First Version (#1)

Co-authored-by: Anujith Muraleedharan <140189296+AnujithM@users.noreply.github.com>
2025-03-22 16:06:45 +01:00
parent 81a42fde3c
commit 26b19a909f
51 changed files with 2348 additions and 1030 deletions
--- a/example_exercises/13_rc_movement.py
+++ b/example_exercises/13_rc_movement.py
@@ -0,0 +1,158 @@
+from typing import Callable
+from tello_sim.tello_sim_client import TelloSimClient
+
+
+import time
+
+SPEED_SETTING_CM_S = 30
+MOVEMENT_MAGNITUDE = 30
+TIME_PER_ACTION_SECS = 3
+
+# Create a Tello instance
+tello = TelloSimClient()
+
+# Connect to Tello
+tello.connect()
+
+print("Starting flying in ...")
+for i in range(3, 0, -1):
+    print(i)
+    time.sleep(1)
+
+# Takeoff
+print("Take off")
+tello.takeoff()
+
+print("Setting speed to", SPEED_SETTING_CM_S)
+tello.set_speed(SPEED_SETTING_CM_S)
+
+
+def do_action_for_time(label: str, action: Callable, time_in_seconds: int):
+    print(label)
+    action()
+    time.sleep(time_in_seconds)
+
+
+left_right_velocity = 0
+forward_backward_velocity = 0
+up_down_velocity = 0
+yaw_velocity = 0
+do_action_for_time(
+    "Staying still",
+    lambda: tello.send_rc_control(
+        left_right_velocity, forward_backward_velocity, up_down_velocity, yaw_velocity
+    ),
+    TIME_PER_ACTION_SECS,
+)
+
+# Move forward
+left_right_velocity = 0
+forward_backward_velocity = MOVEMENT_MAGNITUDE
+up_down_velocity = 0
+yaw_velocity = 0
+do_action_for_time(
+    "Moving Forward",
+    lambda: tello.send_rc_control(
+        left_right_velocity, forward_backward_velocity, up_down_velocity, yaw_velocity
+    ),
+    TIME_PER_ACTION_SECS,
+)
+
+# Move Backwards
+left_right_velocity = 0
+forward_backward_velocity = -MOVEMENT_MAGNITUDE
+up_down_velocity = 0
+yaw_velocity = 0
+do_action_for_time(
+    "Moving backwards",
+    lambda: tello.send_rc_control(
+        left_right_velocity, forward_backward_velocity, up_down_velocity, yaw_velocity
+    ),
+    TIME_PER_ACTION_SECS,
+)
+
+
+# Move Left
+left_right_velocity = MOVEMENT_MAGNITUDE
+forward_backward_velocity = 0
+up_down_velocity = 0
+yaw_velocity = 0
+do_action_for_time(
+    "Moving left",
+    lambda: tello.send_rc_control(
+        left_right_velocity, forward_backward_velocity, up_down_velocity, yaw_velocity
+    ),
+    TIME_PER_ACTION_SECS,
+)
+
+# Move Right
+left_right_velocity = -MOVEMENT_MAGNITUDE
+forward_backward_velocity = 0
+up_down_velocity = 0
+yaw_velocity = 0
+do_action_for_time(
+    "Moving right",
+    lambda: tello.send_rc_control(
+        left_right_velocity, forward_backward_velocity, up_down_velocity, yaw_velocity
+    ),
+    TIME_PER_ACTION_SECS,
+)
+
+# Move Up
+left_right_velocity = 0
+forward_backward_velocity = 0
+up_down_velocity = MOVEMENT_MAGNITUDE
+yaw_velocity = 0
+do_action_for_time(
+    "Moving up",
+    lambda: tello.send_rc_control(
+        left_right_velocity, forward_backward_velocity, up_down_velocity, yaw_velocity
+    ),
+    TIME_PER_ACTION_SECS,
+)
+
+# Move down
+left_right_velocity = 0
+forward_backward_velocity = 0
+up_down_velocity = -MOVEMENT_MAGNITUDE
+yaw_velocity = 0
+do_action_for_time(
+    "Moving down",
+    lambda: tello.send_rc_control(
+        left_right_velocity, forward_backward_velocity, up_down_velocity, yaw_velocity
+    ),
+    TIME_PER_ACTION_SECS,
+)
+
+# Turn Left
+left_right_velocity = 0
+forward_backward_velocity = 0
+up_down_velocity = 0
+yaw_velocity = MOVEMENT_MAGNITUDE
+do_action_for_time(
+    "Turning left",
+    lambda: tello.send_rc_control(
+        left_right_velocity, forward_backward_velocity, up_down_velocity, yaw_velocity
+    ),
+    TIME_PER_ACTION_SECS,
+)
+
+# Turn Right
+left_right_velocity = 0
+forward_backward_velocity = 0
+up_down_velocity = 0
+yaw_velocity = -MOVEMENT_MAGNITUDE
+do_action_for_time(
+    "Turning right",
+    lambda: tello.send_rc_control(
+        left_right_velocity, forward_backward_velocity, up_down_velocity, yaw_velocity
+    ),
+    TIME_PER_ACTION_SECS,
+)
+
+print("Landing")
+# Land
+tello.land()
+
+# End the connection
+tello.end()