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joystick_control.py
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joystick_control.py
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from djitellopy import Tello
import cv2
import pygame
import numpy as np
import time
import sys
# Speed of the drone
S = 120
# Frames per second of the pygame window display
# A low number also results in input lag, as input information is processed once per frame.
FPS = 60
class FrontEnd(object):
""" Maintains the Tello display and moves it through the keyboard keys.
Press escape key to quit.
The controls are:
- T: Takeoff
- L: Land
- Arrow keys: Forward, backward, left and right.
- A and D: Counter clockwise and clockwise rotations (yaw)
- W and S: Up and down.
"""
def __init__(self):
# Init pygame
pygame.init()
joystick_count=pygame.joystick.get_count()
if joystick_count == 0:
# No joysticks!
print ("Error, I didn't find any joysticks.")
sys.exit()
else:
# Use joystick #0 and initialize it
self.my_joystick = pygame.joystick.Joystick(0)
self.my_joystick.init()
# Creat pygame window
pygame.display.set_caption("Tello video stream")
self.screen = pygame.display.set_mode([960, 720])
# Init Tello object that interacts with the Tello drone
self.tello = Tello()
# Drone velocities between -100~100
self.for_back_velocity = 0
self.left_right_velocity = 0
self.up_down_velocity = 0
self.yaw_velocity = 0
self.speed = 10
self.send_rc_control = False
self.deadzone = 15
# create update timer
pygame.time.set_timer(pygame.USEREVENT + 1, 1000 // FPS)
def run(self):
self.tello.connect()
self.tello.set_speed(self.speed)
# In case streaming is on. This happens when we quit this program without the escape key.
self.tello.streamoff()
self.tello.streamon()
frame_read = self.tello.get_frame_read()
should_stop = False
while not should_stop:
for event in pygame.event.get():
if event.type == pygame.USEREVENT + 1:
self.update()
elif event.type == pygame.QUIT:
should_stop = True
sys.exit(0)
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_ESCAPE:
should_stop = True
pygame.quit()
else:
self.keydown(event.key)
elif event.type == pygame.KEYUP:
self.keyup(event.key)
self.for_back_velocity = (self.get_joystick_power(self.my_joystick, 1) * -1)
self.left_right_velocity = (self.get_joystick_power(self.my_joystick, 0))
self.up_down_velocity = (self.get_joystick_power(self.my_joystick, 3) * -1)
self.yaw_velocity = (self.get_joystick_power(self.my_joystick, 2))
if frame_read.stopped:
break
self.screen.fill([0, 0, 0])
frame = frame_read.frame
text = "Battery: {}%".format(self.tello.get_battery())
cv2.putText(frame, text, (5, 720 - 5),
cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
#frame = np.rot90(frame)
#frame = np.flipud(frame)
frame = pygame.surfarray.make_surface(frame)
self.screen.blit(frame, (0, 0))
pygame.display.update()
time.sleep(1 / FPS)
# Call it always before finishing. To deallocate resources.
self.tello.end()
def keydown(self, key):
""" Update velocities based on key pressed
Arguments:
key: pygame key
"""
if key == pygame.K_1: # land
self.send_rc_control = False
self.auton1()
self.send_rc_control = True
elif key == pygame.K_2: # land
self.send_rc_control = False
self.auton2()
self.send_rc_control = True
def keyup(self, key):
""" Update velocities based on key released
Arguments:
key: pygame key
"""
if key == pygame.K_t: # takeoff
self.tello.takeoff()
self.send_rc_control = True
elif key == pygame.K_l: # land
#not self.tello.land()
self.tello.land()
self.send_rc_control = False
def get_joystick_power(self, joystick, axis):
if abs(np.round((joystick.get_axis(axis) * S), 0)) < self.deadzone:
power = 0
else:
power = np.round((joystick.get_axis(axis) * S), 0)
return power
def update(self):
""" Update routine. Send velocities to Tello."""
if self.send_rc_control:
self.tello.send_rc_control(int(self.left_right_velocity), int(self.for_back_velocity), int(self.up_down_velocity), int(self.yaw_velocity))
def auton1(self):
self.tello.move_forward(30)
time.sleep(0.15)
self.tello.rotate_clockwise(90)
time.sleep(0.15)
self.tello.move_forward(30)
def auton2(self):
self.tello.move_forward(30)
time.sleep(0.15)
self.tello.rotate_counter_clockwise(360)
time.sleep(0.15)
self.tello.flip_left()
time.sleep(0.15)
self.tello.flip_right()
def main():
frontend = FrontEnd()
# run frontend
frontend.run()
if __name__ == '__main__':
main()