Crazyflie入门教程-控制-检测周围障碍物

说明:

• 介绍将如何设置系统并进行首次自主交互式飞行

相关设备：

• crazyflie套件：采购地址

所需硬件：

• 1 x Crazyflie 2.X套件
• 1 x Crazyradio PA
• 1 x Flow V2平台

步骤：

• 安装Python和cflib

  • 用于控制Crazyflie 2.X的后端库称为cflib，是用python 3编写的。要使用它，您必须在计算机上安装Pyhton 3，点击下载

  • 使用标准设置安装python，为方便起见，勾选Add to PATH复选框

• 安装python 3后，打开命令提示符并使用pip安装cflib。

pip3 install cflib

• 当一切设置完成并安装完毕后，启动Python编辑器IDLE3

• 选择“文件”->“新建”，然后将以下脚本复制/粘贴到新脚本中。用合适的名称保存脚本。

"""
Example script that allows a user to "push" the Crazyflie 2.X 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.
"""
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 multi_ranger:
                keep_flying = True

                while keep_flying:
                    VELOCITY = 0.5
                    velocity_x = 0.0
                    velocity_y = 0.0

                    if is_close(multi_ranger.front):
                        velocity_x -= VELOCITY
                    if is_close(multi_ranger.back):
                        velocity_x += VELOCITY

                    if is_close(multi_ranger.left):
                        velocity_y -= VELOCITY
                    if is_close(multi_ranger.right):
                        velocity_y += VELOCITY

                    if is_close(multi_ranger.up):
                        keep_flying = False

                    motion_commander.start_linear_motion(
                        velocity_x, velocity_y, 0)

                    time.sleep(0.1)

            print('Demo terminated!')

• 通过按F5运行脚本

• 注意：如果您打开了python客户端，请确保Crazyflie已从其断开连接。Crazyradio不支持同时来自多个程序的连接，如果Crazyflie仍连接到python客户端，则脚本将不起作用。

• 输出应与此类似:

Connecting to radio://0/110/2M
Connected to radio://0/110/2M
Demo terminated!