from pioneer_sdk import Pioneer
import sys
if __name__ == '__main__':
pioneer_mini = Pioneer()
pioneer_mini.lua_script_control('Start')
while True:
try:
pass
except KeyboardInterrupt:
pioneer_mini.lua_script_control('Stop')
sys.exit()
counter = 1
# termination criteria
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
# prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(8,5,0)
obj_p = np.zeros((number_of_hor_corners * number_of_ver_corners, 3),
np.float32)
obj_p[:, :2] = np.mgrid[0:number_of_ver_corners,
0:number_of_hor_corners].T.reshape(-1, 2)
# Arrays to store object points and image points from all the images.
obj_points = [] # 3d point in real world space
img_points = [] # 2d points in image plane.
if __name__ == '__main__':
pioneer_mini = Pioneer(logger=False)
video_frame = bytes()
if number_of_samples < 10:
print('Algorithm need at least 10 samples')
sys.exit(0)
print('press p to take samples, or esc for exit')
print(
'by default they will be stored in ./camera_samples folder and the result file will appear in ./result folder'
)
print('Defined number of samples is %d' % number_of_samples)
os.chdir(os.path.dirname(sys.argv[0])) # script dir
samples_folder = os.path.join(os.getcwd(), "camera_samples")
yaml_folder = os.path.join(os.getcwd(), "result")
if not os.path.isdir(samples_folder):
os.mkdir(samples_folder)
if not os.path.isdir(yaml_folder):
# флаг отправки команды перемещения
new_command = False
#######################
"""Параметры экрана"""
#######################
FPS = 30
W = 640 # ширина экрана
H = 480 # высота экрана
###########################
"""Инициализация Пионера"""
###########################
pioneer_mini = Pioneer(logger= True) # инициализируем пионера
print('start')
pioneer_mini.arm() # запуск моторов
pioneer_mini.takeoff() # предстартовые проверки
pygame.init() # Иницилизация пугейм
pygame.key.set_repeat(1, 20) # Включение обработки зажатой клавиши
sc = pygame.display.set_mode((W, H))
clock = pygame.time.Clock()
##############################
"""Инициализация джойстиков"""
##############################
increment_deg = math.radians(float(8))
# флаг отправки команды перемещения
new_command = False
#######################
"""Параметры экрана"""
#######################
FPS = 30
W = 640 # ширина экрана
H = 480 # высота экрана
###########################
"""Инициализация Пионера"""
###########################
pioneer_mini = Pioneer(logger=True) # инициализируем пионера
print('start')
pioneer_mini.arm() # запуск моторов
pioneer_mini.takeoff() # предстартовые проверки
pygame.init() # Иницилизация пугейм
pygame.key.set_repeat(1, 20) # Включение обработки зажатой клавиши
sc = pygame.display.set_mode((W, H))
clock = pygame.time.Clock()
##############################
"""Инициализация джойстиков"""
##############################
joy = Joystick()
time.sleep(1)
startFunction(table, "DFailsafe: ", "Проверка посадки при потере сигнала")
pioneer.arm()
pioneer.takeoff()
time.sleep(1)
print("Отключите wifi соединение с комптером, пока он в воздухе")
time.sleep(3)
result = check("Коптер совершил посадку?")
table.append(str(result))
if __name__ == '__main__':
print('Инициализация пионера\n')
pioneer_mini = Pioneer(logger=False) # инициализируем пионера
table = []
version = requests.get('http://192.168.4.1/info')
print('Для положительного ответа нажмите введите "+" и нажмите enter')
#led(pioneer_mini, table)
#distSensor(pioneer_mini, table)
#cam(pioneer_mini, table)
arm(pioneer_mini, table)
time.sleep(3)
disarm(pioneer_mini, table)
delta = 0.1
m_to_led = 1000
led_min = 0
led_max = 255
r = led_min
g = led_min
b = led_min
low = 0.25
mid = 0.5
high = 0.75
if __name__ == '__main__':
pioneer_mini = Pioneer(logger=False)
curr_time = time.time()
while True:
if time.time() - curr_time > delta:
tof_data = pioneer_mini.get_dist_sensor_data()
if tof_data is not None:
if tof_data <= low:
r = tof_data * m_to_led
g = led_min
b = led_min
elif low < tof_data <= mid:
r = (tof_data - low) * m_to_led
g = (tof_data - low) * m_to_led
b = led_min
elif mid < tof_data <= high:
r = led_min
import cv2
import math
import numpy as np
command_x = float(0)
command_y = float(0)
command_z = float(1)
command_yaw = math.radians(float(0))
increment_xy = float(0.2)
increment_z = float(0.1)
increment_deg = math.radians(float(90))
new_command = False
if __name__ == '__main__':
print('start')
pioneer_mini = Pioneer()
pioneer_mini.arm()
pioneer_mini.takeoff()
while True:
camera_frame = cv2.imdecode(
np.frombuffer(pioneer_mini.get_raw_video_frame(), dtype=np.uint8),
cv2.IMREAD_COLOR)
cv2.imshow('pioneer_camera_stream', camera_frame)
key = cv2.waitKey(1)
if key == 27: # esc
print('esc pressed')
cv2.destroyAllWindows()
pioneer_mini.land()
break
elif key == ord('w'):
print('w')
number_of_points = 24
increment = float(360 / number_of_points)
radius = 0.6
flight_height = float(1)
last_point_reached = False
command_x = radius * math.cos(math.radians(angle))
command_y = radius * math.sin(math.radians(angle))
command_yaw = math.radians(angle)
new_point = True
p_r = False
if __name__ == '__main__':
print('start')
pioneer_mini = Pioneer()
pioneer_mini.arm()
pioneer_mini.takeoff()
while True:
camera_frame = cv2.imdecode(
np.frombuffer(pioneer_mini.get_raw_video_frame(), dtype=np.uint8),
cv2.IMREAD_COLOR)
cv2.imshow('pioneer_camera_stream', camera_frame)
if new_point:
pioneer_mini.go_to_local_point(x=command_x,
y=command_y,
z=flight_height,
yaw=command_yaw)
new_point = False