_callback)
# register a fallback for unhandled messages
self.add_method(None, None, self.fallback)
self.debug = debug
except liblo.ServerError, err:
print str(err)
sys.exit()
def MoveRight():
drone = libardrone.ARDrone()
FrontOfObject = False
while not FrontOfObject:
# Capture frame-by-frame
ret, frame = video_capture.read()
# Our operations on the frame come here
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
# Display the resulting frame
cv2.imshow('frame', gray)
drone.move_right()
if FrontOfObject:
drone.hover()
def main():
drone = libardrone.ARDrone(True)
drone.reset()
drone.set_camera_view(1)
running = True
while (1):
try:
frame = drone.get_image()
frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR)
cv2.imshow('frame', frame)
tecla = cv2.waitKey(15)
if (tecla == 1048603):
cv2.destroyAllWindows()
drone.reset()
drone.halt()
break
except:
pass
def __init__(self):
if DRONE:
self.drone = libardrone.ARDrone(is_ar_drone_2=True)
self.frame = cv2.cvtColor(self.drone.get_image(),
cv2.COLOR_BGR2RGB)
else:
self.camera = cv2.VideoCapture(0)
rval, self.frame = self.camera.read()
cv2.namedWindow('camshift')
#cv2.namedWindow('mask')
#cv2.namedWindow('prob')
cv2.setMouseCallback('camshift', self.onmouse)
self.selection = None
self.drag_start = None
self.tracking_state = 0
self.show_backproj = False
self.ai_control = False
self.leap_control = False
# Set up leap motion listener
self.listener = LeapToQuadListener()
self.controller = Leap.Controller()
self.listener.parent = self # So it can send messages back if necessary
# Have the listener receive events from the controller
self.controller.add_listener(self.listener)
# Controller stuff
self.reset_speed()
self.I_gain = 0.05
self.I_decay = 0.90
self.tracking_status_changed = False
self.z_set_height = 0.4
def main():
pygame.init()
W, H = 320, 240
screen = pygame.display.set_mode((W, H))
drone = libardrone.ARDrone()
clock = pygame.time.Clock()
drone.takeoff()
running = True
while running:
# Capture frame-by-frame
ret, frame = video_capture.read()
# Our operations on the frame come here
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
# Display the resulting frame
cv2.imshow('frame', gray)
time.sleep(3)
drone.move_forward()
time.sleep(2)
drone.halt()
def run(self):
"""We call pygame (to use controler)"""
#pygame.init()
SDL_Init( SDL_INIT_JOYSTICK )
"""Launch drone class"""
drone = libardrone.ARDrone(True)
clock = pygame.time.Clock()
running = True
"""Set up and init joystick"""
#j=joystick.Joystick(0)
#j.init()
gGameController = SDL_JoystickOpen( 0 )
move_forward = 0
move_backward = 0
move_left = 0
move_right = 0
yaw_left = 0
yaw_right = 0
turn = 0
xvalue = 0
yvalue = 0
zvalue = 0
event = SDL_Event()
time_1 = time.time()
while running:
#for event in pygame.event.get():
while SDL_PollEvent(ctypes.byref(event)) != 0:
if event.type == SDL_JOYBUTTONDOWN:
# takeoff
#if SDL_JoystickGetButton (gGameController, 7) == 1:
if event.jbutton.button == 7:
print "Take Off !"
drone.takeoff()
# Land
elif event.jbutton.button == 2:
print "Land !"
drone.land()
# Stop and land
elif event.jbutton.button == 6:
print "Stop and Land !"
drone.land()
running = False
# Altitude UP
elif event.jbutton.button == 3:
print "Altitude UP"
drone.speed = 1
drone.move_up()
# Altitude Down
elif event.jbutton.button == 0:
print "Altitude Down"
drone.speed = 1
drone.move_down()
# Emmergency
elif event.jbutton.button == 1:
print "Emergency !"
drone.reset()
if event.type == SDL_JOYBUTTONUP:
# Altitude UP
if event.jbutton.button == 3 :
print "Altitude UP STOP !"
drone.speed = 0
drone.hover()
# Altitude Down
elif event.jbutton.button == 0:
print "Altitude Down STOP !"
drone.speed = 0
drone.hover()
#if event.type == pygame.JOYAXISMOTION:
if event.type == SDL_JOYAXISMOTION:
'''
xvalue = SDL_JoystickGetAxis(gGameController, 0) / 32768.0
yvalue = SDL_JoystickGetAxis(gGameController, 1) / 32768.0
zvalue = SDL_JoystickGetAxis(gGameController, 3) / 32768.0
'''
if event.jaxis.axis == 0:
xvalue = event.jaxis.value / 32768.0
elif event.jaxis.axis == 1:
yvalue = event.jaxis.value / 32768.0
elif event.jaxis.axis == 3:
zvalue = event.jaxis.value / 32768.0
'''
if xvalue < -xDeadZone :
xDir = -1
elif xv > xDeadZone :
xDir = 1
else :
xDir = 0
if yv < -yDeadZone :
yDir = -1
elif yv > yDeadZone :
yDir = 1
else :
yDir = 0
if zv < -zDeadZone :
zDir = -1
elif zv > zDeadZone :
zDir = 1
else :
zDir = 0
'''
# Axis 0 / Roll
if xvalue < 0:
if round(xvalue*-1,1) != move_left:
# Axis 0 / Left
print "Axis 0 / Left"
print "Speed" + " : " + str(round(xvalue*-1,1))
move_left = round(xvalue*-1,1);
drone.speed = round(xvalue*-1,1)
drone.move_left()
elif xvalue > 0:
if round(xvalue,1) != move_right:
# Axis 0 / Right
print "Axis 0 / Right"
print "Speed" + " : " + str(round(xvalue,1))
move_right = round(xvalue,1)
drone.speed = round(xvalue,1)
drone.move_right()
# Axe 1 / Pitch
if yvalue < 0:
if round(yvalue*-1,1) != move_forward:
# Axis 1 / Forward
print "Axis 1 / Forward"
print "Speed" + " : " + str(round(yvalue*-1,1))
move_forward = round(yvalue*-1,1)
drone.speed = round(yvalue*-1,1)
drone.move_forward()
elif yvalue > 0:
if round(yvalue,1) != move_backward:
# Axis 1 / Backward
print "Axis 1 / Backward"
print "Speed" + " : " + str(round(yvalue,1))
move_backward = round(yvalue,1)
drone.speed = round(yvalue,1)
drone.move_backward()
#Axis 3 / Yaw
if zvalue < 0:
if round(zvalue*-1,1) != yaw_left:
# Axis 3 / Yaw left
print "Axis 3 / Yaw left"
print "Speed" + " : " + str(round(zvalue*-1,1))
yaw_left = round(zvalue*-1,1)
drone.speed = round(zvalue*-1,1)
drone.turn_left()
elif zvalue > 0:
if round(zvalue,1) != yaw_right:
# Axis 3 / Yaw right
print "Axis 3 / Yaw right"
print "Speed" + " : " + str(round(zvalue,1))
yaw_right = round(zvalue,1)
drone.speed = round(zvalue,1)
drone.turn_right()
'''
# Axis 3 / Yaw
if round(zvalue*1,0) > 0:
if round(zvalue*1,0) != turn:
# Axis 3 / Yaw Right
print "Axis 3 / Yaw Right" + " : " + str(round(zvalue*1,0))
turn = round(zvalue*1,0)
drone.speed = 1
drone.turn_right()
elif round(zvalue*-1,0) > 0:
if round(zvalue*-1,0) != turn:
# Axe 3 / Yaw left
print "Axis 3 / Yaw Left" + " : " + str(round(zvalue*-1,0))
turn = round(zvalue*-1,0)
drone.speed = 1
drone.turn_left()
elif round(zvalue*1,0) == 0:
if round(zvalue*1,0) != turn:
# Axe 3 / Stop Yaw
print "Axis 3 / Stop Yaw" + " : " + str(round(zvalue*1,0))
turn = round(zvalue*1,0)
drone.speed = 0
drone.hover()
'''
time_2 = time.time()
time_diff = (time_2 - time_1)*1000
print time_diff
time_1 = time_2
clock.tick(10000)
print "Shutting down...",
drone.reset()
drone.halt()
video.stop()
print "Ok."
quit()
#!/usr/bin/env python
import time, libardrone
drone = libardrone.ARDrone()
def run():
v = input("Choisissez moi une vitesse de deplacement : ")
while 1 == 1:
saisie = raw_input("Saisissez une commande : ")
if saisie == "up":
drone.takeoff()
print "Je decolle\n"
elif saisie == "down":
drone.land()
print "J'atteris\n"
elif saisie == "moveforward":
drone.speed = v
drone.move_forward()
print "J avance\n"
elif saisie == "movebackward":
drone.speed = v
drone.move_backward()
print "Je recule\n"
def main():
pygame.init()
W, H = 320, 240
screen = pygame.display.set_mode((W, H))
drone = libardrone.ARDrone()
clock = pygame.time.Clock()
running = True
while running:
for event in pygame.event.get():
if event.type == pygame.QUIT:
running = False
elif event.type == pygame.KEYUP:
drone.hover()
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_ESCAPE:
drone.reset()
running = False
# takeoff / land
elif event.key == pygame.K_RETURN:
drone.takeoff()
elif event.key == pygame.K_SPACE:
drone.land()
# emergency
elif event.key == pygame.K_BACKSPACE:
drone.reset()
# forward / backward
elif event.key == pygame.K_w:
drone.move_forward()
elif event.key == pygame.K_s:
drone.move_backward()
# left / right
elif event.key == pygame.K_a:
drone.move_left()
elif event.key == pygame.K_d:
drone.move_right()
# up / down
elif event.key == pygame.K_UP:
drone.move_up()
elif event.key == pygame.K_DOWN:
drone.move_down()
# turn left / turn right
elif event.key == pygame.K_LEFT:
drone.turn_left()
elif event.key == pygame.K_RIGHT:
drone.turn_right()
# speed
elif event.key == pygame.K_1:
drone.speed = 0.1
elif event.key == pygame.K_2:
drone.speed = 0.2
elif event.key == pygame.K_3:
drone.speed = 0.3
elif event.key == pygame.K_4:
drone.speed = 0.4
elif event.key == pygame.K_5:
drone.speed = 0.5
elif event.key == pygame.K_6:
drone.speed = 0.6
elif event.key == pygame.K_7:
drone.speed = 0.7
elif event.key == pygame.K_8:
drone.speed = 0.8
elif event.key == pygame.K_9:
drone.speed = 0.9
elif event.key == pygame.K_0:
drone.speed = 1.0
try:
surface = pygame.image.fromstring(drone.image, (W, H), 'RGB')
# battery status
hud_color = (255, 0, 0) if drone.navdata.get(
'drone_state', dict()).get('emergency_mask', 1) else (10, 10,
255)
bat = drone.navdata.get(0, dict()).get('battery', 0)
f = pygame.font.Font(None, 20)
hud = f.render('Battery: %i%%' % bat, True, hud_color)
screen.blit(surface, (0, 0))
screen.blit(hud, (10, 10))
except:
pass
pygame.display.flip()
clock.tick(50)
pygame.display.set_caption("FPS: %.2f" % clock.get_fps())
print("Shutting down..."),
drone.halt()
print("Ok.")
def main():
pygame.init()
W, H = 640, 320
screen = pygame.display.set_mode((W, H))
drone = libardrone.ARDrone()
clock = pygame.time.Clock()
running = True
cam = cv2.VideoCapture('tcp://192.168.1.1:5555')
while running:
for event in pygame.event.get():
if event.type == pygame.QUIT:
running = False
elif event.type == pygame.KEYUP:
drone.hover()
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_ESCAPE:
drone.reset()
running = False
# takeoff / land
elif event.key == pygame.K_RETURN:
drone.takeoff()
elif event.key == pygame.K_SPACE:
drone.land()
# emergency
elif event.key == pygame.K_BACKSPACE:
drone.reset()
# forward / backward
elif event.key == pygame.K_w:
drone.move_forward()
elif event.key == pygame.K_s:
drone.move_backward()
# left / right
elif event.key == pygame.K_a:
drone.move_left()
elif event.key == pygame.K_d:
drone.move_right()
# up / down
elif event.key == pygame.K_UP:
drone.move_up()
elif event.key == pygame.K_DOWN:
drone.move_down()
# turn left / turn right
elif event.key == pygame.K_LEFT:
drone.turn_left()
elif event.key == pygame.K_RIGHT:
drone.turn_right()
# speed
elif event.key == pygame.K_1:
drone.speed = 0.1
elif event.key == pygame.K_2:
drone.speed = 0.2
elif event.key == pygame.K_3:
drone.speed = 0.3
elif event.key == pygame.K_4:
drone.speed = 0.4
elif event.key == pygame.K_5:
drone.speed = 0.5
elif event.key == pygame.K_6:
drone.speed = 0.6
elif event.key == pygame.K_7:
drone.speed = 0.7
elif event.key == pygame.K_8:
drone.speed = 0.8
elif event.key == pygame.K_9:
drone.speed = 0.9
elif event.key == pygame.K_0:
drone.speed = 1.0
running, cam_image = cam.read()
if running:
try:
cv2_image = cv2.cvtColor(cam_image, cv2.COLOR_BGR2RGB)
surface = pygame.surfarray.make_surface(cv2_image)
surface = pygame.transform.rotate(surface, -90)
surface = pygame.transform.flip(surface, True, False)
screen.blit(surface, (0, 0))
except:
pass
else:
# error reading frame
print 'error reading video feed'
pygame.display.flip()
clock.tick(30)
print "Shutting down...",
drone.halt()
print "Ok."
cam.release()
cv2.destroyAllWindows()
