class Drone(object):
def __init__(self):
self.d = ARDrone()
self.d.navdata_ready.wait()
def takeoff(self):
"""Start flying the drone."""
self.d.takeoff()
def land(self):
"""Land the drone."""
self.d.land()
def move(self, direction):
"""
Move the drone forward or backward or rotate the drone for 't' seconds.
The 'direction' argument can be:
- 'forward': move forward
- 'backward': move backward
- 'rotate_right': rotate 90 degrees to the right
- 'rotate_left': rotate 90 degrees to the left
"""
if direction == 'forward':
self.forward(t=1)
elif direction == 'backward':
self.backward(t=1)
elif direction == 'rotate_right':
self.cw(t=0.4)
elif direction == 'rotate_left':
self.ccw(t=0.4)
else:
raise ValueError(
'Given direction {} not supported!'.format(direction))
self.d.hover()
def forward(self, t=0.3, s=0.1):
t_end = time() + t
while time() < t_end:
self.d.move(forward=s)
def backward(self, t=0.3, s=0.1):
t_end = time() + t
while time() < t_end:
self.d.move(backward=s)
def cw(self, t=0.08, s=0.8):
t_end = time() + t
while time() < t_end:
self.d.move(cw=s)
def ccw(self, t=0.08, s=0.8):
t_end = time() + t
while time() < t_end:
self.d.move(ccw=s)
