LOCO定位系统入门教程-使用python脚本控制前进、转动和后退

说明：

• 介绍如何使用python脚本，控制前进、转身和后退

步骤：

• 新建python脚本motion_flying.py

• 代码如下

import logging
import sys
import time
from threading import Event

import cflib.crtp
from cflib.crazyflie import Crazyflie
from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
from cflib.positioning.motion_commander import MotionCommander
from cflib.utils import uri_helper

URI = uri_helper.uri_from_env(default='radio://0/80/2M/E7E7E7E7E7')

DEFAULT_HEIGHT = 0.5

deck_attached_event = Event()
logging.basicConfig(level=logging.ERROR)


def move_linear_simple(scf):
    with MotionCommander(scf, default_height=DEFAULT_HEIGHT) as mc:
        time.sleep(1)
        mc.forward(0.5)
        time.sleep(1)
        mc.turn_left(180)
        time.sleep(1)
        mc.forward(0.5)
        time.sleep(1)


def take_off_simple(scf):
    ...

def param_deck_flow(name, value_str):
   ...


if __name__ == '__main__':
    cflib.crtp.init_drivers()

    with SyncCrazyflie(URI, cf=Crazyflie(rw_cache='./cache')) as scf:

        scf.cf.param.add_update_callback(group='deck', name='bcFlow2',
                                         cb=param_deck_flow)
        time.sleep(1)

        if not deck_attached_event.wait(timeout=5):
            print('No flow deck detected!')
            sys.exit(1)

        move_linear_simple(scf)

• 运行脚本

python3 motion_flying.py

• crazyflie起飞，前进0.5米，左转180度，然后再次前进，到其初始位置