无人机编程.zip

''' 舞步生成接口 uapi.dance_create_start() uapi.dance_create_end() uapi.dance_set_coordinate(id, x, y) dance_time = uapi.dance_fly_takeoff(id, mode, r, g, b) dance_time = uapi.dance_fly_touchdown(id, mode, r, g, b) dance_time = uapi.dance_fly_wait(id, freq, mode, r, g, b) dance_time = uapi.dance_fly_forward(id, distance, mode, r, g, b) dance_time = uapi.dance_fly_back(id, distance, mode, r, g, b) dance_time = uapi.dance_fly_left(id, distance, mode, r, g, b) dance_time = uapi.dance_fly_right(id, distance, mode, r, g, b) dance_time = uapi.dance_fly_up(id, height, mode, r, g, b) dance_time = uapi.dance_fly_down(id, height, mode, r, g, b) dance_time = uapi.dance_fly_turnleft(id, angle, mode, r, g, b) dance_time = uapi.dance_fly_turnright(id, angle, mode, r, g, b) dance_time = uapi.dance_fly_turnleft360(id, num, mode, r, g, b) dance_time = uapi.dance_fly_turnright360(id, num, mode, r, g, b) dance_time = uapi.dance_fly_surround(id, radius, direction, mode, r, g, b) dance_time = uapi.dance_fly_bounce(id, height, mode, r, g, b) dance_time = uapi.dance_fly_flip_forward(id, mode, r, g, b) dance_time = uapi.dance_fly_flip_back(id, mode, r, g, b) dance_time = uapi.dance_fly_flip_left(id, mode, r, g, b) dance_time = uapi.dance_fly_flip_right(id, mode, r, g, b) dance_time = uapi.dance_fly_straight_flight(id, x, y, z, mode, r, g, b) dance_time = uapi.dance_fly_curve_flight(id, x, y, z, 0, mode, r, g, b) dance_time = uapi.dance_fly_diy(id, x, y, z, r, g, b) dance_time = uapi.dance_set_speed(id, precent) 设置速度接口 uapi.dance_set_speed(id,speed);1cm/s-2m/s,放在起飞函数后 ''' import dance_lib import demo_dance import diy_dance def plane_single_dance(uapi): id = 0 uapi.dance_set_coordinate(id, 0, 0) dance_time = uapi.dance_fly_takeoff(id, 3, 0, 0, 0) dance_time = uapi.dance_fly_up(id, 50, 1, 0, 0, 0) dance_time = uapi.dance_fly_wait(id, 60, 1, 0, 0, 0) dance_time = uapi.dance_fly_forward(id, 50, 1, 0, 0, 0) dance_time = uapi.dance_fly_wait(id, 60, 1, 0, 0, 0) dance_time = uapi.dance_fly_back(id, 100, 1, 0, 0, 0) dance_time = uapi.dance_fly_wait(id, 60, 1, 0, 0, 0) dance_time = uapi.dance_fly_forward(id, 50, 1, 0, 0, 0) dance_time = uapi.dance_fly_wait(id, 60, 1, 0, 0, 0) dance_time = uapi.dance_fly_left(id, 50, 1, 0, 0, 0) dance_time = uapi.dance_fly_wait(id, 60, 1, 0, 0, 0) dance_time = uapi.dance_fly_right(id, 100, 1, 0, 0, 0) dance_time = uapi.dance_fly_wait(id, 60, 1, 0, 0, 0) dance_time = uapi.dance_fly_left(id, 50, 1, 0, 0, 0) dance_time = uapi.dance_fly_wait(id, 60, 1, 0, 0, 0) dance_time = uapi.dance_fly_up(id, 100, 1, 0, 0, 0) dance_time = uapi.dance_fly_wait(id, 60, 1, 0, 0, 0) dance_time = uapi.dance_fly_down(id, 100, 1, 0, 0, 0) dance_time = uapi.dance_fly_wait(id, 60, 1, 0, 0, 0) dance_time = uapi.dance_fly_turnleft(id, 90, 1, 0, 0, 0) dance_time = uapi.dance_fly_turnright(id, 90, 1, 0, 0, 0) dance_time = uapi.dance_fly_bounce(id, 100, 1, 0, 0, 0) dance_time = uapi.dance_fly_wait(id, 60, 1, 0, 0, 0) dance_time = uapi.dance_fly_straight_flight(id, 100, 100, 150, 1, 0, 0, 0) dance_time = uapi.dance_fly_wait(id, 60, 1, 0, 0, 0) dance_time = uapi.dance_fly_curve_flight(id, 0, 0, 150, 0, 1, 0, 0, 0) dance_time = uapi.dance_fly_wait(id, 60, 1, 0, 0, 0) dance_time = uapi.dance_fly_turnleft360(id, 1, 1, 0, 0, 0) dance_time = uapi.dance_fly_turnright360(id, 1, 1, 0, 0, 0) dance_time = uapi.dance_fly_surround(id, 100, 0, 1, 0, 0, 0) dance_time = uapi.dance_fly_surround(id, 100, 1, 1, 0, 0, 0) dance_time = uapi.dance_fly_wait(id, 60, 1, 0, 0, 0) dance_time = uapi.dance_fly_flip_forward(id, 1, 0, 0, 0) dance_time = uapi.dance_fly_flip_back(id, 1, 0, 0, 0) dance_time = uapi.dance_fly_flip_left(id, 1, 0, 0, 0) dance_time = uapi.dance_fly_flip_right(id, 1, 0, 0, 0) dance_time = uapi.dance_fly_touchdown(id, 1, 0, 0, 0) #print(dance_time) #print(uapi.dance_get_coordinate(id)) def plane_diy_dance(uapi, x, y, z, r, g, b, id): uapi.dance_set_coordinate(id, x[0], y[0]) dance_time = uapi.dance_fly_takeoff(id, 1, 0, 0, 0) dance_time = uapi.dance_fly_up(id, 50, 1, 0, 0, 0) dance_time = uapi.dance_fly_diy(id, x, y, z, r, g, b) dance_time = uapi.dance_fly_touchdown(id, 1, 0, 0, 0) def plane_diy_api_dance(uapi): id = 0 uapi.dance_set_coordinate(id, 0, 0) uapi.dance_fly_takeoff(id, 2, 255, 0, 0) cur_x, cur_y, cur_z, cur_yaw = uapi.dance_get_coordinate(0) _x, _y, _z, _r, _g, _b = diy_dance.diy_dance_fly_up(50, cur_x, cur_y, cur_z, 255, 0, 0) uapi.dance_fly_diy(id, _x, _y, _z, _r, _g, _b) cur_x, cur_y, cur_z, cur_yaw = uapi.dance_get_coordinate(0) _x, _y, _z, _r, _g, _b = diy_dance.diy_dance_fly_forward(100, cur_x, cur_y, cur_z, 255, 0, 0) uapi.dance_fly_diy(id, _x, _y, _z, _r, _g, _b) cur_x, cur_y, cur_z, cur_yaw = uapi.dance_get_coordinate(0) uapi.dance_fly_wait(id, 60, 1, 0, 0, 0) _x, _y, _z, _r, _g, _b = diy_dance.diy_dance_fly_back(100, cur_x, cur_y, cur_z, 255, 0, 0) uapi.dance_fly_diy(id, _x, _y, _z, _r, _g, _b) cur_x, cur_y, cur_z, cur_yaw = uapi.dance_get_coordinate(0) uapi.dance_fly_wait(id, 60, 1, 0, 0, 0) _x, _y, _z, _r, _g, _b = diy_dance.diy_dance_fly_left(100, cur_x, cur_y, cur_z, 255, 0, 0) uapi.dance_fly_diy(id, _x, _y, _z, _r, _g, _b) cur_x, cur_y, cur_z, cur_yaw = uapi.dance_get_coordinate(0) uapi.dance_fly_wait(id, 60, 1, 0, 0, 0) _x, _y, _z, _r, _g, _b = diy_dance.diy_dance_fly_right(100, cur_x, cur_y, cur_z, 255, 0, 0) uapi.dance_fly_diy(id, _x, _y, _z, _r, _g, _b) cur_x, cur_y, cur_z, cur_yaw = uapi.dance_get_coordinate(0) uapi.dance_fly_wait(id, 60, 1, 0, 0, 0) _x, _y, _z, _r, _g, _b = diy_dance.diy_dance_fly_up(100, cur_x, cur_y, cur_z, 255, 0, 0) uapi.dance_fly_diy(id, _x, _y, _z, _r, _g, _b) cur_x, cur_y, cur_z, cur_yaw = uapi.dance_get_coordinate(0) uapi.dance_fly_wait(id, 60, 1, 0, 0, 0) _x, _y, _z, _r, _g, _b = diy_dance.diy_dance_fly_down(100, cur_x, cur_y, cur_z, 255, 0, 0) uapi.dance_fly_diy(id, _x, _y, _z, _r, _g, _b) uapi.dance_fly_wait(id, 60, 1, 0, 0, 0) uapi.dance_fly_touchdown(id, 2, 255, 0, 0) def plane0_dance(uapi, id = 0): print('plane %d' % id) #设置飞机起飞坐标 uapi.dance_set_coordinate(id, 0, 0) #设置飞机起飞 dance_time = uapi.dance_fly_takeoff(id, 1, 0, 0, 0) dance_time = uapi.dance_fly_up(id, 50, 1, 0, 0, 0) #飞机飞到中间位置 dance_time = uapi.dance_fly_right(id, 200, 1, 0, 0, 0) dance_time = uapi.dance_fly_forward(id, 100, 1, 0, 0, 0) #执行飞机分时飞起的舞步 dance_time = uapi.dance_fly_wait(id, 30, 1, 0, 0, 0) dance_time = uapi.dance_fly_up(id, 200, 1, 0, 0, 0) dance_time = uapi.dance_fly_down(id, 200, 1, 0, 0, 0) dance_time = uapi.dance_fly_wait(id, 400 - dance_time, 1, 0, 0, 0) #飞机飞成圆形，并等待其他飞机飞到目的地 dance_time = uapi.dance_fly_straight_flight(id, 230, 170, 150, 1, 0, 0, 0) dance_time = uapi.dance_fly_wait(id, 500 - dance_time, 1, 0, 0, 0) #飞机左旋转45度并按正方形的轨迹飞行 dance_time = uapi.dance_fly_back(id, 100, 1, 0, 0, 0) dance_time = uapi.dance_fly_turnleft(id, 45, 1, 0, 0, 0) dance_time = uapi.dance_fly_forward(id, 150, 1, 0, 0, 0) dance_time = uapi.dance_fly_wait(id, 30, 1, 0, 0, 0) dance_time = uapi.dance_fly_right(id, 150, 1, 0, 0, 0) dance_time = uapi.dance_fly_wait(id, 30, 1, 0, 0, 0) dance_time = uapi.dance_fly_back(id, 150, 1, 0, 0, 0) dance_time = uapi.dance_fly_wait(id, 30, 1, 0, 0, 0) dance_time = u