def main():
vx = 0
vy = 0
vz = 0
rot = 0
vel = 30
RED_MIN = np.array([0, 0, 90], np.uint8)
RED_MAX = np.array([50, 255, 150], np.uint8)
tello = Tello('', 9005)
time.sleep(2)
print(tello.get_battery())
#tello.takeoff()
while (True):
frame = tello.get_image()
#print("height = {}, width = {}".format(frame.shape[0], frame.shape[1]))
#720x960
center, area, img = get_object(frame, RED_MIN, RED_MAX)
print(tello.get_battery())
# Display the resulting frame
img = cv2.cvtColor(img, cv2.COLOR_RGB2BGR)
cv2.imshow('frame', img)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
# When everything done, release all
tello.close()
cv2.destroyAllWindows()
local_ip = ['192.168.10.2', '192.168.10.3']
# local_ip = ['192.168.10.10', '192.168.10.19'] # Test ip's for debugging while the drone is charging
local_port = 8889
imperial = False # MPH to KMH further info in tello.py
i = 0
while True:
try:
tello = Tello(local_ip[i], local_port, imperial, wait_time + 1)
except OSError:
i = i + 1
if i == 2:
break
else:
print(local_ip[i], "Is wrong ip")
try:
Current_battery = tello.get_battery()
except NameError:
sys.exit("No ip found")
if Current_battery >= Lowest_battery:
print("Battery is fine")
tello.takeoff()
time.sleep(wait_time) # delay for 1 seconds
tello.flip('b')
time.sleep(wait_time) # delay for 1 seconds
tello.rotate_cw(180)
time.sleep(wait_time)
tello.set_speed(2)
time.sleep(1)
tello.move_forward(0.1)
time.sleep(wait_time)
print('moved')
class Drone:
def __init__(self, local_ip, local_port):
self.drone = Tello(local_ip, local_port)
def close(self):
self.drone.close()
def dame_imagen(self):
return self.drone.get_image()
def dame_objeto(self):
return self.drone.get_object(showImageFiltered=True)
# ------------ EXTRA ------------
def despegar(self):
return self.drone.takeoff()
def aterrizar(self):
return self.drone.land()
# ------------ CONTROL EN VELOCIDAD ------------
def to_rc(self, v):
return math.floor((100 * v) / V_MAX)
def to_rc_rot(self, w):
return math.floor((100 * w) / W_MAX)
# Las 4 funciones: velocidad, avanzar, retroceder y lateral_izquierda
# son bloqueantes, avanzan hasta una determinada posición y paran
# y después ejecutan la siguiente instrucción (no hay movimiento contínuo)
#def velocidad(self, vel):
# return self.set_speed(vel)
#def avanzar(self, vel):
# self.drone.forward_speed(vel)
#def retroceder(self, vel):
# self.drone.backward_speed(vel)
#def lateral_izquierda(self, vel):
# self.drone.left_speed(vel)
# Modo RadioControl, movimiento constante con rangos de velocidades
# -100 a 100 (simulando un stick analógico). He hecho pruebas y la velocidad
# máxima de avance (con vx = 100) es de aprox. 1.5 m/s (igual que si pilotas en la app
# del móvil) aunque en los foros y la documentación pone que es máximo 1 m/s.
# La velocidad máxima teórica del Tello es de 10 m/s pero está capado (hay que tocar el
# firmware).
# Con el API solo se puede ir en modo lento (velocidad max de 1 m/s), y con la app
# del movil se puede poner el modo rápido que tiene una velocidad maxima de 3 m/s.
def _rc(self, vy, vx, vz, rot):
self.drone.set_velocities(vy, vx, vz, rot)
def avanzar(self, vx):
vx = self.to_rc(vx)
self._rc(0, vx, 0, 0)
def retroceder(self, vx):
vx = self.to_rc(vx) * (-1)
self._rc(0, vx, 0, 0)
def lateral_izquierda(self, vy):
vy = self.to_rc(vy)
self._rc(vy, 0, 0, 0)
def lateral_derecha(self, vy):
vy = self.to_rc(vy) * (-1)
self._rc(vy, 0, 0, 0)
def subir(self, vz):
vz = self.to_rc(vz)
self._rc(0, 0, vz, 0)
def bajar(self, vz):
vz = self.to_rc(vz) * (-1)
self._rc(0, 0, vz, 0)
def girar_izquierda(self, rot):
rot = self.to_rc_rot(rot)
self._rc(0, 0, 0, rot)
def girar_derecha(self, rot):
rot = self.to_rc_rot(rot) * (-1)
self._rc(0, 0, 0, rot)
def movimiento_libre(self, vx, vy, vz, rot):
self._rc(self.to_rc(vy), self.to_rc(vx), self.to_rc(vz),
self.to_rc_rot(rot))
def parar(self):
self.drone.stop()
# ------------ CONTROL EN POSICION ------------
def girar_derecha_hasta(self, grados):
return self.drone.rotate_cw(grados)
#def girar_derecha(self, grados):
# return self.rotate_cw(grados)
def girar_izquierda_hasta(self, grados):
return self.drone.rotate_ccw(grados)
#def girar_izquierda(self, grados):
# return self.rotate_ccw(grados)
def retrocecer_hasta(self, distancia):
return self.drone.move_backward(distancia)
def bajar_hasta(self, distancia):
return self.drone.move_down(distancia)
def avanzar_hasta(self, distancia):
return self.drone.move_forward(distancia)
def izquierda_hasta(self, distancia):
return self.drone.move_left(distancia)
def derecha_hasta(self, distancia):
return self.drone.move_right(distancia)
def subir_hasta(self, distancia):
return self.drone.move_up(distancia)
# ------ METODOS INFORMATIVOS ------
def altura_actual(self):
return self.drone.get_height()
def bateria_restante(self):
return self.drone.get_battery()
def tiempo_de_vuelo(self):
return self.drone.get_flight_time()
def velocidad_actual(self):
return self.drone.get_speed()
elif key == keyboard.Key.down:
vx = 0
elif key == keyboard.Key.right:
vy = 0
elif key == keyboard.Key.left:
vy = 0
elif key == keyboard.Key.esc:
tello.land()
tello.close()
return False
tello.set_velocities(vy, vx, vz, rot)
print(tello.get_battery())
tello.takeoff()
#time.sleep(6)
# Collect events until released
listener = keyboard.Listener(on_press=on_press, on_release=on_release)
listener.daemon = True
listener.start()
while (True):
# Capture frame-by-frame
#ret, frame = cap.read()
frame = tello.get_image()
# Our operations on the frame come here
gray = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR)
class Follower:
def __init__(self):
pygame.init()
pygame.display.set_caption("Tello video stream")
self.screen = pygame.display.set_mode([960, 720])
# Drone velocities between -100~100
self.for_back_velocity = 0
self.left_right_velocity = 0
self.up_down_velocity = 0
self.yaw_velocity = 0
self.speed = 10
self.tello = Tello()
self.send_rc_control = False
pygame.time.set_timer(pygame.USEREVENT + 1, 1000 // FPS)
self.personTracker = PersonTracker()
self.Px, self.Ix, self.Dx = 0.10, 0, -0 #D gain should be negative.
self.Py, self.Iy, self.Dy = 0.1, 0, -0
self.Pz, self.Iz, self.Dz = 0.25, 0, -0.001
self.prev_err_x, self.prev_err_y, self.prev_err_z = None, None, None
self.accum_err_x, self.accum_err_y, self.accum_err_z = 0, 0, 0
self.found_person = False
self.manual = True
self.iter = 0
def run(self):
self.tello.connect()
self.tello.set_speed(self.speed)
# In case streaming is on. This happens when we quit this program without the escape key.
self.tello.streamoff()
self.tello.streamon()
frame_read = self.tello.get_frame_read()
should_stop = False
imprinted = False
emergency_counter = 0
while not should_stop:
for event in pygame.event.get():
if event.type == pygame.USEREVENT + 1:
self.update()
elif event.type == pygame.QUIT:
should_stop = True
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_ESCAPE:
should_stop = True
else:
self.keydown(event.key)
elif event.type == pygame.KEYUP:
self.keyup(event.key)
if frame_read.stopped:
break
self.screen.fill([0, 0, 0])
frame = frame_read.frame
if self.iter > 240:
humanBox, imprinted = self.personTracker.findMyHooman(frame)
if humanBox is None and self.send_rc_control and not self.manual:
emergency_counter += 1
if emergency_counter >= 120: #missed human for 120 frames; 1 second
print("ENGAGING EMERGENCY HOVER.")
cv2.putText(frame, "EMERGENCY HOVER", (700, 130),
cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0),
2)
self.emergencyHover()
elif humanBox is not None:
if self.found_person == False:
self.found_person = True
emergency_counter = 0
#PID LOOP:
desired_pos = (frame.shape[1] // 2, frame.shape[0] // 2
) #format x,y
if humanBox is not None:
xmin = int(humanBox[1] * frame.shape[1])
ymin = int(humanBox[0] * frame.shape[0])
xmax = int(humanBox[3] * frame.shape[1])
ymax = int(humanBox[2] * frame.shape[0])
centerHumanPosition = (np.mean(
(xmax, xmin)), np.mean((ymax, ymin))) #format x,y
#draw bounding box
cv2.rectangle(frame, (xmin, ymin), (xmax, ymax),
(255, 0, 0), 2) #blue
#draw target coord
cv2.circle(frame, (int(
centerHumanPosition[0]), int(centerHumanPosition[1])),
10, (255, 0, 0), 1) #blue
# print("z width: {}".format(np.abs(xmax-xmin)))
#draw desired coord
cv2.circle(frame, desired_pos, 10, (0, 0, 255), 1) #red
if self.send_rc_control and not self.manual:
self.update_control(centerHumanPosition, desired_pos,
xmax, xmin)
text = "Battery: {}%".format(self.tello.get_battery())
cv2.putText(frame, text, (5, 720 - 5), cv2.FONT_HERSHEY_SIMPLEX, 1,
(0, 0, 255), 2)
heightText = "Height:{}".format(self.tello.get_height())
cv2.putText(frame, heightText, (720 - 5, 40),
cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
manualText = "Manual: {}".format(self.manual)
if self.manual:
cv2.putText(frame, manualText, (720 - 5, 70),
cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2)
else:
cv2.putText(frame, manualText, (720 - 5, 70),
cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
imprintedTxt = "Imprinted: {}".format(imprinted)
if imprinted:
cv2.putText(frame, imprintedTxt, (720 - 5, 100),
cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 2)
else:
cv2.putText(frame, imprintedTxt, (720 - 5, 100),
cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
frame = np.rot90(frame)
frame = np.flipud(frame)
frame = pygame.surfarray.make_surface(frame)
self.screen.blit(frame, (0, 0))
pygame.display.update()
if self.iter <= 240:
self.iter += 1
time.sleep(1 / FPS)
# Call it always before finishing. To deallocate resources.
self.tello.end()
def keydown(self, key):
""" Update velocities based on key pressed
Arguments:
key: pygame key
"""
if key == pygame.K_UP: # set forward velocity
self.for_back_velocity = S
elif key == pygame.K_DOWN: # set backward velocity
self.for_back_velocity = -S
elif key == pygame.K_LEFT: # set left velocity
self.left_right_velocity = -S
elif key == pygame.K_RIGHT: # set right velocity
self.left_right_velocity = S
elif key == pygame.K_w: # set up velocity
self.up_down_velocity = S
elif key == pygame.K_s: # set down velocity
self.up_down_velocity = -S
elif key == pygame.K_a: # set yaw counter clockwise velocity
self.yaw_velocity = -S
elif key == pygame.K_d: # set yaw clockwise velocity
self.yaw_velocity = S
elif key == pygame.K_m: # set yaw clockwise velocity
self.manual = not self.manual
self.yaw_velocity = 0
self.up_down_velocity = 0
self.left_right_velocity = 0
print("MANUAL MODE IS NOW: {}".format(self.manual))
def keyup(self, key):
""" Update velocities based on key released
Arguments:
key: pygame key
"""
if key == pygame.K_UP or key == pygame.K_DOWN: # set zero forward/backward velocity
self.for_back_velocity = 0
elif key == pygame.K_LEFT or key == pygame.K_RIGHT: # set zero left/right velocity
self.left_right_velocity = 0
elif key == pygame.K_w or key == pygame.K_s: # set zero up/down velocity
self.up_down_velocity = 0
elif key == pygame.K_a or key == pygame.K_d: # set zero yaw velocity
self.yaw_velocity = 0
elif key == pygame.K_t: # takeoff
self.tello.takeoff()
self.send_rc_control = True
elif key == pygame.K_l: # land
not self.tello.land()
self.iter = 0
self.send_rc_control = False
def update(self):
""" Update routine. Send velocities to Tello."""
if self.send_rc_control:
self.tello.send_rc_control(self.left_right_velocity,
self.for_back_velocity,
self.up_down_velocity,
self.yaw_velocity)
def update_control(self, curr_lateral_pos, desired_later_pos, xmax, xmin):
#Three error directions. Two lateral, one forward/backward. How to calc forward/back error?
err_x = curr_lateral_pos[0] - desired_later_pos[
0] #if positive, we're to the left of where we want to be, so want positive control. (CHECK THIS)
err_y = desired_later_pos[1] - curr_lateral_pos[
1] #if positive, we're below where we want to be. (CHECK THIS)
#hardcode desired box width. Must test!!
desired_width = 350
curr_width = np.abs(xmax -
xmin) #check. is this actually the width dim?
err_z = desired_width - curr_width #if negative, too close; want backwards--> positive gain
# print("Err z: {}".format(err_z))
if self.prev_err_x == None:
derivative_x_input = 0
derivative_y_input = 0
derivative_z_input = 0
else:
derivative_x_input = (err_x - self.prev_err_x) / (1 / FPS)
derivative_y_input = (err_y - self.prev_err_y) / (1 / FPS)
derivative_z_input = (err_z - self.prev_err_z) / (1 / FPS)
#clip derivative errors to avoid noise
derivative_x_input = np.clip(derivative_x_input, -11000, 11000)
derivative_y_input = np.clip(derivative_y_input, -11000, 11000)
derivative_z_input = np.clip(derivative_z_input, -11000, 11000)
self.accum_err_x += err_x
self.accum_err_y += err_y
self.accum_err_z += err_z
self.prev_err_x = err_x
self.prev_err_y = err_y
self.prev_err_z = err_z
# print("derr_z: {}".format(derivative_z_input))
# self.left_right_velocity = self.Px*err_x+self.Dx*derivative_x_input+self.Ix*self.accum_err_x
self.yaw_velocity = self.Px * err_x + self.Dx * derivative_x_input + self.Ix * self.accum_err_x
self.up_down_velocity = self.Py * err_y + self.Dy * derivative_y_input + self.Iy * self.accum_err_y
self.for_back_velocity = self.Pz * err_z + self.Dy * derivative_z_input + self.Iz * self.accum_err_z
#limit velocity to 2*S.
# self.left_right_velocity = np.clip(self.left_right_velocity, -S*2, S*2)
self.yaw_velocity = int(np.clip(self.yaw_velocity, -S, S))
self.up_down_velocity = int(np.clip(self.up_down_velocity, -S, S))
self.for_back_velocity = int(np.clip(self.for_back_velocity, -S, S))
#Send new velocities to robot.
self.update()
def emergencyHover(self):
print("Cannot find hooman. I am lonely doggo. Hovering and rotating.")
self.found_person = False
self.for_back_velocity = 0
self.left_right_velocity = 0
self.up_down_velocity = 0
self.yaw_velocity = int(S // 2)
self.update()
