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Crazyflie入门教程-控制-自主无人机

说明:

  • 介绍将如何设置系统并进行首次自主飞行

所需硬件:

  • 1 x Crazyflie 2.X套件
  • 1 x Crazyradio PA
  • 1 x 流动甲板

步骤:

  • 安装Python和cflib

    • 用于控制Crazyflie 2.X的后端库称为cflib,是用python 3编写的。要使用它,您必须在计算机上安装Pyhton 3,点击下载

    • 使用标准设置安装python,为方便起见,勾选Add to PATH复选框

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  • 安装python 3后,打开命令提示符并使用pip安装cflib。
pip3 install cflib

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  • 当一切设置完成并安装完毕后,启动Python编辑器IDLE3

  • 选择“文件”->“新建”,然后将以下脚本复制/粘贴到新脚本中。用合适的名称保存脚本。

"""
This script shows a simple scripted flight path using the MotionCommander class.

Simple example that connects to the crazyflie at `URI` and runs a sequence. Change the URI variable to your Crazyflie configuration.
"""
import logging
import time

import cflib.crtp
from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
from cflib.positioning.motion_commander import MotionCommander

URI = 'radio://0/80/250K'

# Only output errors from the logging framework
logging.basicConfig(level=logging.ERROR)


if __name__ == '__main__':
    # Initialize the low-level drivers (don't list the debug drivers)
    cflib.crtp.init_drivers(enable_debug_driver=False)

    with SyncCrazyflie(URI) as scf:
        # We take off when the commander is created
        with MotionCommander(scf) as mc:
            print('Taking off!')
            time.sleep(1)

            # There is a set of functions that move a specific distance
            # We can move in all directions
            print('Moving forward 0.5m')
            mc.forward(0.5)
            # Wait a bit
            time.sleep(1)

            print('Moving up 0.2m')
            mc.up(0.2)
            # Wait a bit
            time.sleep(1)

            print('Doing a 270deg circle');
            mc.circle_right(0.5, velocity=0.5, angle_degrees=270)

            print('Moving down 0.2m')
            mc.down(0.2)
            # Wait a bit
            time.sleep(1)

            print('Rolling left 0.2m at 0.6m/s')
            mc.left(0.2, velocity=0.6)
            # Wait a bit
            time.sleep(1)

            print('Moving forward 0.5m')
            mc.forward(0.5)

            # We land when the MotionCommander goes out of scope
            print('Landing!')
  • 通过按F5运行脚本

  • 注意:如果您打开了python客户端,请确保Crazyflie已从其断开连接。Crazyradio不支持同时来自多个程序的连接,如果Crazyflie仍连接到python客户端,则脚本将不起作用。

  • 输出应与此类似:

Connecting to radio://0/80/250K
Connected to radio://0/80/250K
Taking off!
Moving forward 0.5m
Moving up 0.2m
Doing a 270deg circle
Moving down 0.2m
Rolling left 0.2m at 0.6m/s
Moving forward 0.5m
Landing!

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