def land(self):
print("I'm landing")
global PERCHING_EVENT
#print(PERCHING_EVENT)
while not PERCHING_EVENT:
if (gamepad.get())[6]:
PERCHING_EVENT = True
AX_L_H = (gamepad.get())[0]
AX_L_V = (gamepad.get())[1]
AX_R_H = (gamepad.get())[3]
AX_R_V = (
gamepad.get()
)[4] # need some way of updating these values outside the while loop
#print(AX_R_V,AX_R_H,AX_L_V,AX_L_H)
if (
AX_L_H + AX_L_V + AX_R_H + AX_R_V
) < 0.2: #This allows for some accidental control touch. The smaller
# the number, the more sensitive. Consider making just a sum of the ABSOLUTE values.
self._cf.commander.send_setpoint(0, 0, 0, 0) #sample code
else:
self.fly() #If button pressed, go back to flying mode
param_name = "pid_attitude.pitch_kd"
param_value = "10000"
self._cf.param.set_value(param_name, param_value)
#self._cf.param.remove_update_callback(group = "pid_attitude", name = "pitch_kd", cb = self.perch)
self._cf.param.add_update_callback(group="pid_attitude",
name="pitch_kd",
cb=self.param_updated_callback)
self.perch()
def fly(self):
print("I'm flying")
# time.sleep(1)
# THis is so that cf doesn't fly away at the beginning
self._cf.commander.send_setpoint(0, 0, 0, 0)
while (gamepad.get())[14] == 0:
#Change maximum thrust here
thrust = int(32000 * ((gamepad.get())[0]))
#print(thrust)
#print((gamepad.get())[14])
self._cf.commander.send_setpoint(0, 0, 0, abs(thrust))
#self._cf.commander.send_setpoint(0, 0, 0, 0)
self.land()
def listen_disconnect(self):
"""Listen for disconnection"""
while 1:
if (gamepad.get())[13] != 0: #Start button
print("Disconnected from crazyflie")
# self._cf.commander.send_setpoint(0, 0, 0, 0)
self._cf.close_link()
def fly(self):
print("I'm flying")
time.sleep(3)
self._cf.commander.send_setpoint(0, 0, 0, 0) #THis is so that cf doesn't fly away at the beginning
the_time = time.time() + 5
while time.time() < the_time:
thrust = int(32000*(((gamepad.get())[0])))
print(thrust)
self._cf.commander.send_setpoint(0, 0, 0, abs(thrust))
self._cf.commander.send_setpoint(0, 0, 0, 0)
def perch(self):
print("I'm perching")
global PERCHING_EVENT
while PERCHING_EVENT:
AX_L_H = (gamepad.get())[0]
AX_L_V = (gamepad.get())[1]
AX_R_H = (gamepad.get())[3]
AX_R_V = (
gamepad.get()
)[4] # need some way of updating these values outside the while loop
#print(AX_R_V, AX_R_H, AX_L_V, AX_L_H)
if (
AX_L_H + AX_L_V + AX_R_H + AX_R_V
) < 0.2: # This allows for some accidental control touch. The smaller
# the number, the more sensitive. Consider making just a sum of the ABSOLUTE values.
self._cf.commander.send_setpoint(0, 0, 0, 1000) # sample code
else:
PERCHING_EVENT = False
self.fly() # If button pressed, go back to flying mode
def ClickedBtn(self):
self.label_10.setText(gamepad.getname())
print(self.radioButton_2.isChecked())
b = 50
d = 50
while self.radioButton_2.isChecked():
#Makes Slow motion if >1
#time.sleep(0.5)
self.x = gamepad.get()
print(self.x)
a = int(((float(self.x[0]) * 1000) + 1000) / 20)
c = int(((float(self.x[2]) * 1000) + 1000) / 20)
if (b < 0):
b = 0
if (b > 100):
b = 100
if (d < 0):
d = 0
if (d > 100):
d = 100
if (self.x[4] == 1):
b += 3
if (self.x[6] == 1):
b -= 3
if (self.x[5] == 1):
d += 3
if (self.x[7] == 1):
d -= 3
print("ajefvjsvfjvsj")
self.progressBar.setValue(a)
self.progressBar_2.setValue(b)
self.progressBar_3.setValue(c)
self.progressBar_4.setValue(d)
self.lineEdit.setText(
str(a) + " " + str(b) + " " + str(c) + " " + str(d))
print("going update")
#firebase.put('/values','a',a)
#firebase.put('/values','b',b)
#firebase.put('/values','c',c)
#firebase.put('/values','d',d)
ref.update({'a': a, 'b': b, 'c': c, 'd': d})
print("cpmplteupdate")
import gamepad, socket, time
ip = "192.168.80.12"
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
old = []
gdata = []
while 1:
while old == gdata:
gdata = gamepad.get()
old = gdata
if gdata[0] > 5:
s.sendto("R10255",(ip,7777))
elif gdata[0] < -5:
s.sendto("R01255",(ip,7777))
elif gdata[1] < -5:
s.sendto("R11255",(ip,7777))
elif gdata[1] > 5:
s.sendto("R00255",(ip,7777))
else:
s.sendto("R22255",(ip,7777))
import gamepad, socket, time
ip = "192.168.80.12"
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
old = []
gdata = []
while 1:
while old == gdata:
gdata = gamepad.get()
old = gdata
if gdata[0] > 5:
s.sendto("R10255", (ip, 7777))
elif gdata[0] < -5:
s.sendto("R01255", (ip, 7777))
elif gdata[1] < -5:
s.sendto("R11255", (ip, 7777))
elif gdata[1] > 5:
s.sendto("R00255", (ip, 7777))
else:
s.sendto("R22255", (ip, 7777))
UDP_IP = "255.255.255.255" #"10.23.46.31"
UDP_PORT = 4999
MESSAGE = "0 0"
print "UDP target IP:", UDP_IP
print "UDP target port:", UDP_PORT
print "message:", MESSAGE
axisX = 0
axisY = 0
left = 0
right = 0
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
while 1:
MESSAGE = gamepad.get() #raw_input("Please, write speed for both motors\n")
#sock.sendto(str(MESSAGE[0])+str(MESSAGE[1]), (UDP_IP, UDP_PORT))
axisX = float(MESSAGE[0])
axisY = float(MESSAGE[1])
axisY = axisY * ( -1 )
"""
if axisX <= 0 and axisY <= 0:
left = 255 * axisY *(-1)
right =255 * sqrt (axisX * axisX + axisY * axisY)
if axisX <= 0 and axisY > 0:
left = axisY *(-255)
right = sqrt (axisX * axisX + axisY * axisY) * (-255)
if axisX > 0 and axisY > 0:
right = axisY *(-255)
import gamepad
import time
while 1:
print((gamepad.get()[14]))
time.sleep(0.5)
UDP_IP = "255.255.255.255" #"10.23.46.31"
UDP_PORT = 4999
MESSAGE = "0 0"
print "UDP target IP:", UDP_IP
print "UDP target port:", UDP_PORT
print "message:", MESSAGE
axisX = 0
axisY = 0
left = 0
right = 0
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
while 1:
MESSAGE = gamepad.get(
) #raw_input("Please, write speed for both motors\n")
#sock.sendto(str(MESSAGE[0])+str(MESSAGE[1]), (UDP_IP, UDP_PORT))
axisX = float(MESSAGE[0])
axisY = float(MESSAGE[1])
axisY = axisY * (-1)
"""
if axisX <= 0 and axisY <= 0:
left = 255 * axisY *(-1)
right =255 * sqrt (axisX * axisX + axisY * axisY)
if axisX <= 0 and axisY > 0:
left = axisY *(-255)
right = sqrt (axisX * axisX + axisY * axisY) * (-255)
if axisX > 0 and axisY > 0:
right = axisY *(-255)