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koniec na dzień 16.04.2024r.
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filipgrabowiecki
2024-04-16 20:05:33 +02:00
committed by GitHub
parent 1ff8400e04
commit 11014a3b61
1 changed files with 25 additions and 9 deletions
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34
main.py
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@@ -22,12 +22,13 @@ class TelloDrone():
global drone_up global drone_up
global drone_down global drone_down
global drone_rotate_stop global drone_rotate_stop
global barcode_data
global roll_right global roll_right
global roll_left global roll_left
global roll_ok global roll_ok
global barcode_polygon global barcode_polygon
global right_90
global left_90
global height_14 global height_14
global height_23 global height_23
@@ -42,10 +43,11 @@ class TelloDrone():
self.drone_up = False self.drone_up = False
self.drone_down = False self.drone_down = False
self.drone_rotate_stop = False self.drone_rotate_stop = False
self.barcode_data = ''
self.height_14 = 0 self.height_14 = 0
self.height_23 = 0 self.height_23 = 0
self.right_90 = False
self.left_90 = False
self.roll_left = False self.roll_left = False
self.roll_right = False self.roll_right = False
self.roll_ok = False self.roll_ok = False
@@ -142,8 +144,7 @@ class TelloDrone():
for barcode in decode(cap): for barcode in decode(cap):
self.barcode_rect = barcode.rect self.barcode_rect = barcode.rect
self.barcode_polygon = barcode.polygon self.barcode_polygon = barcode.polygon
self.barcode_data = barcode.data.decode('utf-8')
self.height_14 = (barcode.polygon[0][1] - barcode.polygon[3][1]) self.height_14 = (barcode.polygon[0][1] - barcode.polygon[3][1])
self.height_23 = (barcode.polygon[1][1] - barcode.polygon[2][1]) self.height_23 = (barcode.polygon[1][1] - barcode.polygon[2][1])
@@ -164,6 +165,12 @@ class TelloDrone():
while not self.has_landed: while not self.has_landed:
#print(self.barcode_rect) #print(self.barcode_rect)
if self.is_flying: if self.is_flying:
if self.barcode_data == 'right':
self.right_90 = True
self.left_90 = False
elif self.barcode_data == 'left':
self.left_90 = True
self.right_90 = False
# print("działa w chuj") # print("działa w chuj")
left = self.barcode_rect[0] left = self.barcode_rect[0]
top = self.barcode_rect[1] top = self.barcode_rect[1]
@@ -248,7 +255,7 @@ class TelloDrone():
print(f"HAS LANDED: {self.has_landed} ") print(f"HAS LANDED: {self.has_landed} ")
time.sleep(5) time.sleep(5)
cnt = 0 cnt = 0
while cnt < 250: while cnt < 450:
#print(self.roll_left, self.roll_right, self.roll_ok) #print(self.roll_left, self.roll_right, self.roll_ok)
if self.barcode_rect == [0, 0, 0, 0]: if self.barcode_rect == [0, 0, 0, 0]:
self.rc_control(0,0,0,20) self.rc_control(0,0,0,20)
@@ -265,10 +272,10 @@ class TelloDrone():
elif self.drone_rotate_stop == True: elif self.drone_rotate_stop == True:
print("straight") print("straight")
if self.roll_left == True: if self.roll_left == True:
self.rc_control(-10, 0, 0, 0) self.rc_control(-15, 0, 0, 0)
print("Turlaj sie w lewo") print("Turlaj sie w lewo")
elif self.roll_right == True: elif self.roll_right == True:
self.rc_control(10, 0, 0, 0) self.rc_control(15, 0, 0, 0)
print("Turlaj sie w prawo") print("Turlaj sie w prawo")
elif self.roll_ok == True: elif self.roll_ok == True:
print("Turlaj dropsa") print("Turlaj dropsa")
@@ -285,6 +292,15 @@ class TelloDrone():
if width > 250 or height > 210: if width > 250 or height > 210:
self.rc_control(0, 0, 0, 0) self.rc_control(0, 0, 0, 0)
print("Jesteśmy totalnie zajebiści ale chóbert nie") print("Jesteśmy totalnie zajebiści ale chóbert nie")
print(self.barcode_data)
if self.left_90 == True:
self.drone.rotate_counter_clockwise(90)
print("90 left")
self.left_90 = False
elif self.right_90 == True:
self.drone.rotate_clockwise(90)
print("90 right")
self.right_90 = False
else: else:
self.rc_control(0,20,0,0) self.rc_control(0,20,0,0)