def main ():
com = communicator ("Translator")
last_timestamp = 0
while True:
msg = com.get_message ("Switcher")
if msg and msg["time"] > last_timestamp:
last_timestamp = msg["time"]
msg = msg["message"]
send_flight_controls (msg["Pitch"], msg["Yaw"], msg["Roll"], msg["Z"], msg["Arm"], msg["Stabalize"], msg["Calibrate"])
sleep (.05)
def main ():
com = communicator ("Pinger_Base")
pinger = passive_pinger (communicator=com)
pinger.daemon = True
pinger.start ()
while True:
if pinger.CONNECTED:
recieve_video ()
else:
print "Not Connected!"
sleep (1)
def __init__(self):
self.exit = 0
self.com = communicator ("Controller")
self.pitch = 0
self.roll = 0
self.yaw = 0
self.z = 0
self.arm = 0
self.control_incrementer = 0.1
self.run ()
def main():
com = communicator("Translator")
while True:
msg = com.get_message("Direction")
if msg:
pitch = msg["message"]["Pitch"] * 100
yaw = msg["message"]["Yaw"] * 100
roll = msg["message"]["Roll"] * 100
z = msg["message"]["Z"] * 100
print pitch
print yaw
print roll
print z
time.sleep(0.5)
def main ():
com = communicator ("Translator")
last_timestamp = 0
while True:
msg = {"message":0, "time":0}
msg = com.get_message ("Direction")
print msg
if msg and msg["time"] > last_timestamp:
last_timestamp = msg["time"]
pitch = msg["message"]["Pitch"] * 100
yaw = msg["message"]["Yaw"] * 100
roll = msg["message"]["Roll"] * 100
z = msg["message"]["Z"] * 100
send_flight_controls (pitch, yaw, roll, z)
sleep (.5)
def main ():
com = communicator ("AI")
msg = {"time": 0}
last_timestamp = 0
control_vector = {"Yaw": 0, "Pitch": 0, "Z": 0, "Roll": 0}
while True:
msg = com.get_message ("Base_Finder")
i = 0
if msg:
if msg["time"] > last_timestamp:
last_timestamp = msg["time"]
control_vector["Roll"] = 0.0
control_vector["Yaw"] = 0.0
control_vector["Pitch"] = 0.0
control_vector["Z"] = 0.0
offset = msg["message"]
print offset
print i
print
i += 1
# TODO: Add fuzzy logic here
if offset[0] == 0:
control_vector["Roll"] = 0.0
elif offset[0] < 0:
control_vector["Roll"] = -0.5
elif offset[0] > 0:
control_vector["Roll"] = 0.5
if offset[1] == 0:
control_vector["Pitch"] = 0.0
elif offset[1] < 0:
control_vector["Pitch"] = 0.5
elif offset[1] > 0:
control_vector["Pitch"] = -0.5
print control_vector
com.send_message (control_vector)
time.sleep (.1)
def main ():
com = communicator ("Base_Finder")
processor = Vision_Processor ()
reciever = video_reciever ("Downward")
pos = (0, 0, 0)
while True:
frame = reciever.get_frame ()
if frame is not None:
pos = processor.process_image (frame)
processor.show_images ()
if pos:
#print pos
com.send_message (pos)
key = cv2.waitKey (20)
if key == 1048603 or key == 27:
cv2.destroyAllWindows ()
break
def __init__(self):
self.com = communicator ("Switcher")
self.last_timestamp = 0
self.control_msg = {"time": 0}
def main ():
com = communicator ("Controller")
final_packet = {"Pitch":0, "Yaw":0, "Roll":0, "Z":0, "Arm":0, "Stabalize":0}
controller = Controller (["X1", "Y1", "X2", "Y2", "[]", "/\\", "start", "R2", "L2"], ["Yaw", "Z", "Roll", "Pitch", "Unarm", "Arm", "Calibrate", "Stabalize1", "Stabalize2"])
IS_ARMED = 0
IS_STABALIZED = 0
CALIBRATE = 0
while True:
inputs = controller.get_values ()
try:
# Buttons (0 - 100)
inputs["Arm"] = controller.map_range (inputs["Arm"], 0, 255, 0.0, 100.0)
inputs["Unarm"] = controller.map_range (inputs["Unarm"], 0, 255, 0.0, 100.0)
inputs["Calibrate"] = controller.map_range (inputs["Calibrate"], 0, 1, 0.0, 100.0)
inputs["Stabalize1"] = controller.map_range (inputs["Stabalize1"], 0, 255, 0.0, 100.0)
inputs["Stabalize2"] = controller.map_range (inputs["Stabalize2"], 0, 255, 0.0, 100.0)
# Throttle (0 - 100)
inputs["Z"] = controller.map_range (inputs["Z"], 0, 255, 100.0, 0.0) / (1.0 / SENSITIVITY) # Reversed
# Directions (-100 - 100)
inputs["Yaw"] = controller.map_range (inputs["Yaw"], 0, 255, -100.0, 100.0) / (1.0 / SENSITIVITY)
inputs["Pitch"] = controller.map_range (inputs["Pitch"], 0, 255, 100.0, -100.0) / (1.0 / SENSITIVITY) # Reversed
inputs["Roll"] = controller.map_range (inputs["Roll"], 0, 255, -100.0, 100.0) / (1.0 / SENSITIVITY)
# Have to press hard to prevent accidental arm/unarm/throttle helper/throttle hold
if inputs["Unarm"] == 100.0:
inputs["Unarm"] = 100.0
else:
inputs["Unarm"] = 0
if inputs["Arm"] == 100.0:
inputs["Arm"] = 100.0
else:
inputs["Arm"] = 0
if inputs["Stabalize1"] == 100.0:
inputs["Stabalize1"] = 100.0
else:
inputs["Stabalize1"] = 0
if inputs["Stabalize2"] == 100.0:
inputs["Stabalize2"] = 100.0
else:
inputs["Stabalize2"] = 0
if inputs["Calibrate"] == 100.0:
inputs["Calibrate"] = 100.0
else:
inputs["Calibrate"] = 0
if inputs["Stabalize1"] and inputs["Stabalize2"]:
IS_STABALIZED = 1
else:
IS_STABALIZED = 0
if inputs["Calibrate"]:
CALIBRATE = 1
else:
CALIBRATE = 0
# Logic so you don't have to hold arm/unarm/etc
if IS_ARMED and inputs["Unarm"]:
inputs["Arm"] = 0
IS_ARMED = 0
print "UNARMED!"
if not IS_ARMED and inputs["Arm"]:
inputs["Arm"] = 1
IS_ARMED = 1
print "ARMED!"
for key in inputs.keys ():
if abs (inputs[key]) < 10:
inputs[key] = 0.0
final_packet = {"Pitch":inputs["Pitch"], "Yaw":inputs["Yaw"], "Roll":inputs["Roll"], "Z":inputs["Z"], "Arm":IS_ARMED, "Stabalize":IS_STABALIZED, "Calibrate": CALIBRATE}
# Clips small controller movements to zero. Necessary especially for throttle so copter will arm
com.send_message (final_packet)
except KeyError:
pass
print final_packet
# Send 5 commands/sec
sleep (.1)
