Add base files
This commit is contained in:
Andrew Johnson
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venv/
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Vendored
+5
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{
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"python.analysis.extraPaths": [
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"./venv/lib/python3.10/site-packages"
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]
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}
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from tello_drone import DroneSimulator, TelloSimulator
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from ursina import *
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app = Ursina()
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window.color = color.rgb(135, 206, 235)
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window.fullscreen = True
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window.borderless = False
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window.fps_counter.enabled = False
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window.render_mode = 'default'
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Sky(texture='sky_sunset')
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tello_sim = TelloSimulator()
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drone_sim = DroneSimulator(tello_sim)
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def input(key):
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if key == 'h':
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drone_sim.help_text.visible = not drone_sim.help_text.visible
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if key == 'c':
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drone_sim.toggle_camera_view()
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def update():
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moving = False
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rolling = False
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if held_keys['w']:
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drone_sim.move("forward")
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moving = True
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if held_keys['s']:
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drone_sim.move("backward")
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moving = True
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if held_keys['a']:
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drone_sim.move("left")
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rolling = True
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if held_keys['d']:
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drone_sim.move("right")
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rolling = True
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if held_keys['j']:
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drone_sim.rotate(-drone_sim.rotation_speed)
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if held_keys['l']:
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drone_sim.rotate(drone_sim.rotation_speed)
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if held_keys['shift']:
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drone_sim.change_altitude("up")
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if held_keys['control']:
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drone_sim.change_altitude("down")
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if not moving:
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drone_sim.pitch_angle = 0 # Reset pitch when not moving
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if not rolling:
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drone_sim.roll_angle = 0 # Reset roll when not rolling
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drone_sim.update_movement()
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drone_sim.update_pitch_roll()
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app.run()
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ursina
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from ursina import *
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from time import time
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def lerp_color(start_color, end_color, factor):
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"""Custom color interpolation function"""
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return Color(
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start_color.r + (end_color.r - start_color.r) * factor,
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start_color.g + (end_color.g - start_color.g) * factor,
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start_color.b + (end_color.b - start_color.b) * factor,
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1 # Alpha channel
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)
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class TelloSimulator:
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def __init__(self):
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self.battery_level = 100
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self.altitude = 3
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self.speed = 0
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self.rotation_angle = 0
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self.is_flying = False
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self.start_time = time()
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def connect(self):
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print("Tello Simulator: Drone connected")
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return True
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def get_battery(self):
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elapsed_time = time() - self.start_time
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self.battery_level = max(100 - int((elapsed_time / 3600) * 100), 0) # Reduce battery over 60 min
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return self.battery_level
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def takeoff(self):
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if not self.is_flying:
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print("Tello Simulator: Drone taking off")
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self.is_flying = True
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return "Taking off"
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return "Already in air"
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def land(self):
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if self.is_flying:
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print("Tello Simulator: Drone landing")
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self.is_flying = False
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return "Landing"
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return "Already on ground"
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def move(self, direction, distance=1):
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print(f"Tello Simulator: Moving {direction} by {distance} meters")
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def rotate(self, angle):
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self.rotation_angle += angle
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print(f"Tello Simulator: Rotating {angle} degrees")
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#def start_video_stream(self):
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#print("Tello Simulator: Starting video stream...")
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# def get_video_frame(self):
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#return "Simulated video frame"
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class DroneSimulator(Entity):
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def __init__(self, tello_api, **kwargs):
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super().__init__()
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self.help_text = Text(
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text="Controls:\nW - Forward\nS - Backward\nA - Left\nD - Right\nShift - Launch/Up\nCtrl - Down\nJ - Rotate Left\nL - Rotate Right\nC - FPV\nH - Toggle Help",
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position=(-0.85, 0.43), # Top-left position
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scale=1.2,
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color=color.white,
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visible=True
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)
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self.tello = tello_api
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self.drone = Entity(
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model='tello.glb',
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scale=0.06,
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position=(-15.4, 3, 5),
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collider='box',
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cast_shadow=True
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)
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self.car = Entity(
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model='dirty_car.glb',
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scale=0.085,
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position=(10, 2.45, 155),
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rotation=(0, 0, 0),
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collider='box',
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cast_shadow=True
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)
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self.truck = Entity(
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model='road_roller.glb',
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scale=4.0,
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position=(-150, 2.45, 155),
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rotation=(0, -90, 0),
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collider='box',
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cast_shadow=True
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)
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self.road_closed = Entity(
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model='road_closed.glb',
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scale=7.0,
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position=(-15, 2, 315),
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rotation=(0, 90, 0),
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collider='box',
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cast_shadow=True
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)
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self.business_man = Entity(
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model='business_man.glb',
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scale=7.3,
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position=(23, 12, 155),
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rotation=(0, 55, 0),
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collider='box',
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cast_shadow=True
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)
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self.man = Entity(
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model='bos_standing.glb',
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scale=10.3,
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position=(-83, 2.8, 165),
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rotation=(0, 120, 0),
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collider='box',
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cast_shadow=True
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)
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self.patch = Entity(
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model='pipeline_construction_site.glb',
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scale=(15, 15, 12),
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position=(-123, 0.0, 260),
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rotation=(0, 0, 0),
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collider='none',
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cast_shadow=True
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)
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self.police_man = Entity(
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model='pig.glb',
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scale=10.0,
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position=(-35, 1.7, 230),
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rotation=(0, -70, 0),
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collider='box',
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cast_shadow=True
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)
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self.light1 = Entity(
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model='street_light.glb',
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scale=(4, 6.5, 5),
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position=(-55, 2.5, 260),
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rotation=(0, -90, 0),
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collider='none',
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cast_shadow=True
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)
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self.light2 = Entity(
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model='street_light.glb',
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scale=(4, 6.5, 5),
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position=(25, 2.5, 95),
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rotation=(0, 90, 0),
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collider='none',
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cast_shadow=True
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)
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self.light3 = Entity(
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model='street_light.glb',
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scale=(4, 6.5, 5),
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position=(-55, 2.5, -70),
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rotation=(0, -90, 0),
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collider='none',
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cast_shadow=True
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)
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for i in range(3):
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Entity(
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model='cobblestone.glb',
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scale=(5, 10, 20),
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position=(30, 0, i * 158.5),
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)
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for i in range(3):
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Entity(
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model='cobblestone.glb',
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scale=(5, 10, 20),
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position=(-58, 0, i * 158.5),
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)
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self.tunnel_road = Entity(
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model='tunnel_3.glb',
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scale=(63, 45, 45),
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position=(-199, 3.0, 380),
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rotation=(0, 0, 0),
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collider='None',
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cast_shadow=True
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)
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self.highway_road = Entity(
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model='highway.glb',
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scale=(20, 20, 5),
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position=(-14, 2.5, 120),
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rotation=(0, 90, 0),
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collider='box',
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cast_shadow=True
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)
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self.barrier1 = Entity(
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model='construction_barrier.glb',
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scale=(3, 3, 3),
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position=(24, 2.5, 315),
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rotation=(0, 0, 0),
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collider='box',
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cast_shadow=True
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)
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self.barrier2 = Entity(
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model='construction_barrier.glb',
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scale=(3, 3, 3),
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position=(-54, 2.5, 315),
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rotation=(0, 0, 0),
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collider='box',
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cast_shadow=True
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)
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self.station = Entity(
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model='gas_station_-_gta_v.glb',
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scale=(12.7, 10, 10),
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position=(-210, 2.5, 77),
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rotation=(0, -90, 0),
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)
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Entity(
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model='dirty_leaking_concrete_wall.glb',
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scale=(25, 20, 30),
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position=(34.2, 2.5, 25),
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rotation=(0, 90.5, 0),
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collider='box',
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cast_shadow=True
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)
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Entity(
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model='dirty_leaking_concrete_wall.glb',
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scale=(25, 20, 30),
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position=(34, 2.5, 227),
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rotation=(0, 91, 0),
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collider='box',
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cast_shadow=True
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)
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self.first_person_view = False
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# Create a separate entity to hold the camera
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self.camera_holder = Entity(position=self.drone.position)
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self.drone_camera = EditorCamera()
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self.drone_camera.parent = self.camera_holder
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self.third_person_position = (0, 5, -15)
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self.third_person_rotation = (10, 0, 0)
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self.first_person_position = (0, 0.5, 22)
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self.drone_camera.position = self.third_person_position
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self.drone_camera.rotation = self.third_person_rotation
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self.is_flying = False
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self.velocity = Vec3(0, 0, 0)
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self.acceleration = Vec3(0, 0, 0)
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self.drag = 0.93
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self.rotation_speed = 5
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self.max_speed = 1.8
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self.accel_force = 0.65
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self.pitch_angle = 0
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self.roll_angle = 0
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self.max_pitch = 20
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self.max_roll = 20
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self.tilt_smoothness = 0.05
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self.create_meters()
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def create_meters(self):
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# Main battery container
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self.battery_container = Entity(
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parent=camera.ui,
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model=Quad(radius=0.01),
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color=color.gray,
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scale=(0.12, 0.04),
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position=(0.74, 0.41),
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z=-1
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)
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# Battery cap
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self.battery_cap = Entity(
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parent=self.battery_container,
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model=Quad(radius=0.004),
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color=color.gray,
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position=(0.52, 0),
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scale=(0.05, 0.3),
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rotation_z=0
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)
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# Battery fill
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self.battery_fill = Entity(
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parent=self.battery_container,
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model=Quad(radius=0.01),
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color=color.green,
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scale=(0.9, 0.7),
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position=(-0.46, 0),
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origin=(-0.5, 0),
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z=-0.1
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)
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# Altitude meter
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self.altitude_meter = Text(
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text=f"Altitude: {self.tello.altitude}m",
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position=(0.67, 0.38),
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scale=0.94,
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color=color.white
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)
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# Warning text
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self.warning_text = Text(
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text="",
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position=(-0.25, 0),
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scale=3,
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color=color.red
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)
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def update_meters(self):
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"""Update telemetry meters"""
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battery = self.tello.get_battery()
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# Update battery fill width with padding
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fill_width = 0.92 * (battery / 100)
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self.battery_fill.scale_x = fill_width
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# color transitions (green → yellow → orange → red)
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if battery > 60:
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factor = (battery - 60) / 40 # 100-60%: green to yellow
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col = lerp_color(color.yellow, color.green, factor)
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elif battery > 30:
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factor = (battery - 30) / 30 # 60-30%: yellow to orange
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col = lerp_color(color.orange, color.yellow, factor)
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else:
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factor = battery / 30 # 30-0%: orange to red
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col = lerp_color(color.red, color.orange, factor)
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self.battery_fill.color = col
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# Update altitude
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self.altitude_meter.text = f"Altitude: {((self.drone.y) / 10 - 3/10):.1f}m"
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# Battery warning
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current_time = time() % 1
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if battery <= 10 and battery > 0:
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if current_time < 0.5:
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self.warning_text.text = "Battery Low!"
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else:
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self.warning_text.text = ""
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print("\n========== Battery Low! ==========\n")
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elif battery == 0:
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self.warning_text.text = "Battery Depleted!"
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print("\n========== Battery Depleted! ==========\n")
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else:
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self.warning_text.text = ""
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def update_movement(self):
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self.velocity += self.acceleration
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if self.velocity.length() > self.max_speed:
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self.velocity = self.velocity.normalized() * self.max_speed
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self.velocity *= self.drag
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new_position = self.drone.position + self.velocity
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hit_info = raycast(self.drone.position, self.velocity.normalized(), distance=self.velocity.length(), ignore=(self.drone,))
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if not hit_info.hit:
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self.drone.position = new_position
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if self.drone.y < 3:
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self.drone.y = 3
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self.acceleration = Vec3(0, 0, 0)
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# Apply pitch and roll to the drone
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self.drone.rotation_x = lerp(self.drone.rotation_x, self.pitch_angle, self.tilt_smoothness)
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self.drone.rotation_z = lerp(self.drone.rotation_z, self.roll_angle, self.tilt_smoothness)
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if self.first_person_view:
|
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self.camera_holder.position = self.drone.position
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self.camera_holder.rotation_x = 0 # Keep horizon level
|
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self.camera_holder.rotation_z = 0 # Prevent roll tilting
|
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self.camera_holder.rotation_y = self.drone.rotation_y # yaw only
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||||
else:
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# Third-person view
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||||
self.camera_holder.position = lerp(self.camera_holder.position, self.drone.position, 0.1)
|
||||
self.camera_holder.rotation_y = self.drone.rotation_y # yaw only
|
||||
self.drone_camera.rotation_x = 0 # Prevent pitch tilting
|
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self.drone_camera.rotation_z = 0 # Prevent roll tilting
|
||||
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self.update_meters()
|
||||
|
||||
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def move(self, direction):
|
||||
self.tello.move(direction, 1)
|
||||
|
||||
if direction == "forward":
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||||
self.acceleration += self.drone.forward * self.accel_force
|
||||
self.pitch_angle = self.max_pitch
|
||||
elif direction == "backward":
|
||||
self.acceleration -= self.drone.forward * self.accel_force
|
||||
self.pitch_angle = -self.max_pitch
|
||||
elif direction == "left":
|
||||
self.acceleration -= self.drone.right * self.accel_force
|
||||
self.roll_angle = -self.max_roll
|
||||
elif direction == "right":
|
||||
self.acceleration += self.drone.right * self.accel_force
|
||||
self.roll_angle = self.max_roll
|
||||
def toggle_camera_view(self):
|
||||
self.first_person_view = not self.first_person_view
|
||||
if self.first_person_view:
|
||||
# First-person view
|
||||
self.drone_camera.position = self.first_person_position
|
||||
self.drone_camera.rotation = (0, 0, 0)
|
||||
else:
|
||||
# Third-person view
|
||||
self.drone_camera.position = self.third_person_position
|
||||
self.drone_camera.rotation = self.third_person_rotation
|
||||
|
||||
def change_altitude(self, direction):
|
||||
if direction == "up":
|
||||
self.drone.y += 0.27
|
||||
self.tello.altitude += 0.27
|
||||
elif direction == "down" and self.drone.y > 3:
|
||||
self.drone.y -= 0.20
|
||||
self.tello.altitude -= 0.20
|
||||
|
||||
def rotate(self, angle):
|
||||
self.tello.rotate(angle)
|
||||
self.drone.rotation_y = lerp(self.drone.rotation_y, self.drone.rotation_y + angle, 0.2)
|
||||
|
||||
def update_pitch_roll(self):
|
||||
self.drone.rotation_x = lerp(self.drone.rotation_x, self.pitch_angle, self.tilt_smoothness)
|
||||
self.drone.rotation_z = lerp(self.drone.rotation_z, self.roll_angle, self.tilt_smoothness)
|
||||
|
||||
#def land_drone(self):
|
||||
# """ Land the drone when battery reaches zero """
|
||||
# while self.drone.y > 0:
|
||||
# self.drone.y -= 0.1
|
||||
# self.update_meters()
|
||||
# self.drone.y = 0
|
||||
# self.warning_text.text = "Landed."
|
||||
|
||||
|
||||
app = Ursina()
|
||||
window.color = color.rgb(135, 206, 235)
|
||||
window.fullscreen = True
|
||||
|
||||
window.borderless = False
|
||||
window.fps_counter.enabled = False
|
||||
window.render_mode = 'default'
|
||||
|
||||
|
||||
Sky(texture='sky_sunset')
|
||||
|
||||
tello_sim = TelloSimulator()
|
||||
drone_sim = DroneSimulator(tello_sim)
|
||||
|
||||
def input(key):
|
||||
if key == 'h':
|
||||
drone_sim.help_text.visible = not drone_sim.help_text.visible
|
||||
if key == 'c':
|
||||
drone_sim.toggle_camera_view()
|
||||
def update():
|
||||
moving = False
|
||||
rolling = False
|
||||
|
||||
if held_keys['w']:
|
||||
drone_sim.move("forward")
|
||||
moving = True
|
||||
if held_keys['s']:
|
||||
drone_sim.move("backward")
|
||||
moving = True
|
||||
if held_keys['a']:
|
||||
drone_sim.move("left")
|
||||
rolling = True
|
||||
if held_keys['d']:
|
||||
drone_sim.move("right")
|
||||
rolling = True
|
||||
if held_keys['j']:
|
||||
drone_sim.rotate(-drone_sim.rotation_speed)
|
||||
if held_keys['l']:
|
||||
drone_sim.rotate(drone_sim.rotation_speed)
|
||||
if held_keys['shift']:
|
||||
drone_sim.change_altitude("up")
|
||||
if held_keys['control']:
|
||||
drone_sim.change_altitude("down")
|
||||
if not moving:
|
||||
drone_sim.pitch_angle = 0 # Reset pitch when not moving
|
||||
|
||||
if not rolling:
|
||||
drone_sim.roll_angle = 0 # Reset roll when not rolling
|
||||
|
||||
drone_sim.update_movement()
|
||||
drone_sim.update_pitch_roll()
|
||||
|
||||
app.run()
|
||||
Binary file not shown.
+458
@@ -0,0 +1,458 @@
|
||||
from ursina import *
|
||||
from time import time
|
||||
|
||||
def lerp_color(start_color, end_color, factor):
|
||||
"""Custom color interpolation function"""
|
||||
return Color(
|
||||
start_color.r + (end_color.r - start_color.r) * factor,
|
||||
start_color.g + (end_color.g - start_color.g) * factor,
|
||||
start_color.b + (end_color.b - start_color.b) * factor,
|
||||
1 # Alpha channel
|
||||
)
|
||||
|
||||
|
||||
class TelloSimulator:
|
||||
|
||||
def __init__(self):
|
||||
self.battery_level = 100
|
||||
self.altitude = 3
|
||||
self.speed = 0
|
||||
self.rotation_angle = 0
|
||||
self.is_flying = False
|
||||
self.start_time = time()
|
||||
|
||||
def connect(self):
|
||||
print("Tello Simulator: Drone connected")
|
||||
return True
|
||||
|
||||
def get_battery(self):
|
||||
elapsed_time = time() - self.start_time
|
||||
self.battery_level = max(100 - int((elapsed_time / 3600) * 100), 0) # Reduce battery over 60 min
|
||||
return self.battery_level
|
||||
|
||||
def takeoff(self):
|
||||
if not self.is_flying:
|
||||
print("Tello Simulator: Drone taking off")
|
||||
self.is_flying = True
|
||||
return "Taking off"
|
||||
return "Already in air"
|
||||
|
||||
def land(self):
|
||||
if self.is_flying:
|
||||
print("Tello Simulator: Drone landing")
|
||||
self.is_flying = False
|
||||
return "Landing"
|
||||
return "Already on ground"
|
||||
|
||||
def move(self, direction, distance=1):
|
||||
print(f"Tello Simulator: Moving {direction} by {distance} meters")
|
||||
|
||||
def rotate(self, angle):
|
||||
self.rotation_angle += angle
|
||||
print(f"Tello Simulator: Rotating {angle} degrees")
|
||||
|
||||
#def start_video_stream(self):
|
||||
#print("Tello Simulator: Starting video stream...")
|
||||
|
||||
# def get_video_frame(self):
|
||||
#return "Simulated video frame"
|
||||
|
||||
|
||||
class DroneSimulator(Entity):
|
||||
def __init__(self, tello_api, **kwargs):
|
||||
super().__init__()
|
||||
|
||||
self.help_text = Text(
|
||||
text="Controls:\nW - Forward\nS - Backward\nA - Left\nD - Right\nShift - Launch/Up\nCtrl - Down\nJ - Rotate Left\nL - Rotate Right\nC - FPV\nH - Toggle Help",
|
||||
position=(-0.85, 0.43), # Top-left position
|
||||
scale=1.2,
|
||||
color=color.white,
|
||||
visible=True
|
||||
)
|
||||
|
||||
self.tello = tello_api
|
||||
self.drone = Entity(
|
||||
model='tello.glb',
|
||||
scale=0.06,
|
||||
position=(-15.4, 3, 5),
|
||||
collider='box',
|
||||
cast_shadow=True
|
||||
)
|
||||
|
||||
|
||||
self.car = Entity(
|
||||
model='dirty_car.glb',
|
||||
scale=0.085,
|
||||
position=(10, 2.45, 155),
|
||||
rotation=(0, 0, 0),
|
||||
collider='box',
|
||||
cast_shadow=True
|
||||
)
|
||||
|
||||
|
||||
self.truck = Entity(
|
||||
model='road_roller.glb',
|
||||
scale=4.0,
|
||||
position=(-150, 2.45, 155),
|
||||
rotation=(0, -90, 0),
|
||||
collider='box',
|
||||
cast_shadow=True
|
||||
)
|
||||
|
||||
self.road_closed = Entity(
|
||||
model='road_closed.glb',
|
||||
scale=7.0,
|
||||
position=(-15, 2, 315),
|
||||
rotation=(0, 90, 0),
|
||||
collider='box',
|
||||
cast_shadow=True
|
||||
)
|
||||
|
||||
|
||||
self.business_man = Entity(
|
||||
model='business_man.glb',
|
||||
scale=7.3,
|
||||
position=(23, 12, 155),
|
||||
rotation=(0, 55, 0),
|
||||
collider='box',
|
||||
cast_shadow=True
|
||||
)
|
||||
|
||||
self.man = Entity(
|
||||
model='bos_standing.glb',
|
||||
scale=10.3,
|
||||
position=(-83, 2.8, 165),
|
||||
rotation=(0, 120, 0),
|
||||
collider='box',
|
||||
cast_shadow=True
|
||||
)
|
||||
|
||||
self.patch = Entity(
|
||||
model='pipeline_construction_site.glb',
|
||||
scale=(15, 15, 12),
|
||||
position=(-123, 0.0, 260),
|
||||
rotation=(0, 0, 0),
|
||||
collider='none',
|
||||
cast_shadow=True
|
||||
)
|
||||
|
||||
self.police_man = Entity(
|
||||
model='pig.glb',
|
||||
scale=10.0,
|
||||
position=(-35, 1.7, 230),
|
||||
rotation=(0, -70, 0),
|
||||
collider='box',
|
||||
cast_shadow=True
|
||||
)
|
||||
|
||||
self.light1 = Entity(
|
||||
model='street_light.glb',
|
||||
scale=(4, 6.5, 5),
|
||||
position=(-55, 2.5, 260),
|
||||
rotation=(0, -90, 0),
|
||||
collider='none',
|
||||
cast_shadow=True
|
||||
)
|
||||
|
||||
|
||||
self.light2 = Entity(
|
||||
model='street_light.glb',
|
||||
scale=(4, 6.5, 5),
|
||||
position=(25, 2.5, 95),
|
||||
rotation=(0, 90, 0),
|
||||
collider='none',
|
||||
cast_shadow=True
|
||||
)
|
||||
|
||||
self.light3 = Entity(
|
||||
model='street_light.glb',
|
||||
scale=(4, 6.5, 5),
|
||||
position=(-55, 2.5, -70),
|
||||
rotation=(0, -90, 0),
|
||||
collider='none',
|
||||
cast_shadow=True
|
||||
)
|
||||
|
||||
|
||||
|
||||
for i in range(3):
|
||||
Entity(
|
||||
model='cobblestone.glb',
|
||||
scale=(5, 10, 20),
|
||||
position=(30, 0, i * 158.5),
|
||||
)
|
||||
for i in range(3):
|
||||
Entity(
|
||||
model='cobblestone.glb',
|
||||
scale=(5, 10, 20),
|
||||
position=(-58, 0, i * 158.5),
|
||||
)
|
||||
|
||||
self.tunnel_road = Entity(
|
||||
model='tunnel_3.glb',
|
||||
scale=(63, 45, 45),
|
||||
position=(-199, 3.0, 380),
|
||||
rotation=(0, 0, 0),
|
||||
collider='None',
|
||||
cast_shadow=True
|
||||
)
|
||||
|
||||
self.highway_road = Entity(
|
||||
model='highway.glb',
|
||||
scale=(20, 20, 5),
|
||||
position=(-14, 2.5, 120),
|
||||
rotation=(0, 90, 0),
|
||||
collider='box',
|
||||
cast_shadow=True
|
||||
)
|
||||
|
||||
|
||||
self.barrier1 = Entity(
|
||||
model='construction_barrier.glb',
|
||||
scale=(3, 3, 3),
|
||||
position=(24, 2.5, 315),
|
||||
rotation=(0, 0, 0),
|
||||
collider='box',
|
||||
cast_shadow=True
|
||||
)
|
||||
|
||||
self.barrier2 = Entity(
|
||||
model='construction_barrier.glb',
|
||||
scale=(3, 3, 3),
|
||||
position=(-54, 2.5, 315),
|
||||
rotation=(0, 0, 0),
|
||||
collider='box',
|
||||
cast_shadow=True
|
||||
)
|
||||
|
||||
self.station = Entity(
|
||||
model='gas_station_-_gta_v.glb',
|
||||
scale=(12.7, 10, 10),
|
||||
position=(-210, 2.5, 77),
|
||||
rotation=(0, -90, 0),
|
||||
)
|
||||
|
||||
|
||||
Entity(
|
||||
model='dirty_leaking_concrete_wall.glb',
|
||||
scale=(25, 20, 30),
|
||||
position=(34.2, 2.5, 25),
|
||||
rotation=(0, 90.5, 0),
|
||||
collider='box',
|
||||
cast_shadow=True
|
||||
)
|
||||
|
||||
|
||||
Entity(
|
||||
model='dirty_leaking_concrete_wall.glb',
|
||||
scale=(25, 20, 30),
|
||||
position=(34, 2.5, 227),
|
||||
rotation=(0, 91, 0),
|
||||
collider='box',
|
||||
cast_shadow=True
|
||||
)
|
||||
|
||||
self.first_person_view = False
|
||||
# Create a separate entity to hold the camera
|
||||
self.camera_holder = Entity(position=self.drone.position)
|
||||
|
||||
self.drone_camera = EditorCamera()
|
||||
self.drone_camera.parent = self.camera_holder
|
||||
self.third_person_position = (0, 5, -15)
|
||||
self.third_person_rotation = (10, 0, 0)
|
||||
self.first_person_position = (0, 0.5, 22)
|
||||
self.drone_camera.position = self.third_person_position
|
||||
self.drone_camera.rotation = self.third_person_rotation
|
||||
self.is_flying = False
|
||||
|
||||
self.velocity = Vec3(0, 0, 0)
|
||||
self.acceleration = Vec3(0, 0, 0)
|
||||
self.drag = 0.93
|
||||
self.rotation_speed = 5
|
||||
self.max_speed = 1.8
|
||||
self.accel_force = 0.65
|
||||
|
||||
self.pitch_angle = 0
|
||||
self.roll_angle = 0
|
||||
self.max_pitch = 20
|
||||
self.max_roll = 20
|
||||
self.tilt_smoothness = 0.05
|
||||
|
||||
self.create_meters()
|
||||
|
||||
def create_meters(self):
|
||||
|
||||
# Main battery container
|
||||
self.battery_container = Entity(
|
||||
parent=camera.ui,
|
||||
model=Quad(radius=0.01),
|
||||
color=color.gray,
|
||||
scale=(0.12, 0.04),
|
||||
position=(0.74, 0.41),
|
||||
z=-1
|
||||
)
|
||||
|
||||
# Battery cap
|
||||
self.battery_cap = Entity(
|
||||
parent=self.battery_container,
|
||||
model=Quad(radius=0.004),
|
||||
color=color.gray,
|
||||
position=(0.52, 0),
|
||||
scale=(0.05, 0.3),
|
||||
rotation_z=0
|
||||
)
|
||||
|
||||
# Battery fill
|
||||
self.battery_fill = Entity(
|
||||
parent=self.battery_container,
|
||||
model=Quad(radius=0.01),
|
||||
color=color.green,
|
||||
scale=(0.9, 0.7),
|
||||
position=(-0.46, 0),
|
||||
origin=(-0.5, 0),
|
||||
z=-0.1
|
||||
)
|
||||
|
||||
# Altitude meter
|
||||
self.altitude_meter = Text(
|
||||
text=f"Altitude: {self.tello.altitude}m",
|
||||
position=(0.67, 0.38),
|
||||
scale=0.94,
|
||||
color=color.white
|
||||
)
|
||||
|
||||
# Warning text
|
||||
self.warning_text = Text(
|
||||
text="",
|
||||
position=(-0.25, 0),
|
||||
scale=3,
|
||||
color=color.red
|
||||
)
|
||||
|
||||
def update_meters(self):
|
||||
"""Update telemetry meters"""
|
||||
battery = self.tello.get_battery()
|
||||
|
||||
# Update battery fill width with padding
|
||||
fill_width = 0.92 * (battery / 100)
|
||||
self.battery_fill.scale_x = fill_width
|
||||
|
||||
# color transitions (green → yellow → orange → red)
|
||||
if battery > 60:
|
||||
factor = (battery - 60) / 40 # 100-60%: green to yellow
|
||||
col = lerp_color(color.yellow, color.green, factor)
|
||||
elif battery > 30:
|
||||
factor = (battery - 30) / 30 # 60-30%: yellow to orange
|
||||
col = lerp_color(color.orange, color.yellow, factor)
|
||||
else:
|
||||
factor = battery / 30 # 30-0%: orange to red
|
||||
col = lerp_color(color.red, color.orange, factor)
|
||||
|
||||
self.battery_fill.color = col
|
||||
|
||||
# Update altitude
|
||||
self.altitude_meter.text = f"Altitude: {int(self.drone.y - 3)}m"
|
||||
|
||||
# Battery warning
|
||||
current_time = time() % 1
|
||||
if battery <= 10 and battery > 0:
|
||||
if current_time < 0.5:
|
||||
self.warning_text.text = "Battery Low!"
|
||||
else:
|
||||
self.warning_text.text = ""
|
||||
print("\n========== Battery Low! ==========\n")
|
||||
elif battery == 0:
|
||||
self.warning_text.text = "Battery Depleted!"
|
||||
print("\n========== Battery Depleted! ==========\n")
|
||||
else:
|
||||
self.warning_text.text = ""
|
||||
|
||||
def update_movement(self):
|
||||
self.velocity += self.acceleration
|
||||
|
||||
if self.velocity.length() > self.max_speed:
|
||||
self.velocity = self.velocity.normalized() * self.max_speed
|
||||
|
||||
self.velocity *= self.drag
|
||||
new_position = self.drone.position + self.velocity
|
||||
hit_info = raycast(self.drone.position, self.velocity.normalized(), distance=self.velocity.length(), ignore=(self.drone,))
|
||||
|
||||
if not hit_info.hit:
|
||||
self.drone.position = new_position
|
||||
|
||||
if self.drone.y < 3:
|
||||
self.drone.y = 3
|
||||
|
||||
self.acceleration = Vec3(0, 0, 0)
|
||||
|
||||
# Apply pitch and roll to the drone
|
||||
self.drone.rotation_x = lerp(self.drone.rotation_x, self.pitch_angle, self.tilt_smoothness)
|
||||
self.drone.rotation_z = lerp(self.drone.rotation_z, self.roll_angle, self.tilt_smoothness)
|
||||
|
||||
if self.first_person_view:
|
||||
|
||||
self.camera_holder.position = self.drone.position
|
||||
self.camera_holder.rotation_x = 0 # Keep horizon level
|
||||
self.camera_holder.rotation_z = 0 # Prevent roll tilting
|
||||
self.camera_holder.rotation_y = self.drone.rotation_y # yaw only
|
||||
else:
|
||||
# Third-person view
|
||||
self.camera_holder.position = lerp(self.camera_holder.position, self.drone.position, 0.1)
|
||||
self.camera_holder.rotation_y = self.drone.rotation_y # yaw only
|
||||
self.drone_camera.rotation_x = 0 # Prevent pitch tilting
|
||||
self.drone_camera.rotation_z = 0 # Prevent roll tilting
|
||||
|
||||
self.update_meters()
|
||||
|
||||
|
||||
def move(self, direction):
|
||||
self.tello.move(direction, 1)
|
||||
|
||||
if direction == "forward":
|
||||
self.acceleration += self.drone.forward * self.accel_force
|
||||
self.pitch_angle = self.max_pitch
|
||||
elif direction == "backward":
|
||||
self.acceleration -= self.drone.forward * self.accel_force
|
||||
self.pitch_angle = -self.max_pitch
|
||||
elif direction == "left":
|
||||
self.acceleration -= self.drone.right * self.accel_force
|
||||
self.roll_angle = -self.max_roll
|
||||
elif direction == "right":
|
||||
self.acceleration += self.drone.right * self.accel_force
|
||||
self.roll_angle = self.max_roll
|
||||
|
||||
def toggle_camera_view(self):
|
||||
self.first_person_view = not self.first_person_view
|
||||
if self.first_person_view:
|
||||
# First-person view
|
||||
self.drone_camera.position = self.first_person_position
|
||||
self.drone_camera.rotation = (0, 0, 0)
|
||||
else:
|
||||
# Third-person view
|
||||
self.drone_camera.position = self.third_person_position
|
||||
self.drone_camera.rotation = self.third_person_rotation
|
||||
|
||||
def change_altitude(self, direction):
|
||||
if direction == "up":
|
||||
self.drone.y += 0.27
|
||||
self.tello.altitude += 0.27
|
||||
elif direction == "down" and self.drone.y > 3:
|
||||
self.drone.y -= 0.20
|
||||
self.tello.altitude -= 0.20
|
||||
|
||||
def rotate(self, angle):
|
||||
self.tello.rotate(angle)
|
||||
self.drone.rotation_y = lerp(self.drone.rotation_y, self.drone.rotation_y + angle, 0.2)
|
||||
|
||||
def update_pitch_roll(self):
|
||||
self.drone.rotation_x = lerp(self.drone.rotation_x, self.pitch_angle, self.tilt_smoothness)
|
||||
self.drone.rotation_z = lerp(self.drone.rotation_z, self.roll_angle, self.tilt_smoothness)
|
||||
|
||||
#def land_drone(self):
|
||||
# """ Land the drone when battery reaches zero """
|
||||
# while self.drone.y > 0:
|
||||
# self.drone.y -= 0.1
|
||||
# self.update_meters()
|
||||
# self.drone.y = 0
|
||||
# self.warning_text.text = "Landed."
|
||||
|
||||
Reference in New Issue
Block a user