first drone code

Keypressmodule.py

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+import pygame
+
+def init():
+    pygame.init()
+    win = pygame.display.set_mode((400, 400))
+
+def getKey(keyName):
+    ans = False
+    for eve in pygame.event.get():pass
+    keyInput = pygame.key.get_pressed()
+    myKey = getattr(pygame,'K_{}'.format(keyName))
+    if keyInput[myKey]:
+        ans = True
+    pygame.display.update()
+    return ans
+def main():
+   if getKey("LEFT"):
+       print("Left key Pressed")
+   if getKey("RIGHT"):
+       print("Right key Pressed")
+if __name__ == '__main__':
+    init()
+    while True:
+         main()

imagecpature.py

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+from djitellopy import tello
+import cv2
+
+us = tello.Tello()
+us.connect()
+print(us.get_battery())
+
+us.streamon()
+
+while True:
+    pic = us.get_frame_read().frame
+    pic = cv2.resize(pic, (360, 240))
+    pic.imshow("image", pic)
+    cv2.waitKey(2)

keyboardcontrol.py

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+from djitellopy import tello
+import Keypressmodule as kp
+import time
+import cv2
+
+kp.init()
+us = tello.Tello()
+us.connect()
+print(us.get_battery())
+
+
+def getKeyIn():
+    lr, fb, up, yv = 0, 0, 0, 0
+    speed = 50
+    if kp.getKey("LEFT"): lr = speed
+    elif kp.getKey("RIGHT"): lr = speed
+
+    if kp.getKey("UP"):
+        fb = speed
+    elif kp.getKey("DOWN"):
+        fb = -speed
+
+    if kp.getKey("w"):
+        up = speed
+    elif kp.getKey("s"):
+        up = -speed
+
+    if kp.getKey("a"):
+        yv = -speed
+    elif kp.getKey("d"):
+        yv = speed
+
+        if kp.getKey("q"):
+             us.land()
+        if kp.getKey("e"):
+            us.takeoff()
+
+        if kp.getKey('z'):
+            cv2.imwrite(f'Resources/Images/{time.time()}.jpg')
+            ##To aviod multiple unwanted shots
+            time.sleep(0.3)
+
+        return [lr, fb, up, yv ]
+
+##Reset drone if error is found
+us.takeoff()
+
+while True:
+    vals = getKeyIn()
+    us.send_rc_control(vals[0], vals[1], vals[2], vals[3])
+

main.py

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+from djitellopy import tello
+from time import sleep
+
+us = tello.Tello()
+us.connect()
+print(us.get_battery())
+us.takeoff()
+us.move_forward(15)
+sleep(2)
+##After sleep move
+us.send_rc_control(0, 50, 0, 0)
+##left, right, forward, backward and yaw(twist of drone)
+sleep(1)
+us.send_rc_control(10, 0, 0, 0)
+sleep(4)
+us.send_rc_control(0, 0, 0, 0)
+## so as to land like a helicopter
+us.land()

mapping.py

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+from djitellopy import tello
+import Keypressmodule as kp
+from time import sleep
+import numpy as np
+import cv2
+import math
+##PARAMETERS
+
+forsp = 117/10 ##forward speed (cm)/s
+aspeed = 360/10 ##Angular speed in degrees/s
+val = 0.75
+
+dval = forsp * aspeed
+aval = aspeed* val ## angular interval
+
+x, y = 500, 500
+a = 0
+yaw = 0
+kp.init()
+us = tello.Tello()
+us.connect()
+print(us.get_battery())
+
+points = []
+
+x, y = 500, 650
+
+def getKeyIn():
+    lr, fb, up, yv = 0, 0, 0, 0
+    speed = 15
+    global yaw
+    global x
+    global y
+    global a
+    d = 0
+
+    if kp.getKey("LEFT"):
+        lr = speed
+        d =  dval
+        a = -100
+    elif kp.getKey("RIGHT"):
+        lr = speed
+        d = -dval
+        a = -180
+
+    if kp.getKey("UP"):
+        fb = speed
+        d = dval
+        a = 270
+    elif kp.getKey("DOWN"):
+        fb = -speed
+        d = -dval
+        a = -19
+
+    if kp.getKey("w"):
+        up = speed
+    elif kp.getKey("s"):
+        up = -speed
+
+    if kp.getKey("a"):
+        yv = -speed
+        yaw -= aval
+    elif kp.getKey("d"):
+        yv = speed
+        yaw += -aval
+
+        if kp.getKey("q"):
+             us.land()
+        if kp.getKey("e"):
+            us.takeoff()
+
+        sleep(val)
+        a += yaw
+        x += int(d*math.cos(math.radians(a)))
+        y += int(d*math.sin(math.radians(a)))
+
+        if kp.getKey('z'):
+            cv2.imwrite(f'Resources/Images/{time.time()}.jpg')
+            ##To aviod multiple unwanted shots
+            time.sleep(0.3)
+
+
+
+        return [lr, fb, up, yv, x, y]
+
+##Reset drone if error is found
+us.takeoff()
+   ## DRaw an image using the drone.
+def artPoints(img , points):
+    for point in points:
+        cv2.circle(img, point , 5, (0, 0, 255), cv2.FILLED)
+    cv2.putText(img, f'({points[-1][0] - 500/100}, {points[-1][1] - 500/100})m'),\
+    (points[-1][0] + 10, points[-1][1] + 30 )
+
+
+while True:
+    vals = getKeyIn()
+    us.send_rc_control(vals[0], vals[1], vals[2], vals[3])
+
+    img = np.zeros((1000, 1000, 3), np.uint8)
+    points.append((vals[4], vals[5]))
+    artPoints(img, points)
+    cv2.imshow("Resource", img)
+    cv2.waitkey(1)
+