Reformatting

LCAV · Apr 28, 2021 · 04b7c1b · 04b7c1b
1 parent ecddb39
commit 04b7c1b
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Showing 23 changed files with 1,142 additions and 623 deletions.
diff --git a/flight_contol/fly_forward_turn_forward.py b/flight_contol/fly_forward_turn_forward.py
@@ -7,7 +7,7 @@
 from cflib.positioning.motion_commander import MotionCommander
 
 
-URI = 'radio://0/80/2M/E7E7E7E7E7'
+URI = "radio://0/80/2M/E7E7E7E7E7"
 DEFAULT_HEIGHT = 0.5
 
 is_deck_attached = False
@@ -19,15 +19,15 @@ def move_linear_simple(scf):
     with MotionCommander(scf, default_height=DEFAULT_HEIGHT) as mc:
         print("Take off")
         time.sleep(1)
-        
+
         print("Forward")
         mc.forward(0.25)
         time.sleep(1)
-        
+
         print("Turn left")
         mc.turn_left(180)
         time.sleep(1)
-        
+
         print("Forward")
         mc.forward(0.25)
         time.sleep(1)
@@ -42,21 +42,22 @@ def param_deck_flow(name, value):
 
     print(type(value))
 
-    if value == '1':
+    if value == "1":
         is_deck_attached = True
-        print('Deck is attached!')
+        print("Deck is attached!")
     else:
         is_deck_attached = False
-        print('Deck is NOT attached!')
+        print("Deck is NOT attached!")
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     cflib.crtp.init_drivers(enable_debug_driver=False)
 
-    with SyncCrazyflie(URI, cf=Crazyflie(rw_cache='./cache')) as scf:
+    with SyncCrazyflie(URI, cf=Crazyflie(rw_cache="./cache")) as scf:
 
-        scf.cf.param.add_update_callback(group='deck', name='bcFlow2',
-                                         cb=param_deck_flow)
+        scf.cf.param.add_update_callback(
+            group="deck", name="bcFlow2", cb=param_deck_flow
+        )
         time.sleep(1)
 
         if is_deck_attached:

diff --git a/flight_contol/fly_hover_land.py b/flight_contol/fly_hover_land.py
@@ -25,6 +25,7 @@
 z_filtered_logs = np.empty(1)
 vz_logs = np.empty(1)
 
+
 def initialization(scf):
     cf = scf.cf
     activate_high_level_commander(cf)
@@ -34,6 +35,7 @@ def initialization(scf):
     time.sleep(2)
     return cf.high_level_commander
 
+
 def low_pass(z, z_old, dt, fc):
     tau = 1 / (2 * np.pi * fc)
     alpha = dt / tau
@@ -67,7 +69,7 @@ def log_func(scf):
             vz = (z - z_filtered_logs[-1]) / dt
             vz_logs = np.append(vz_logs, vz)
             z_filtered_logs = np.append(z_filtered_logs, z)
-            print('thrust', data["stabilizer.thrust"])
+            print("thrust", data["stabilizer.thrust"])
 
 
 def take_off(commander):
@@ -76,13 +78,14 @@ def take_off(commander):
     commander.takeoff(height, 0.5)
     time.sleep(1.0)
 
+
 def param_update_callback(name, value):
-    print('The crazyflie has parameter ' + name + ' set at number: ' + value)
+    print("The crazyflie has parameter " + name + " set at number: " + value)
 
 
 if __name__ == "__main__":
-    #cf_id = "E7E7E7E7E8"
-    #id = f"radio://0/80/2M/{cf_id}"
+    # cf_id = "E7E7E7E7E8"
+    # id = f"radio://0/80/2M/{cf_id}"
 
     cf_id = "E7E7E7E7E7"
     id = f"radio://0/70/2M/{cf_id}"
@@ -95,7 +98,7 @@ def param_update_callback(name, value):
         time_start = time.process_time()
 
         take_off(commander)
-        
+
         try:
             Thread(target=log_func, args=[scf]).start()
 
@@ -105,17 +108,16 @@ def param_update_callback(name, value):
             commander.land(0.0, 1.0)
             time.sleep(2)
             commander.stop()
-        
+
         print("flying")
         time.sleep(2)
-        
+
         print("landing")
         commander.land(0.0, 1.0)
         commander.stop()
 
         time.sleep(2)
 
-
     if PLOTTING:
         fig, axs = plt.subplots(2)
         axs[0].plot(z_ranger_logs)

diff --git a/flight_contol/fly_hover_land_buzz.py b/flight_contol/fly_hover_land_buzz.py
@@ -27,6 +27,7 @@
 id = "radio://0/80/2M"
 is_deck_attached = False
 
+
 def initialization(scf):
     cf = scf.cf
     activate_high_level_commander(cf)
@@ -36,15 +37,17 @@ def initialization(scf):
     time.sleep(2)
     return cf.high_level_commander
 
+
 def param_deck_flow(name, value):
     global is_deck_attached
     print(value)
     if value:
         is_deck_attached = True
-        print('Deck is attached!')
+        print("Deck is attached!")
     else:
         is_deck_attached = False
-        print('Deck is NOT attached!')
+        print("Deck is NOT attached!")
+
 
 def low_pass(z, z_old, dt, fc):
     tau = 1 / (2 * np.pi * fc)
@@ -88,17 +91,17 @@ def take_off(commander):
     commander.takeoff(height, 0.5)
     time.sleep(1.0)
 
+
 def param_update_callback(name, value):
-    print('The crazyflie has parameter ' + name + ' set at number: ' + value)
+    print("The crazyflie has parameter " + name + " set at number: " + value)
 
 
 def simple_param_async(scf, groupstr, namestr, value):
     cf = scf.cf
-    full_name = groupstr + '.' + namestr
+    full_name = groupstr + "." + namestr
 
-    cf.param.add_update_callback(group=groupstr, name=namestr,
-                                 cb=param_update_callback)
-    #time.sleep(1)
+    cf.param.add_update_callback(group=groupstr, name=namestr, cb=param_update_callback)
+    # time.sleep(1)
     cf.param.set_value(full_name, value)
 
 
@@ -112,7 +115,7 @@ def simple_param_async(scf, groupstr, namestr, value):
         time_start = time.process_time()
 
         take_off(commander)
-        
+
         try:
             Thread(target=log_func, args=[scf]).start()
 
@@ -122,23 +125,21 @@ def simple_param_async(scf, groupstr, namestr, value):
             commander.land(0.0, 1.0)
             time.sleep(2)
             commander.stop()
-
 
-        simple_param_async(scf, 'sound', 'effect', 12)
-        simple_param_async(scf, 'sound', 'freq', 600)
-        simple_param_async(scf, 'sound', 'ratio', 0)
-        
+        simple_param_async(scf, "sound", "effect", 12)
+        simple_param_async(scf, "sound", "freq", 600)
+        simple_param_async(scf, "sound", "ratio", 0)
+
         print("Flying")
         time.sleep(2)
-        
+
         print("Landing")
         commander.land(0.0, 1.0)
         commander.stop()
 
-        simple_param_async(scf, 'sound', 'effect', 0)
+        simple_param_async(scf, "sound", "effect", 0)
         time.sleep(2)
 
-
     if PLOTTING:
 
         fig, axs = plt.subplots(2)

diff --git a/flight_contol/test_buzzer.py b/flight_contol/test_buzzer.py
@@ -8,29 +8,28 @@
 from cflib.crazyflie.syncLogger import SyncLogger
 
 # URI to the Crazyflie to connect to
-uri = 'radio://0/80/2M/E7E7E7E7E7'
+uri = "radio://0/80/2M/E7E7E7E7E7"
 
 # Only output errors from the logging framework
 logging.basicConfig(level=logging.ERROR)
 
 
 def param_update_callback(name, value):
-    print('The crazyflie has parameter ' + name + ' set at number: ' + value)
+    print("The crazyflie has parameter " + name + " set at number: " + value)
 
 
 def simple_param_async(scf, groupstr, namestr, value):
     cf = scf.cf
-    full_name = groupstr + '.' + namestr
+    full_name = groupstr + "." + namestr
 
-    cf.param.add_update_callback(group=groupstr, name=namestr,
-                                 cb=param_update_callback)
-    #time.sleep(1)
+    cf.param.add_update_callback(group=groupstr, name=namestr, cb=param_update_callback)
+    # time.sleep(1)
     cf.param.set_value(full_name, value)
 
 
-
 def log_stab_callback(timestamp, data, logconf):
-    print('[%d][%s]: %s' % (timestamp, logconf.name, data))
+    print("[%d][%s]: %s" % (timestamp, logconf.name, data))
+
 
 def simple_log_async(scf, logconf):
     cf = scf.cf
@@ -39,6 +38,8 @@ def simple_log_async(scf, logconf):
     logconf.start()
     time.sleep(5)
     logconf.stop()
+
+
 def simple_log(scf, logconf):
 
     with SyncLogger(scf, lg_stab) as logger:
@@ -49,62 +50,54 @@ def simple_log(scf, logconf):
             data = log_entry[1]
             logconf_name = log_entry[2]
 
-            print('[%d][%s]: %s' % (timestamp, logconf_name, data))
+            print("[%d][%s]: %s" % (timestamp, logconf_name, data))
 
             break
+
+
 def simple_connect():
 
     print("Yeah, I'm connected! :D")
     time.sleep(3)
     print("Now I will disconnect :'(")
 
-if __name__ == '__main__':
+
+if __name__ == "__main__":
     # Initialize the low-level drivers (don't list the debug drivers)
     cflib.crtp.init_drivers(enable_debug_driver=False)
 
-    lg_stab = LogConfig(name='Stabilizer', period_in_ms=10)
-    lg_stab.add_variable('stabilizer.roll', 'float')
-    lg_stab.add_variable('stabilizer.pitch', 'float')
-    lg_stab.add_variable('stabilizer.yaw', 'float')
+    lg_stab = LogConfig(name="Stabilizer", period_in_ms=10)
+    lg_stab.add_variable("stabilizer.roll", "float")
+    lg_stab.add_variable("stabilizer.pitch", "float")
+    lg_stab.add_variable("stabilizer.yaw", "float")
 
-    group = 'sound'
-    name = 'effect'
+    group = "sound"
+    name = "effect"
 
-    with SyncCrazyflie(uri, cf=Crazyflie(rw_cache='./cache')) as scf:
-        simple_param_async(scf, 'sound', 'effect', 0)
+    with SyncCrazyflie(uri, cf=Crazyflie(rw_cache="./cache")) as scf:
+        simple_param_async(scf, "sound", "effect", 0)
         time.sleep(2)
-
-
-        simple_param_async(scf, 'sound', 'effect', 12)
-        simple_param_async(scf, 'sound', 'freq', 2000)
-        simple_param_async(scf, 'sound', 'ratio', 1)
+
+        simple_param_async(scf, "sound", "effect", 12)
+        simple_param_async(scf, "sound", "freq", 2000)
+        simple_param_async(scf, "sound", "ratio", 1)
         time.sleep(5)
 
-        simple_param_async(scf, 'sound', 'effect', 12)
-        simple_param_async(scf, 'sound', 'freq', 600)
-        simple_param_async(scf, 'sound', 'ratio', 0)
+        simple_param_async(scf, "sound", "effect", 12)
+        simple_param_async(scf, "sound", "freq", 600)
+        simple_param_async(scf, "sound", "ratio", 0)
         time.sleep(5)
-        simple_param_async(scf, 'sound', 'effect', 0)
+        simple_param_async(scf, "sound", "effect", 0)
         time.sleep(2)
 
-        simple_param_async(scf, 'sound', 'effect', 12)
-        simple_param_async(scf, 'sound', 'freq', 600)
-        simple_param_async(scf, 'sound', 'ratio', 10)
+        simple_param_async(scf, "sound", "effect", 12)
+        simple_param_async(scf, "sound", "freq", 600)
+        simple_param_async(scf, "sound", "ratio", 10)
         time.sleep(5)
 
-        simple_param_async(scf, 'sound', 'effect', 12)
-        simple_param_async(scf, 'sound', 'freq', 600)
-        simple_param_async(scf, 'sound', 'ratio', 0)
+        simple_param_async(scf, "sound", "effect", 12)
+        simple_param_async(scf, "sound", "freq", 600)
+        simple_param_async(scf, "sound", "ratio", 0)
         time.sleep(5)
-        simple_param_async(scf, 'sound', 'effect', 0)
+        simple_param_async(scf, "sound", "effect", 0)
         time.sleep(2)
-
-
-
-
-
-
-
-
-
-
diff --git a/flight_contol/test_flow_detect.py b/flight_contol/test_flow_detect.py
@@ -6,28 +6,30 @@
 from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
 from cflib.positioning.motion_commander import MotionCommander
 
-URI = 'radio://0/80/2M/E7E7E7E7E7'
+URI = "radio://0/80/2M/E7E7E7E7E7"
 
 is_deck_attached = False
 
 logging.basicConfig(level=logging.ERROR)
 
+
 def param_deck_flow(name, value):
     global is_deck_attached
     print(value)
     if value:
         is_deck_attached = True
-        print('Deck is attached!')
+        print("Deck is attached!")
     else:
         is_deck_attached = False
-        print('Deck is NOT attached!')
+        print("Deck is NOT attached!")
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     cflib.crtp.init_drivers(enable_debug_driver=False)
 
-    with SyncCrazyflie(URI, cf=Crazyflie(rw_cache='./cache')) as scf:
+    with SyncCrazyflie(URI, cf=Crazyflie(rw_cache="./cache")) as scf:
 
-        scf.cf.param.add_update_callback(group='deck', name='bcFlow2',
-                                         cb=param_deck_flow)
+        scf.cf.param.add_update_callback(
+            group="deck", name="bcFlow2", cb=param_deck_flow
+        )
         time.sleep(1)