Pythonでドローンを操縦しよう

git clone https://github.com/amymcgovern/pyparrot.git

# 仮想環境をつくる
conda create -n drone python=3.7 anaconda
conda activate drone
# パッケージをinstall
conda install -y -c anaconda opencv
conda install -y -c menpo ffmpeg
brew install ffmpeg
pip install untangle
pip install zeroconf
pip install pyparrot

# 接続できるかの確認
# https://github.com/amymcgovern/pyparrot/issues/116

from pyparrot.Minidrone import Mambo

mambo = Mambo(use_wifi=True)
# 接続を試みる
success = mambo.connect(num_retries=3)
print(success)
mambo.safe_takeoff(5)  # 離陸
mambo.smart_sleep(3)  # 静止
mambo.safe_land(5)  # 着陸

mambo.disconnect()  # 接続解除

python connect.py

% python connect.py

{"d2c_port": 43210, "controller_type": "computer", "controller_name": "pyparrot"}
{'status': 0, 'c2d_port': 6000, 'c2d_update_port': 51, 'c2d_user_port': 21}
c2d_port is 6000
starting listening at
 Success in setting up the wifi network to the drone!
True
 trying to land
timeout - trying again
timeout - trying again
 disconnecting

# デモ用のプログラム
from pyparrot.Minidrone import Mambo

# you will need to change this to the address of YOUR mambo
# mamboAddr = "e0:14:d0:63:3d:d0"

# make my mambo object
# remember to set True/False for the wifi depending on if you are using the wifi or the BLE to connect
mambo = Mambo(use_wifi=True)

print("trying to connect")
success = mambo.connect(num_retries=3)
print("connected: %s" % success)

if (success):
    # get the state information
    print("sleeping")
    mambo.smart_sleep(2)
    mambo.ask_for_state_update()
    mambo.smart_sleep(2)

    print("taking off!")  # 離陸
    mambo.safe_takeoff(5)

    print("Flying direct: going forward (positive pitch)")  # 直進
    mambo.fly_direct(roll=0, pitch=0, yaw=0, vertical_movement=0, duration=1)

    print("Showing turning (in place) using turn_degrees")  # 回転
    mambo.turn_degrees(90)
    mambo.smart_sleep(2)
    mambo.turn_degrees(-90)
    mambo.smart_sleep(2)

    print("Flip")  # 宙返り
    mambo.flip(direction="front")

    print("landing")  # 離陸
    mambo.safe_land(5)
    mambo.smart_sleep(5)

    print("disconnect")
    mambo.disconnect()

% python demoMambo.py

from pyparrot.Minidrone import Mambo

# make my mambo object
# remember to set True/False for the wifi depending on if you are using the wifi or the BLE to connect
mambo = Mambo(use_wifi=True)

print("trying to connect")
success = mambo.connect(num_retries=3)
print("connected: %s" % success)

mambo.safe_takeoff(2)  # 離陸
mambo.smart_sleep(3)  # 静止
# ここから、好きな動作を加えていきましょう。

mambo.safe_land(5)  # 着陸
mambo.disconnect()  # 接続解除