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jgoad/Crazyflie.ipynb

Created February 5, 2015 19:28
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Crazyflie.ipynb
{
"cells": [
{
"cell_type": "code",
"execution_count": 1,
"metadata": {
"collapsed": false
},
"outputs": [],
"source": [
"import time, sys\n",
"from threading import Thread\n",
"import cfclient\n",
"import cflib\n",
"from cflib.crazyflie import Crazyflie\n",
"from cfclient.utils.logconfigreader import LogConfig\n",
"\n",
"import pandas as pd\n",
"import scipy.integrate as integrate\n",
"\n",
"import matplotlib as mpl\n",
"import matplotlib.pyplot as plt\n",
"from mpl_toolkits.mplot3d import Axes3D\n",
"%config InlineBackend.figure_format = 'svg' \n",
"%matplotlib inline"
]
},
{
"cell_type": "code",
"execution_count": 2,
"metadata": {
"collapsed": false
},
"outputs": [
{
"name": "stderr",
"output_type": "stream",
"text": [
":0: FutureWarning: IPython widgets are experimental and may change in the future.\n"
]
}
],
"source": [
"from IPython.utils.traitlets import HasTraits, Int, Float, Bool, Unicode, link\n",
"from IPython.html.widgets import FloatSlider, IntSlider, Box, FloatText, HTML\n",
"from IPython.display import display"
]
},
{
"cell_type": "code",
"execution_count": 3,
"metadata": {
"collapsed": false
},
"outputs": [],
"source": [
"log_widget = HTML()\n",
"def log(*args):\n",
" for arg in args:\n",
" log_widget.value += str(arg) + '<br>\\n'\n",
" \n",
"class CFError(Exception):\n",
" pass\n",
"\n",
"def init_crazyflie():\n",
" cflib.crtp.init_drivers(enable_debug_driver=False)\n",
"\n",
"def list_crazyflies():\n",
" available = cflib.crtp.scan_interfaces()\n",
" return [item[0] for item in available]\n",
"\n",
"def compute_thrust(f):\n",
" ithrust = int(f*60000)\n",
" if ithrust < 0:\n",
" ithrust = 0\n",
" if ithrust > 60000:\n",
" ithrust = 60000\n",
" return ithrust\n",
"\n",
"class CFRunner(HasTraits):\n",
" \n",
" roll = Float(0.0) # deg\n",
" pitch = Float(0.0) # deg\n",
" yaw = Float(0.0) # deg/sec\n",
" thrust = Float(0.0)\n",
"\n",
" delay = Float(0.1)\n",
" running = Bool(False)\n",
" link_uri = Unicode()\n",
" \n",
" stabilizer_yaw = Float(0.0)\n",
" stabilizer_roll = Float(0.0)\n",
" stabilizer_pitch = Float(0.0)\n",
"\n",
" acc_x = Float(0.0)\n",
" acc_y = Float(0.0)\n",
" acc_z = Float(0.0)\n",
" \n",
" gyro_x = Float(0.0)\n",
" gyro_y = Float(0.0)\n",
" gyro_z = Float(0.0)\n",
" \n",
" \n",
" def __init__(self, link_uri):\n",
" super(CFRunner, self).__init__(link_uri=link_uri)\n",
"\n",
" def start(self):\n",
" self.data_log = []\n",
" if self.running:\n",
" self.running = False\n",
" time.sleep(self.delay)\n",
" \n",
" self._cf = Crazyflie(ro_cache='crazyflie_ro_cache', rw_cache='crazyflie_rw_cache')\n",
" self._cf.connected.add_callback(self._connected)\n",
" self._cf.disconnected.add_callback(self._disconnected)\n",
" self._cf.connection_failed.add_callback(self._connection_failed)\n",
" self._cf.connection_lost.add_callback(self._connection_lost)\n",
" self._cf.open_link(self.link_uri)\n",
"\n",
" print \"Connecting to %s\" % self.link_uri \n",
" \n",
" def stop(self):\n",
" self.running = False\n",
" \n",
" def _connected(self, link_uri):\n",
" print \"Connected to %s\" % link_uri\n",
"## \n",
" self._log_config = LogConfig(name='All', period_in_ms=100)\n",
" self._log_config.add_variable('stabilizer.yaw', 'float')\n",
" self._log_config.add_variable('stabilizer.roll', 'float')\n",
" self._log_config.add_variable('stabilizer.pitch', 'float')\n",
" self._log_config.add_variable('acc.x', 'float')\n",
" self._log_config.add_variable('acc.y', 'float')\n",
" self._log_config.add_variable('acc.z', 'float')\n",
"# self._log_config.add_variable('gyro.x', 'float')\n",
"# self._log_config.add_variable('gyro.y', 'float')\n",
"# self._log_config.add_variable('gyro.z', 'float')\n",
"\n",
" self._cf.log.add_config(self._log_config)\n",
"# log('callback init')\n",
" if self._log_config.valid:\n",
" self._log_config.data_received_cb.add_callback(self._log_data_received)\n",
" self._log_config.error_cb.add_callback(self._log_data_error)\n",
" self._log_config.start()\n",
"## \n",
" self.running = True\n",
" self.thread = Thread(target=self._run)\n",
" self.thread.start()\n",
"\n",
" def _log_data_received(self, timestamp, data, logconf):\n",
"# log(\"[%d][%s]: %s\" % (timestamp, logconf.name, data))\n",
" a = {}\n",
" a.update(data)\n",
" a['timestamp'] = timestamp\n",
" self.data_log.append(a)\n",
"\n",
" self.stabilizer_yaw = data['stabilizer.yaw']\n",
" self.stabilizer_roll = data['stabilizer.roll']\n",
" self.stabilizer_pitch = data['stabilizer.pitch']\n",
" self.acc_x = data['acc.x']\n",
" self.acc_y = data['acc.y']\n",
" self.acc_z = data['acc.z']\n",
"# self.gyro_x = data['gyro.x']\n",
"# self.gyro_y = data['gyro.y']\n",
"# self.gyro_z = data['gyro.z']\n",
" \n",
" def _log_data_error(self, logconf, msg):\n",
" print \"Logging error %s: %s\" % (logconf.name, msg)\n",
" \n",
" def _connection_failed(self, link_uri, msg):\n",
" print \"Connection to %s failed: %s\" % (link_uri, msg)\n",
"\n",
" def _connection_lost(self, link_uri, msg):\n",
" print \"Connection to %s lost: %s\" % (link_uri, msg)\n",
"\n",
" def _disconnected(self, link_uri):\n",
" print \"Disconnected from %s\" % link_uri\n",
"\n",
" def interact(self):\n",
" thrust_widget = FloatSlider(min=0.0, max=1.0, step=0.01, value=0.0, description='thrust')\n",
" yaw_widget = FloatSlider(min=-30.0, max=30.0, step=0.01, value=0.0, description='yaw')\n",
" roll_widget = FloatSlider(min=-30.0, max=30.0, step=0.01, value=0.0, description='roll')\n",
" pitch_widget = FloatSlider(min=-30.0, max=30.0, step=0.01, value=0.0, description='pitch')\n",
" acc_x_widget = FloatText(value=self.acc_x, description='acc_x')\n",
" acc_y_widget = FloatText(value=self.acc_y, description='acc_y')\n",
" acc_z_widget = FloatText(value=self.acc_z, description='acc_z')\n",
" stab_yaw_widget = FloatSlider(min =-180, max = 180, value=self.stabilizer_yaw, description='stabilizer_yaw')\n",
" stab_roll_widget = FloatSlider(min =-180, max = 180, value=self.stabilizer_roll, description='stabilizer_roll')\n",
" stab_pitch_widget = FloatSlider(min =-180, max = 180, value=self.stabilizer_pitch, description='stabilizer_pitch')\n",
" link((self, 'thrust'), (thrust_widget, 'value'))\n",
" link((self, 'yaw'), (yaw_widget, 'value'))\n",
" link((self, 'roll'), (roll_widget, 'value'))\n",
" link((self, 'pitch'), (pitch_widget, 'value'))\n",
" link((self, 'acc_x'), (acc_x_widget, 'value'))\n",
" link((self, 'acc_y'), (acc_y_widget, 'value'))\n",
" link((self, 'acc_z'), (acc_z_widget, 'value'))\n",
" link((self, 'stabilizer_yaw'), (stab_yaw_widget, 'value'))\n",
" link((self, 'stabilizer_roll'), (stab_roll_widget, 'value'))\n",
" link((self, 'stabilizer_pitch'), (stab_pitch_widget, 'value'))\n",
" \n",
" return Box([thrust_widget, yaw_widget, roll_widget, pitch_widget, \n",
" acc_x_widget, acc_y_widget, acc_z_widget,\n",
" stab_yaw_widget, stab_roll_widget, stab_pitch_widget])\n",
" \n",
" def _run(self):\n",
" while self.running:\n",
" self._cf.commander.send_setpoint(self.roll, self.pitch, self.yaw, compute_thrust(self.thrust))\n",
" time.sleep(self.delay)\n",
" time.sleep(self.delay)\n",
" self._cf.close_link()\n",
" del self._cf"
]
},
{
"cell_type": "code",
"execution_count": 4,
"metadata": {
"collapsed": false
},
"outputs": [],
"source": [
"init_crazyflie()"
]
},
{
"cell_type": "code",
"execution_count": 5,
"metadata": {
"collapsed": false
},
"outputs": [
{
"data": {
"text/plain": [
"['radio://0/80/250K']"
]
},
"execution_count": 5,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"list_crazyflies()"
]
},
{
"cell_type": "code",
"execution_count": 6,
"metadata": {
"collapsed": false,
"scrolled": true
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Connecting to radio://0/80/250K\n"
]
}
],
"source": [
"link_uri = 'radio://0/80/250K'\n",
"cfr = CFRunner(link_uri)\n",
"cfr.start()"
]
},
{
"cell_type": "code",
"execution_count": 7,
"metadata": {
"collapsed": false
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Connected to radio://0/80/250K\n"
]
}
],
"source": [
"display(log_widget)\n",
"cfr.interact()"
]
},
{
"cell_type": "code",
"execution_count": 8,
"metadata": {
"collapsed": false
},
"outputs": [],
"source": [
"cfr.stop()"
]
},
{
"cell_type": "code",
"execution_count": 9,
"metadata": {
"collapsed": false
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Disconnected from radio://0/80/250K\n"
]
}
],
"source": [
"data = pd.DataFrame(cfr.data_log)\n",
"data.index = data.timestamp.values\n",
"data['t'] = data.index.values-data.index.values[0]\n",
"data['ax'] = data['acc.x']-data['acc.x'].iloc[0]\n",
"data['ay'] = data['acc.y']-data['acc.y'].iloc[0]\n",
"data['az'] = data['acc.z']-data['acc.z'].iloc[0]"
]
},
{
"cell_type": "code",
"execution_count": 10,
"metadata": {
"collapsed": false,
"scrolled": true
},
"outputs": [
{
"data": {
"text/html": [
"<div style=\"max-height:1000px;max-width:1500px;overflow:auto;\">\n",
"<table border=\"1\" class=\"dataframe\">\n",
" <thead>\n",
" <tr style=\"text-align: right;\">\n",
" <th></th>\n",
" <th>acc.x</th>\n",
" <th>acc.y</th>\n",
" <th>acc.z</th>\n",
" <th>stabilizer.pitch</th>\n",
" <th>stabilizer.roll</th>\n",
" <th>stabilizer.yaw</th>\n",
" <th>timestamp</th>\n",
" <th>t</th>\n",
" <th>ax</th>\n",
" <th>ay</th>\n",
" <th>az</th>\n",
" </tr>\n",
" </thead>\n",
" <tbody>\n",
" <tr>\n",
" <th>22039</th>\n",
" <td> 0.005127</td>\n",
" <td> 0.001465</td>\n",
" <td> 0.944092</td>\n",
" <td> 0.347964</td>\n",
" <td> 0.148520</td>\n",
" <td> 2.766970</td>\n",
" <td> 22039</td>\n",
" <td> 0</td>\n",
" <td> 0.000000</td>\n",
" <td> 0.000000</td>\n",
" <td> 0.000000</td>\n",
" </tr>\n",
" <tr>\n",
" <th>22139</th>\n",
" <td> 0.004150</td>\n",
" <td> 0.000488</td>\n",
" <td> 0.942383</td>\n",
" <td> 0.351399</td>\n",
" <td> 0.146871</td>\n",
" <td> 2.769159</td>\n",
" <td> 22139</td>\n",
" <td> 100</td>\n",
" <td>-0.000977</td>\n",
" <td>-0.000977</td>\n",
" <td>-0.001709</td>\n",
" </tr>\n",
" <tr>\n",
" <th>22240</th>\n",
" <td> 0.003418</td>\n",
" <td> 0.000732</td>\n",
" <td> 0.942383</td>\n",
" <td> 0.352935</td>\n",
" <td> 0.146225</td>\n",
" <td> 2.769656</td>\n",
" <td> 22240</td>\n",
" <td> 201</td>\n",
" <td>-0.001709</td>\n",
" <td>-0.000732</td>\n",
" <td>-0.001709</td>\n",
" </tr>\n",
" <tr>\n",
" <th>22340</th>\n",
" <td> 0.005127</td>\n",
" <td>-0.001709</td>\n",
" <td> 0.942139</td>\n",
" <td> 0.352702</td>\n",
" <td> 0.138738</td>\n",
" <td> 2.771863</td>\n",
" <td> 22340</td>\n",
" <td> 301</td>\n",
" <td> 0.000000</td>\n",
" <td>-0.003174</td>\n",
" <td>-0.001953</td>\n",
" </tr>\n",
" <tr>\n",
" <th>22440</th>\n",
" <td> 0.003906</td>\n",
" <td> 0.003418</td>\n",
" <td> 0.941650</td>\n",
" <td> 0.358598</td>\n",
" <td> 0.132611</td>\n",
" <td> 2.774046</td>\n",
" <td> 22440</td>\n",
" <td> 401</td>\n",
" <td>-0.001221</td>\n",
" <td> 0.001953</td>\n",
" <td>-0.002441</td>\n",
" </tr>\n",
" </tbody>\n",
"</table>\n",
"</div>"
],
"text/plain": [
" acc.x acc.y acc.z stabilizer.pitch stabilizer.roll \\\n",
"22039 0.005127 0.001465 0.944092 0.347964 0.148520 \n",
"22139 0.004150 0.000488 0.942383 0.351399 0.146871 \n",
"22240 0.003418 0.000732 0.942383 0.352935 0.146225 \n",
"22340 0.005127 -0.001709 0.942139 0.352702 0.138738 \n",
"22440 0.003906 0.003418 0.941650 0.358598 0.132611 \n",
"\n",
" stabilizer.yaw timestamp t ax ay az \n",
"22039 2.766970 22039 0 0.000000 0.000000 0.000000 \n",
"22139 2.769159 22139 100 -0.000977 -0.000977 -0.001709 \n",
"22240 2.769656 22240 201 -0.001709 -0.000732 -0.001709 \n",
"22340 2.771863 22340 301 0.000000 -0.003174 -0.001953 \n",
"22440 2.774046 22440 401 -0.001221 0.001953 -0.002441 "
]
},
"execution_count": 10,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"data.head()"
]
},
{
"cell_type": "code",
"execution_count": 11,
"metadata": {
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{
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