flowkeycodeing.py

import logging
import time
import pygame, sys
from pygame.locals import *
# import cflib.crtp
# from cflib.crazyflie.syncCrazyflie import SyncCrazyflie

# URI = 'radio://0/80/250K'
#
# # Only output errors from the logging framework
# logging.basicConfig(level=logging.ERROR)
running = True

pygame.init()

thrustupdown=0
forwardback=0
leftright=0
yawrightleft=0
#
# 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:
#         cf = scf.cf
#
#         cf.param.set_value('kalman.resetEstimation', '1')
#         time.sleep(0.1)
#         cf.param.set_value('kalman.resetEstimation', '0')
#         time.sleep(2)

while running:
  for event in pygame.event.get():
    if event.type==QUIT:
        pygame.quit()
        sys.exit()
        ##------------thrust-------------------(*_*)--------------------------------
    if event.type == KEYDOWN:
        if (event.key == K_w):
            thrustupdown-=0.1
            print (thrustupdown,"thrustup")
        elif (event.key == K_s):
            thrustupdown+=0.1
            print (thrustupdown,"thrustdown")

        ##------------pitch-------------------(*_*)--------------------------------


        if (event.key == K_UP):
            forwardback=0.4
            print (forwardback,"forward")
        elif (event.key == K_DOWN):
            forwardback=-0.4
            print (forwardback,"back")

        ##-----------roll--------------------(*_*)--------------------------------


        if (event.key == K_LEFT):
            leftright=0.4
            print (leftright,"left")
        elif (event.key == K_RIGHT):
            leftright=-0.4
            print (leftright,"right")

        ##-----------yaw--------------------(*_*)--------------------------------


        if (event.key == K_a):
            yawrightleft=-0.4
            print (yawrightleft,"yawleft")
        elif (event.key == K_d):
            yawrightleft=0.4
            print (yawrightleft,"yawright")

            thrustupdown=0
            forwardback=0
            leftright=0
            yawrightleft=0

        if (event.key == K_i):
            print ("")
            print ("yawrightleft")
            print (yawrightleft)
            print ("leftright")
            print (leftright)
            print ("forwardback")
            print (forwardback)
            print ("thrustupdown")
            print (thrustupdown)


        # cf.commander.send_stop_setpoint()