def run(self): #create the drone controller droneController = DroneController(robotName) path = [1,2,3,4,5,6,7,1,8,9,10,11,12,13] droneController.setPath(path) #randomize how much this guy cares about angular error angleMult = (random.random() * 2) + 1.0 while not rospy.is_shutdown() and self.isRunning: twist = Twist() angle = droneController.getAngleError() angle *= angleMult if math.fabs(angle) > 0.8: if angle > 0: twist.angular.z=1 elif angle < 0: twist.angular.z=-1 else: twist.linear.x=1 self.pub.publish(twist) delay = (random.random() * 1.8) + 0.2 rospy.sleep(delay)
def run(self): #create the drone controller droneController = DroneController(robotName) path = [1,2,3,4,5,6,7,1,8,9,10,11,12,13] droneController.setPath(path) while not rospy.is_shutdown(): twist = Twist() angle = droneController.getAngleError() #if math.fabs(angle) > 0.1: twist.angular.z=angle #else: twist.linear.x=1 self.pub.publish(twist) rospy.sleep(1)
class Control():
def __init__(self):
self.cmd = BasicCommands()
# self.display = KeyboardController(self.cmd)
self.drone_controller = DroneController(self.cmd)
def run(self):
# self.display.show()
self.drone_controller.listener()
# executes the QT application
# self.status = self.app.exec_()
# and only progresses to here once the application has been shutdown
rospy.signal_shutdown('Shutting Down')
self.cmd.SendLand()
print("AHHHH");
import logging
from person_detector import FakeFixedPersonDetector
from drone_controller import DroneController
from configuration import DroneConfiguration
from ai import DroneAI
logging.basicConfig(
format='[%(asctime)s] %(levelname)-7s (%(name)s) %(message)s',
level=logging.DEBUG)
log = logging.getLogger(__name__)
config = DroneConfiguration(udp_port=14550)
drone_controller = DroneController(config)
ai = DroneAI(config, drone_controller, FakeFixedPersonDetector())
ai.run()
from flask import Flask, render_template, request
from authentication import Authentication
from drone_controller import DroneController
authentication = Authentication()
drone_controller = DroneController()
app = Flask(__name__)
@app.route("/", methods=["GET"])
def home():
return render_template("home.html")
@app.route("/routing", methods=["GET"])
def routing():
if request.values.get("login"):
return render_template("login.html")
elif request.values.get("new_user_account"):
return render_template("new_user_account.html")
@app.route("/routing2", methods=["GET"])
def routing2():
if request.values.get("add_drone"):
return render_template("add_drone.html")
elif request.values.get("view_drone"):
display = drone_controller.display_drones()
return render_template("view_drones.html", display=display)
elif request.values.get("move_drone"):
return render_template("move_drone.html")
def __init__(self): self.cmd = BasicCommands() # self.display = KeyboardController(self.cmd) self.drone_controller = DroneController(self.cmd)
#! /usr/bin/env python
# test code
import rospy
import rospkg
import time
import random
from gazebo_connection import GazeboConnection
from drone_controller import DroneController
from optitrack import OptiTrack
if __name__ == '__main__':
rospy.init_node('test_to_fly', anonymous=True)
controller = DroneController()
#controller.reset()
# gazebo = GazeboConnection()
# gazebo.set_location()
controller.send_takeoff()
time.sleep(3)
# rospy.loginfo("Land Drone")
controller.send_land()
# controller.send_emergency()
def main():
# Setting up the logging file
# Logging file will be called log-<runtime time and date>
logging.basicConfig(filename='script_log-' + str(datetime.now()),
level=logging.DEBUG)
# Checking that script inputs are valid
checked_args = check_inputs()
database_file = checked_args[0]
output_folder = checked_args[1]
# Setting up the database
database_cursor = setup_database(database_file)
# Getting the drone controller
drone_controller = DroneController()
previous_x = ""
previous_y = ""
num_samples = 1
# Getting the algorithm name
algorithm = input("Algorithm Name: ")
logging.debug("Script: Algorithm Name Provided: " + algorithm)
logging.debug("Script: Entering Testing Loop")
while True:
# Reminding the user what the previous configuration was
print("The previous configuration was: X: " + previous_x + " Y: " +
previous_y + " Num Samples: " + str(num_samples))
# Getting the X Distance to fly
x_distance = input(
"How many metres in the X direction would you like to fly: ")
if x_distance == "BREAK":
break
# Getting the Y Distance to fly
y_distance = input(
"How many metres in the Y direction would you like to fly: ")
if y_distance == "BREAK":
break
# If the same configuration was used, increase the numSamples
if x_distance == previous_x and y_distance == previous_y:
num_samples += 1
else:
num_samples = 1
# Setting up the folders for sensor output
results_folder = setup_output_folder(output_folder, algorithm,
x_distance, y_distance,
num_samples)
# Commanding the drone to fly the given distances
drone_controller.default_fly_to(int(x_distance), int(y_distance),
results_folder)
# Getting the actual distances of the flight
x_actual = input("Actual X: ")
if x_actual == "BREAK":
break
y_actual = input("Actual Y: ")
if y_actual == "BREAK":
break
# Creating a database entry
create_database_entry(database_cursor, algorithm, x_distance,
y_distance, x_actual, y_actual, results_folder)
# Formatting Gap
print()
# Updating tracking variables
previous_x = x_distance
previous_y = y_distance
# Closing the connection at the end
database_cursor.connection.close()
def main():
print("\nHubsan X4 H107L - Python head-end for Arduino Hubsan Controller.")
print("----------------------------------------------------------------")
print("> Loading config settings...\n")
config = configparser.ConfigParser()
config.read('hubsan.config')
print("> Detecting COM ports...\n")
ports = list()
i = 0
for port in list_ports.comports():
print(" %s: [%s] %s" % (str(i), port[0], port[1]))
ports.append(port)
i += 1
if len(ports) == 0:
print(
"Error: No Arduino Serial ports detected! Try reconnecting the USB cable."
)
sys.exit(1)
portnum = input("\n Enter the number of the desired COM port: ")
comport = ports[int(portnum)]
print("\n- [%s] Selected." % comport[0])
print("\n> Opening Serial port...")
ser = serial.Serial(comport[0], 115200, timeout=1)
print(" - Successful.")
print("\n> TERMINAL STATUS:")
print("------------------")
while True:
line = ser.readline().strip()
if line != "":
print(" %s" % line)
if (line == "** Status: READY. **"):
break
print("\n> INITIALIZING CONTROL INTERFACE.")
print("---------------------------------")
dc = DroneController(ser, )
# Set up control values
# def_t = throttle = 0
# def_y = yaw = 128 + int(config['flight']['yaw_trim'])
# def_p = pitch = 128 + int(config['flight']['pitch_trim'])
# def_r = roll = 128 + int(config['flight']['roll_trim'])
print(" Post-Trim Flight Defaults = Yaw: %s Pitch: %s Roll: %s" %
(str(yaw), str(pitch), str(roll)))
yt = int(config['flight']['yaw_trim'])
pt = int(config['flight']['pitch_trim'])
rt = int(config['flight']['roll_trim'])
dc = DroneController(ser, yt, pt, rt)
smooth = 0
# Set up PyGame event handlers and event loop
pygame.init()
window = pygame.display.set_mode((640, 480))
pygame.display.set_caption("Hubsan X4 H107L Python Controller v0.1")
clock = pygame.time.Clock()
print("\nTHR:YAW:PIT:ROL\n---------------")
while True:
clock.tick(200) # Lock framerate of the input for consistency.
dc.update_control_values(pygame.event.get())
dc.send_control_signals()
