def challenge5():
me = tello.Tello()
me.connect()
print(me.get_battery())
me.takeoff()
sleep(1)
me.flip_back()
sleep(1)
me.flip_forward()
sleep(1)
me.flip_left()
sleep(1)
me.flip_right()
sleep(1)
me.land()
def __init__(self):
pygame.init() # init pygame window
win = pygame.display.set_mode(
(400, 400)) # set pygame window dimensions
self.drone = tello.Tello() # Call tello bib
self.drone.connect() # Connect to drone
time.sleep(2)
self.drone.streamon() # Get camera feed from drone
battery = self.drone.get_battery() # Get battery status from.drone
print("Battery is at {}%".format(battery))
df = {
"Key": [
"SPACE", "Q", "R", "UP", "DOWN", "LEFT", "RIGHT", "W", "A",
"S", "D"
],
"Function": [
"Take off", "Land drone", "Take a screenshot", "Go Up",
"Go Down", "Rotate Left", "Rotate Right", "Go forward",
"Go left", "Go backward", "Go right"
]
}
df = pd.DataFrame(df)
print(tabulate(df, headers="keys", tablefmt="psql",
showindex=False)) # Show controls in a nice table
self.start = time.time() # Get current time
def main():
drone = tello.Tello()
initializedrone(drone)
arucoparameters, aruco_dict = loadarucoparam()
objdicts = loadarucoimages("Objects")
w, h = 540, 360
abrange = [75, 80]
pid_yap = [0.4, 0.9, 0.45, 0.9, 0.7, 0.8, 0, 0, 0]
p_error, i_t = [0, 0, 0], [0, 0, 0]
# pTime, cTime = 0, 0
while True:
frame = drone.get_frame_read().frame
frame = cv2.resize(frame, (w, h), interpolation=cv2.INTER_AREA)
alista, alistc, info = [], [], [[0, 0], 0]
arucofound = findarucofeatures(frame, arucoparameters, aruco_dict)
if len(arucofound[0]) != 0:
for corners, ids in zip(arucofound[0], arucofound[1]):
if int(ids) in objdicts.keys():
frame, info[0], info[1] = findaruco(corners, frame, alistc, alista)
p_error, i_t = arucotrack(drone, info, w, h, i_t, pid_yap, p_error, abrange)
# cTime = time.time()
# fps = 1 / (cTime - pTime)
# pTime = cTime
# cv2.putText(frame, str(int(fps)), (10, 70), cv2.FONT_HERSHEY_PLAIN, 3, (255, 0, 255), 3)
cv2.imshow('Display', frame)
if cv2.waitKey(1) & 0xff == 27:
drone.land()
break
def main(trackface=False, trackaruco=False):
drone = tello.Tello()
initializeDrone(drone)
arucoparameters, aruco_dict=loadarucoparam()
objdicts = loadarucoimages("Objects")
w, h = 360, 240
fbRange = [6200, 6800]
abRange = [60, 65]
pid = [0.5, 0.9, 0, 0.7, 0.8, 0, 0.8, 0.8, 0]
pError = [0, 0, 0]
while True:
frame = drone.get_frame_read().frame
frame = cv2.resize(frame, (w, h), interpolation=cv2.INTER_AREA)
if trackface:
frame, info = FindFace(frame)
pError = FaceTrack(drone, info, w,h, pid, pError, fbRange)
if trackaruco:
AListA, AListC, info = [], [], [[0, 0], 0]
arucofound = findarucofeatures(frame, arucoparameters, aruco_dict)
if len(arucofound[0]) != 0:
for corners, id in zip(arucofound[0], arucofound[1]):
if int(id) in objdicts.keys():
frame, info[0], info[1] = findaruco(corners, id, frame, objdicts[int(id)], AListC, AListA)
pError = FaceTrack(drone, info, w,h, pid, pError, abRange)
cv2.imshow('Display', frame)
print("Center", info[0], "Area", info[1])
if cv2.waitKey(1) & 0xff == 27:
drone.land()
break
def __init__(self) -> None:
self.CONST = Constants()
self.drone = tello.Tello()
self.up_down_velocity = 0
self.right_left_velocity = 0
self.forward_backward_velocity = 0
self.turn_velocity = 0
def initializeTello():
myDrone = tello.Tello()
myDrone.connect()
myDrone.for_back_velocity = 0
myDrone.left_right_velocity = 0
myDrone.up_down_velocity = 0
myDrone.yaw_velocity = 0
myDrone.speed = 0
print(myDrone.get_battery())
myDrone.streamoff()
myDrone.streamon()
return myDrone
def initializedrone():
drone = tello.Tello()
drone.connect()
drone.land()
time.sleep(2)
print(drone.get_battery())
drone.streamon()
drone.takeoff()
time.sleep(2)
drone.send_rc_control(0, 0, 20, 0)
time.sleep(2.2)
return drone
def challenge3():
me = tello.Tello()
me.connect()
print(me.get_battery())
me.takeoff()
sleep(2)
me.flip()
sleep(2)
me.land()
def challenge2():
me = tello.Tello()
me.connect()
print(me.get_battery())
me.takeoff()
sleep(2)
me.send_rc_control(0, 0, 0, 50)
sleep(2)
me.land()
def __init__(self): # Init necessary variables
self.w, self.h = 360, 240
self.fbRange = [5200, 6500]
self.area_O = 6000
self.pid = [0.4, 0.4, 0]
self.p_error = 0
self.p_error2 = 0
self.p_error3 = 0
pygame.init() # init pygame window
win = pygame.display.set_mode(
(400, 400)) # set pygame window dimensions
self.drone = tello.Tello() # Call tello bib
self.drone.connect() # Connect to drone
time.sleep(2)
self.drone.streamon() # Get camera feed from drone
battery = self.drone.get_battery() # Get battery status from drone
print("Battery is at {}%".format(battery))
def colorpicker():
frameWidth = 480
frameHeight = 360
me = tello.Tello()
me.connect()
print(me.get_battery())
me.streamon()
cv2.namedWindow("HSV")
cv2.resizeWindow("HSV", 640, 240)
cv2.createTrackbar("HUE Min", "HSV", 0, 179, empty)
cv2.createTrackbar("HUE Max", "HSV", 179, 179, empty)
cv2.createTrackbar("SAT Min", "HSV", 0, 255, empty)
cv2.createTrackbar("SAT Max", "HSV", 255, 255, empty)
cv2.createTrackbar("VALUE Min", "HSV", 0, 255, empty)
cv2.createTrackbar("VALUE Max", "HSV", 255, 255, empty)
#cap = cv2.VideoCapture(1)
frameCounter = 0
while True:
img = me.get_frame_read().frame
#_, img = cap.read()
img = cv2.resize(img, (frameWidth, frameHeight))
imgHsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
h_min = cv2.getTrackbarPos("HUE Min", "HSV")
h_max = cv2.getTrackbarPos("HUE Max", "HSV")
s_min = cv2.getTrackbarPos("SAT Min", "HSV")
s_max = cv2.getTrackbarPos("SAT Max", "HSV")
v_min = cv2.getTrackbarPos("VALUE Min", "HSV")
v_max = cv2.getTrackbarPos("VALUE Max", "HSV")
lower = np.array([h_min, s_min, v_min])
upper = np.array([h_max, s_max, v_max])
mask = cv2.inRange(imgHsv, lower, upper)
result = cv2.bitwise_and(img, img, mask=mask)
print(f'[{h_min},{s_min},{v_min},{h_max},{s_max},{v_max}]')
mask = cv2.cvtColor(mask, cv2.COLOR_GRAY2BGR)
hStack = np.hstack([img, mask, result])
cv2.imshow('Horizontal Stacking', hStack)
if cv2.waitKey(1) and 0xFF == ord('q'):
break
cap.release()
cv2.destroyAllWindows()
def __init__(
self,
log_level=None
):
self.toggle_action_interval = 2 # buffer in seconds for toggle actions
self.pose = None
self.log_level = log_level
self.is_flying = False
self.drone_sdk = drone.Tello()
self.axis_speed = {"rotation": 0, "right-left": 0, "forward-back": 0, "up-down": 0}
self.cmd_axis_speed = {"rotation": 0, "right-left": 0, "forward-back": 0, "up-down": 0}
self.prev_axis_speed = self.axis_speed.copy()
self.def_speed = {"rotation": 50, "right-left": 35, "forward-back": 35, "up-down": 80}
self.rotation = 0
self.toggle_tracking_timestamp = time.time() - 3
self.tracking_after_takeoff = False
self.tracking = False
self.keep_distance = None
self.palm_landing = False
self.palm_landing_approach = False
self.rotation_to_consume = 0
self.timestamp_keep_distance = time.time()
self.timestamp_take_picture = None
self.throw_ongoing = False
self.scheduled_takeoff = None
self.timestamp_no_body = time.time()
self.rotation_to_consume = 0
self.set_logging(log_level)
self.init_drone()
self.init_sounds()
self.start_time = time.time()
self.use_gesture_control = False
self.is_pressed = False
self.battery = self.drone_sdk.get_battery()
self.op = PoseDetectorWrapper()
self.morse = CameraMorse(display=False)
self.morse.define_command("-", self.delayed_takeoff)
self.tracker = PersonTracker(log)
self.pygame_screen = PyGameScreen(self)
self.pygame_screen.add_listeners()
self.path_manager = PathManager(self.pygame_screen)
self.path_manager.watch(self)
def main():
drone = tello.Tello()
drone.connect()
print(drone.get_battery())
drone.streamon()
drone.takeoff()
#cap = cv2.VideoCapture(1)
while True:
#_, img = cap.read()
img = drone.get_frame_read().frame
img = cv2.resize(img, (width, height))
img = cv2.flip(img, 0)
imgThres = thresholding(img)
cx = getContours(imgThres, img) ## For Translation
senOut = getSensorOutput(imgThres, sensors, img) ## Rotation
sendCommands(senOut, cx, drone)
cv2.imshow("Output", img)
cv2.imshow("Path", imgThres)
cv2.waitKey(1)
def challenge4():
me = tello.Tello()
me.connect()
print(me.get_battery())
me.takeoff()
me.send_rc_control(0, 50, 0, 0)
"""forward 25"""
sleep(3)
me.send_rc_control(50, 0, 0, 0)
sleep(1)
me.send_rc_control(0, -40, 0, 0)
sleep(3)
me.send_rc_control(-40, 0, 0, 0)
sleep(1)
me.land()
from djitellopy import tello
import keyboard
import time
import cv2
# Connect to Tello
tello = tello.Tello()
tello.connect()
print(tello.get_battery())
global airborne
airborne = False
def get_keyboard_input():
lr, fb, ud, yv = 0, 0, 0, 0
speed = 100
# Left - Right
if keyboard.is_pressed('a'):
lr = -speed
elif keyboard.is_pressed('d'):
lr = speed
# Front - Back
if keyboard.is_pressed('s'):
fb = -speed
elif keyboard.is_pressed('w'):
fb = speed
# Up - Down
from djitellopy import tello
from threading import Thread
from time import sleep, time
import pygame
import cv2
import os
drone = tello.Tello()
pygame.init()
HEIGHT, WIDTH = 400, 400
WIN = pygame.display.set_mode((HEIGHT,WIDTH))
pygame.display.set_caption('Tello Keyboard')
fps = 60
def init():
drone.connect()
# print('connection unsuccessful')
drone.streamon()
print (drone.get_battery())
def get_image():
img = drone.get_frame_read().frame
img = cv2.resize(img, (360,240))
cv2.imshow("Image", img)
cv2.waitKey(1)
def getKey(keyName, keyInput):
ans = False
myKey = getattr(pygame, 'K_{}'.format(keyName))
if keyInput[myKey]:
ans = True
from time import sleep
from djitellopy import tello
import keyboard as kp
kp.init()
me = tello.Tello()
me.connect()
print(me.get_battery())
def getKeyboardInput():
lr, fb, ud, yaw = 0, 0, 0, 0
speed = 50
if kp.getKey("LEFT"): lr = -speed
elif kp.getKey("RIGHT"): lr = speed
if kp.getKey("UP"): fb = speed
elif kp.getKey("DOWN"): fb = -speed
if kp.getKey("w"): ud = speed
elif kp.getKey("s"): ud = -speed
if kp.getKey("a"): yaw = -speed
elif kp.getKey("d"): yaw = +speed
if kp.getKey("q"): me.land()
if kp.getKey("e"): me.takeoff()
return [lr, fb, ud, yaw]
import KeyPressModule as kp
from djitellopy import tello
import cv2
import time
from time import sleep
kp.init() #pygame pencerimiz aktif olarak çalışacak
me=tello.Tello() #tello objemizi yarattık
me.connect() #tello drone bağlantımızı sağladık
print(me.get_battery()) #pil durumunu kontrol ediyoruz
global img
me.streamon()
def getKeyboardInput():
lr,fb,up,yv=0,0,0,0 #sol-sağ,ileri-geri,yukarı-aşağı,rotasyon değerleri
speed=30
#klavye üzerinde her sol ok tuşuna bastığınız zaman drone 50 -speed ile sol yöne gidecektir.
# + ise sağ yön anlamına gelir
if kp.getKey("LEFT"): lr= -speed
elif kp.getKey("RIGHT"): lr = speed
#ileri geri gitmek içinde aynı mantık vardır + speed ileri - speed geri gitmek için kullanılır
if kp.getKey("UP"): fb = speed
elif kp.getKey("DOWN"): fb = -speed
#alçalmak ve yükselmek için de aynı mantığı kullanıyoruz
if kp.getKey("w"): up = speed
elif kp.getKey("s"): up = -speed
#drone saat yönünde ve ters yönde çevirmek için:
