class Drone:
def __init__(self, config, ovbuffer):
self.config = config
self.every = config["time"]["updateEverySec"]
self.runTime = time.time()
self.state_takeoff = False
self.state_land = False
self.ovbuffer = ovbuffer
self.simulate = config["simulate"]
if not self.simulate:
self.tello = Tello()
self.tello.connect()
self.height = 0
self.cntrlChannel = config["cntrlChannel"]
self.power2height = config["power2height"]
self.minStep = config["minimalStepCM"]
self.speed = config["speed"]
# 20 mkV^2 = 30 cm above the ground.
# 80 mkV^2 = 200 cm above the ground.
self.timer = RepeatedTimer(self.every, self.scene)
def time(self):
return time.time() - self.runTime
def start(self):
config = self.config
if self.time() > config["time"]["takeOff"] and not self.state_takeoff:
self.logPos("takeoff")
self.state_takeoff = True
self.height = config["defaultHeightCM"]
try:
if not self.simulate:
self.tello.takeoff()
except Exception as e:
print(e)
def finish(self, force=False):
if self.state_takeoff or force:
self.logPos("land")
try:
if not self.simulate:
self.tello.land()
except Exception as e:
print(e)
self.state_land = True
try:
if not self.simulate:
self.tello.end()
except Exception as e:
print(e)
def scene(self):
config = self.config
self.logPos("scene")
if not self.state_takeoff:
self.start()
if self.time() > config["time"]["maxLand"] and not self.state_land:
self.finish()
if self.time() > config["time"][
"rythmAnalyzeStart"] and not self.state_land and self.state_takeoff:
self.onRythm()
def onRythm(self):
channelPower = self.ovbuffer.lastSeries[-1]
eegPower = 0
if self.cntrlChannel in channelPower:
eegPower = channelPower[self.cntrlChannel]
minEegP, maxEegP = self.power2height[0]
minH, maxH = self.power2height[1]
self.logPos("eegPower={}, minEegP={}, maxEegP={}".format(
eegPower, minEegP, maxEegP))
if eegPower >= minEegP and eegPower <= maxEegP:
h = (eegPower - minEegP) / (maxEegP - minEegP) * (maxH - minH)
realH = minH + h
changeH = int(realH - self.height)
if abs(changeH) > self.minStep:
self.height = realH
self.logPos("eegPower={}, go to XYZ, change={}".format(
eegPower, changeH))
if not self.simulate:
self.tello.go_xyz_speed(0, 0, changeH, self.speed)
else:
self.logPos("eegPower={}, change to small, change={}".format(
eegPower, changeH))
def logPos(self, title=""):
print("time={}: height={} {}".format(self.time(), self.height, title))
# sets drone starting position for first move
prevPos = findHouse()
# takeoff
drone.connect()
time.sleep(5)
drone.takeoff()
time.sleep(5)
drone.move_up(40)
time.sleep(5)
# scroll through list and find unwatered lawn
for r in plot:
for c in r:
if c == 1:
x = (plot.index(r) - prevPos[0]) * 40
y = (r.index(c) - prevPos[1]) * 40
drone.go_xyz_speed(x, y, 0, 20) # move to unwatered lawn space
time.sleep(5)
prevPos = [plot.index(r), r.index(c)
] # set starting pos for next move to current location
r[r.index(
c)] = 0 # mark current space as empty to tell drone to move on
time.sleep(3)
x = (findHouse()[0] - prevPos[0]) * 40
y = (findHouse()[1] - prevPos[1]) * 40
drone.go_xyz_speed(x, y, 0, 20) # moves back to initial position (house)
time.sleep(3)
drone.land()
############################## ####### control functions : ############################## # drone.move_x(int dist) # x : up, down, left, right, forawrd, back # dist : 20-500 # drone.rotate_clockwise(int deg) # drone.rotate_counter_clockwise(int deg) # deg : 1-3600 # drone.flip_x() # x : left, right, forward, back drone.go_xyz_speed(x, y, z, speed) # x,y,z : 20-500 # speed : 10-100 # fly to xyz relative to current position drone.curve_xyz_speed(x1, y1, z1, x2, y2, z2, speed) # goto x2y2z2 via x1y1z1 # radius b/w 0.5 - 10 meters # x,y,z : -500-500 # speed : 10-60 drone.set_speed(x) # x : 10-100 drone.send_rc_control(lr, fb, ud, yv) # velocity : -100 - 100
