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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
#
# || ____ _ __
# +------+ / __ )(_) /_______________ _____ ___
# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
#
# Copyright (C) 2017 Bitcraze AB
#
# Crazyflie Python Library
#
# This program is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
# of the License, or (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
# MA 02110-1301, USA.
"""
Example scipts that allows a user to "push" the Crazyflie 2.0 around
using your hands while it's hovering.
This examples uses the Flow and Multi-ranger decks to measure distances
in all directions and tries to keep away from anything that comes closer
than 0.2m by setting a velocity in the opposite direction.
The demo is ended by either pressing Ctrl-C or by holding your hand above the
Crazyflie.
For the example to run the following hardware is needed:
* Crazyflie 2.0
* Crazyradio PA
* Flow deck
* Multiranger deck
"""
import logging
import sys
import time
import cflib.crtp
from cflib.crazyflie import Crazyflie
from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
from cflib.positioning.motion_commander import MotionCommander
from cflib.utils.multiranger import Multiranger
URI = 'radio://0/80/2M'
if len(sys.argv) > 1:
URI = sys.argv[1]
# Only output errors from the logging framework
logging.basicConfig(level=logging.ERROR)
def is_close(range):
MIN_DISTANCE = 0.2 # m
if range is None:
return False
else:
return range < MIN_DISTANCE
if __name__ == '__main__':
# Initialize the low-level drivers (don't list the debug drivers)
cflib.crtp.init_drivers(enable_debug_driver=False)
cf = Crazyflie(rw_cache='./cache')
with SyncCrazyflie(URI, cf=cf) as scf:
with MotionCommander(scf) as motion_commander:
with Multiranger(scf) as multiranger:
keep_flying = True
while keep_flying:
VELOCITY = 0.5
velocity_x = 0.0
velocity_y = 0.0
if is_close(multiranger.front):
velocity_x -= VELOCITY
if is_close(multiranger.back):
velocity_x += VELOCITY
if is_close(multiranger.left):
velocity_y -= VELOCITY
if is_close(multiranger.right):
velocity_y += VELOCITY
if is_close(multiranger.up):
keep_flying = False
motion_commander.start_linear_motion(
velocity_x, velocity_y, 0)
time.sleep(0.1)
print('Demo terminated!')