def set_speed(self, new_speed):
"""
Set the default speed to the value specified in the range [10,100]
:param new_speed:
:return: True if the command suceeded and False otherwise
"""
# keep track of the new speed in the simulator
speed = ensure_speed_within_limits(new_speed)
self.constant_speed = speed
# and send it to the tello if it exists
if (self._tello is not None):
# tell the tello to move
self._tello.set_speed(new_speed)
def right_cm(self, cm, speed=None):
"""
Moves ONLY RIGHT in cm. If the user gives it a negative number, the number is made positive.
Also enforces cm between 20 and 500 (per SDK)
:param cm: amount to move RIGHT in cm [20,500]
:param speed: optional command to tell it to fly right that much at a speed in the range [10,100] cm/s
"""
if (self._tello is None):
if (self.location.z > 0):
distance = ensure_distance_within_limits(cm)
if (speed is None):
speed = self.constant_speed
speed = ensure_speed_within_limits(speed)
if (speed < 10):
# Prevent velocity from being set to 0 ie infinite loop
return
# Convert speed from cm/s to m/s
speed = speed / 100
# set the right velocities
self.velocity.x = np.sin(self.location.orientation) * speed
self.velocity.y = np.cos(self.location.orientation) * speed
print(self.velocity.x, self.velocity.y)
self.velocity.z = 0
self.velocity.rotational = 0
# and now check the distance traveled and stop if you reach it or if you crash
orig_location = copy.copy(self.location)
target_distance_m = distance / 100.0
while (orig_location.distance_from_x_y(
self.location.x, self.location.y) < target_distance_m
and not self.is_crashed):
time.sleep(0.01)
# stop when you reach the right location
self.velocity.x = 0
self.velocity.y = 0
else:
# tell the tello to move
self._tello.right_cm(cm, speed)
def backward_cm(self, cm, speed=None):
"""
Moves ONLY BACKWARDS in cm. If the user gives it a negative number, the number is made positive.
Also enforces cm between 20 and 500 (per SDK)
:param cm: amount to move BACKWARDS in cm [20,500]
:param speed: optional command to tell it to fly backward that much at a speed in the range [10,100] cm/s
"""
if (self._tello is None):
if (self.location.z > 0):
distance = ensure_distance_within_limits(cm)
if (speed is None):
speed = self.constant_speed
else:
speed = ensure_speed_within_limits(speed)
# set the right velocities
self.velocity.x = -np.cos(self.location.orientation) * speed
self.velocity.y = -np.sin(self.location.orientation) * speed
self.velocity.z = 0
self.velocity.rotational = 0
# and now check the distance traveled and stop if you reach it or if you crash
orig_location = copy.copy(self.location)
target_distance_m = distance / 100.0
while (orig_location.distance_from_x_y(
self.location.x, self.location.y) < target_distance_m
and not self.is_crashed):
time.sleep(0.02)
# stop when you reach the right location
self.velocity.x = 0
self.velocity.y = 0
else:
# tell the tello to move
self._tello.backward_cm(cm, speed)
