Merge pull request #334 from bitcraze/examples-fix

example fixes
bitcraze · May 11, 2022 · 6e93153 · 6e93153
2 parents af031ea + b9a2612
commit 6e93153
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Showing 10 changed files with 47 additions and 42 deletions.
diff --git a/examples/autonomy/autonomousSequence.py b/examples/autonomy/autonomousSequence.py
@@ -45,13 +45,14 @@
 # Change the sequence according to your setup
 #             x    y    z  YAW
 sequence = [
-    (2.5, 2.5, 1.2, 0),
-    (1.5, 2.5, 1.2, 0),
-    (2.5, 2.0, 1.2, 0),
-    (3.5, 2.5, 1.2, 0),
-    (2.5, 3.0, 1.2, 0),
-    (2.5, 2.5, 1.2, 0),
-    (2.5, 2.5, 0.4, 0),
+    (0.0, 0.0, 0.4, 0),
+    (0.0, 0.0, 1.2, 0),
+    (0.5, -0.5, 1.2, 0),
+    (0.5, 0.5, 1.2, 0),
+    (-0.5, 0.5, 1.2, 0),
+    (-0.5, -0.5, 1.2, 0),
+    (0.0, 0.0, 1.2, 0),
+    (0.0, 0.0, 0.4, 0),
 ]
 
 

diff --git a/examples/basicLedmemSync.py b/examples/basicLedmemSync.py
@@ -56,9 +56,9 @@
         # Get LED memory and write to it
         mem = cf.mem.get_mems(MemoryElement.TYPE_DRIVER_LED)
         if len(mem) > 0:
-            mem[0].leds[0].set(r=0,   g=100, b=0)
-            mem[0].leds[3].set(r=0,   g=0,   b=100)
-            mem[0].leds[6].set(r=100, g=0,   b=0)
+            mem[0].leds[0].set(r=0, g=100, b=0)
+            mem[0].leds[3].set(r=0, g=0, b=100)
+            mem[0].leds[6].set(r=100, g=0, b=0)
             mem[0].leds[9].set(r=100, g=100, b=100)
             mem[0].write_data(None)
 

diff --git a/examples/basicLedparamSync.py b/examples/basicLedparamSync.py
@@ -66,9 +66,9 @@
         # Set fade time i seconds
         cf.param.set_value('ring.fadeTime', '1.0')
         # Set the RGB values in one uint32 0xRRGGBB
-        cf.param.set_value('ring.fadeColor', '0x0000A0')
+        cf.param.set_value('ring.fadeColor', int('0000A0', 16))
         time.sleep(1)
-        cf.param.set_value('ring.fadeColor', '0x00A000')
+        cf.param.set_value('ring.fadeColor', int('00A000', 16))
         time.sleep(1)
-        cf.param.set_value('ring.fadeColor', '0xA00000')
+        cf.param.set_value('ring.fadeColor', int('A00000', 16))
         time.sleep(1)
diff --git a/examples/lighthouse/lighthouse_openvr_multigrab.py b/examples/lighthouse/lighthouse_openvr_multigrab.py
@@ -15,8 +15,8 @@
 from cflib.crazyflie.syncLogger import SyncLogger
 
 # URI to the Crazyflie to connect to
-uri0 = 'radio://0/80/2M'
-uri1 = 'radio://0/80/2M/E7E7E7E701'
+uri0 = 'radio://0/80/2M/E7E7E7E701'
+uri1 = 'radio://0/80/2M/E7E7E7E702'
 
 print('Opening')
 vr = openvr.init(openvr.VRApplication_Other)
@@ -127,8 +127,8 @@ def run_sequence(scf0, scf1):
         openvr.TrackingUniverseStanding, 0, openvr.k_unMaxTrackedDeviceCount)
     controller_pose = poses[controllerId]
     pose = controller_pose.mDeviceToAbsoluteTracking
-    setpoints = [[-1*pose[2][3], -1*pose[0][3] - 0.5, pose[1][3] + 0.3],
-                 [-1*pose[2][3], -1*pose[0][3] + 0.5, pose[1][3] + 0.3]]
+    setpoints = [[-1 * pose[2][3], -1 * pose[0][3] - 0.5, pose[1][3] + 0.3],
+                 [-1 * pose[2][3], -1 * pose[0][3] + 0.5, pose[1][3] + 0.3]]
 
     closest = 0
 
@@ -149,7 +149,7 @@ def run_sequence(scf0, scf1):
 
         if not grabbed and trigger:
             print('Grab started')
-            grab_controller_start = [-1*pose[2][3], -1*pose[0][3], pose[1][3]]
+            grab_controller_start = [-1 * pose[2][3], -1 * pose[0][3], pose[1][3]]
 
             dist0 = vector_norm(vector_subtract(grab_controller_start,
                                                 setpoints[0]))
@@ -169,7 +169,7 @@ def run_sequence(scf0, scf1):
         grabbed = trigger
 
         if trigger:
-            curr = [-1*pose[2][3], -1*pose[0][3], pose[1][3]]
+            curr = [-1 * pose[2][3], -1 * pose[0][3], pose[1][3]]
             setpoints[closest] = vector_add(
                 grab_setpoint_start, vector_subtract(curr,
                                                      grab_controller_start))

diff --git a/examples/lighthouse/read_lighthouse_mem.py b/examples/lighthouse/read_lighthouse_mem.py
@@ -30,6 +30,7 @@
 from cflib.crazyflie import Crazyflie
 from cflib.crazyflie.mem import LighthouseMemHelper
 from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
+from cflib.utils import uri_helper
 
 # Only output errors from the logging framework
 logging.basicConfig(level=logging.ERROR)
@@ -67,7 +68,7 @@ def _calib_read_ready(self, calib_data):
 
 if __name__ == '__main__':
     # URI to the Crazyflie to connect to
-    uri = 'radio://0/80'
+    uri = uri_helper.uri_from_env(default='radio://0/80/2M/E7E7E7E7E7')
 
     # Initialize the low-level drivers
     cflib.crtp.init_drivers()

diff --git a/examples/lighthouse/write_lighthouse_mem.py b/examples/lighthouse/write_lighthouse_mem.py
@@ -32,6 +32,7 @@
 from cflib.crazyflie.mem import LighthouseBsGeometry
 from cflib.crazyflie.mem import LighthouseMemHelper
 from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
+from cflib.utils import uri_helper
 
 # Only output errors from the logging framework
 logging.basicConfig(level=logging.ERROR)
@@ -63,7 +64,7 @@ def _data_written(self, success):
 
 if __name__ == '__main__':
     # URI to the Crazyflie to connect to
-    uri = 'radio://0/80'
+    uri = uri_helper.uri_from_env(default='radio://0/80/2M/E7E7E7E7E7')
 
     # Initialize the low-level drivers
     cflib.crtp.init_drivers()

diff --git a/examples/positioning/initial_position.py b/examples/positioning/initial_position.py
@@ -41,9 +41,10 @@
 from cflib.crazyflie.log import LogConfig
 from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
 from cflib.crazyflie.syncLogger import SyncLogger
+from cflib.utils import uri_helper
 
 # URI to the Crazyflie to connect to
-uri = 'radio://0/80/2M'
+uri = uri_helper.uri_from_env(default='radio://0/80/2M/E7E7E7E7E7')
 
 # Change the sequence according to your setup
 #             x    y    z

diff --git a/examples/radio/scan.py b/examples/radio/scan.py
@@ -22,15 +22,16 @@
 # You should have received a copy of the GNU General Public License
 # along with this program. If not, see <https://www.gnu.org/licenses/>.
 """
-Simple example that scans for available Crazyflies and lists them.
+Simple example that scans for available Crazyflies with a certain address and lists them.
 """
 import cflib.crtp
 
 # Initiate the low level drivers
 cflib.crtp.init_drivers()
 
 print('Scanning interfaces for Crazyflies...')
-available = cflib.crtp.scan_interfaces()
+available = cflib.crtp.scan_interfaces(address=int('E7E7E7E7E7', 16)
+                                       )
 print('Crazyflies found:')
 for i in available:
     print(i[0])
diff --git a/examples/step-by-step/sbs_motion_commander.py b/examples/step-by-step/sbs_motion_commander.py
@@ -127,7 +127,7 @@ def param_deck_flow(_, value_str):
 
         logconf.start()
 
-        # take_off_simple(scf)
+        take_off_simple(scf)
         # move_linear_simple(scf)
         # move_box_limit(scf)
-        # logconf.stop()
+        logconf.stop()
diff --git a/examples/tuning/PID_controller_tuner.py b/examples/tuning/PID_controller_tuner.py
@@ -61,7 +61,7 @@ def __init__(self, master):
         self.master = master
         self.master.title('PID tuner Crazyflie')
 
-        self.figplot = plt.Figure(figsize=(5, 4), dpi=100)
+        self.figplot = plt.Figure(figsize=(2, 1), dpi=100)
         self.ax2 = self.figplot.add_subplot(111)
         self.line2 = FigureCanvasTkAgg(self.figplot, self.master)
         self.line2.get_tk_widget().pack(side=tk.TOP, fill=tk.BOTH, expand=1)
@@ -191,12 +191,12 @@ def send_pid_gains(self):
               'position PID controller: Kp: ' +
               str(self.pid_gui.scale_Kp.get()) +
               ', Ki: ' + str(self.pid_gui.scale_Ki.get()) +
-              ', Kd: '+str(self.pid_gui.scale_Ki.get()))
-        cf.param.set_value(self.unit_choice+'CtlPid.'+self.axis_choice +
+              ', Kd: ' + str(self.pid_gui.scale_Kd.get()))
+        cf.param.set_value(self.unit_choice + 'CtlPid.' + self.axis_choice +
                            'Kp', self.pid_gui.scale_Kp.get())
-        cf.param.set_value(self.unit_choice+'CtlPid.'+self.axis_choice +
+        cf.param.set_value(self.unit_choice + 'CtlPid.' + self.axis_choice +
                            'Ki', self.pid_gui.scale_Ki.get())
-        cf.param.set_value(self.unit_choice+'CtlPid.'+self.axis_choice +
+        cf.param.set_value(self.unit_choice + 'CtlPid.' + self.axis_choice +
                            'Kd', self.pid_gui.scale_Kd.get())
         cf.param.set_value('posCtlPid.xVelMax', self.pid_gui.scale_vMax.get())
         cf.param.set_value('posCtlPid.yVelMax', self.pid_gui.scale_vMax.get())
@@ -240,11 +240,11 @@ def do_step(self):
         # print(sp_history)
         self.pid_gui.draw_plot(time_history, pos_history, sp_history)
         if self.axis_choice == 'z':
-            self.commander.go_to(0, 0, -1*STEP_SIZE, 0, 1.0, relative=True)
+            self.commander.go_to(0, 0, -1 * STEP_SIZE, 0, 1.0, relative=True)
         elif self.axis_choice == 'x':
-            self.commander.go_to(-1*STEP_SIZE, 0, 0, 0, 1.0, relative=True)
+            self.commander.go_to(-1 * STEP_SIZE, 0, 0, 0, 1.0, relative=True)
         elif self.axis_choice == 'y':
-            self.commander.go_to(0, -1*STEP_SIZE, 0, 0, 1.0, relative=True)
+            self.commander.go_to(0, -1 * STEP_SIZE, 0, 0, 1.0, relative=True)
         else:
             print('WRONG CHOICE?!?!')
             self.stop_gui()
@@ -256,7 +256,7 @@ def stop_gui(self):
     # parameter update
     def change_param_axis_callback(self, value_axis):
         #
-        print(self.unit_choice + 'CtlPid.'+value_axis)
+        print(self.unit_choice + 'CtlPid.' + value_axis)
 
         groupname = self.unit_choice + 'CtlPid'
         self.cf.param.remove_update_callback(
@@ -277,9 +277,9 @@ def change_param_axis_callback(self, value_axis):
             group=groupname, name=value_axis +
             'Kd', cb=self.param_updated_callback_Kd)
 
-        self.cf.param.request_param_update(groupname+'.'+value_axis+'Kp')
-        self.cf.param.request_param_update(groupname+'.'+value_axis+'Ki')
-        self.cf.param.request_param_update(groupname+'.'+value_axis+'Kd')
+        self.cf.param.request_param_update(groupname + '.' + value_axis + 'Kp')
+        self.cf.param.request_param_update(groupname + '.' + value_axis + 'Ki')
+        self.cf.param.request_param_update(groupname + '.' + value_axis + 'Kd')
         time.sleep(0.1)
 
         self.update_scale_info()
@@ -311,13 +311,13 @@ def change_param_unit_callback(self, value_unit):
             group=groupname_new, name=self.axis_choice +
             'Kd', cb=self.param_updated_callback_Kd)
 
-        print(groupname_new+'.'+self.axis_choice+'Kp')
+        print(groupname_new + '.' + self.axis_choice + 'Kp')
         self.cf.param.request_param_update(
-            groupname_new+'.'+self.axis_choice+'Kp')
+            groupname_new + '.' + self.axis_choice + 'Kp')
         self.cf.param.request_param_update(
-            groupname_new+'.'+self.axis_choice+'Ki')
+            groupname_new + '.' + self.axis_choice + 'Ki')
         self.cf.param.request_param_update(
-            groupname_new+'.'+self.axis_choice+'Kd')
+            groupname_new + '.' + self.axis_choice + 'Kd')
         time.sleep(0.1)
 
         self.update_scale_info()