# Tello EDU ## 規則 https://drive.google.com/drive/folders/1cDu1XlynWLJqYQJRrhnb854bKHjx9ZlV ## 機器屬性 Tomy：飛行偏左 Fred：飛行偏右/起飛偏左 Sony：飛行偏左 ## 卡VS關卡 card1：x card2：x card3：80/70 card4：80/70 card5： card6： card7： /150 card8：50/100 card2：100/110 card1：90/160 三環卡偏左 ## 程式共享 ### 關卡組合 :::info 1. 刀旗2 刀旗1 高環 三環 中環 :white_check_mark: 2. 高環 刀旗2 刀旗1 三環 中環 :question: 3. 三環 刀旗2 高環 刀旗1 中環 :heavy_check_mark: 4. 中環 刀旗2 高環 三環 刀旗1 :heavy_check_mark: 5. 刀旗1 高環 刀旗2 三環 中環 :heavy_check_mark: 6. 刀旗1 三環 高環 刀旗2 中環 :heavy_check_mark: 7. 刀旗1 中環 高環 三環 刀旗2 :heavy_check_mark: 8. 刀旗1 刀旗2 三環 高環 中環 :-1: 9. 刀旗1 刀旗2 中環 三環 高環 :question: 10. 刀旗1 刀旗2 高環 中環 三環 :heavy_check_mark: ::: ### 2. 高環 刀旗2 刀旗1 三環 中環 :::spoiler ```py= #高刀刀三中 from djitellopy import Tello tello = Tello()#創建無人機 tello.connect()#無人機連線 print("battery:",tello.get_battery())#印出電量 tello.takeoff()#起飛 tello.move_down(50) tello.go_xyz_speed(310, 0, 70, 100) tello.go_xyz_speed_mid(0, 0, 180,100, 3) tello.curve_xyz_speed_mid(80, 40, 120, 150, 0, 120, 50, 4) tello.go_xyz_speed_yaw_mid(80, 0, 60, 60, 0, 5, 6) tello.go_xyz_speed_yaw_mid(245, 0,60 , 100,0,6,7) tello.go_xyz_speed_yaw_mid(150,0,120,100,7,8) tello.curve_xyz_speed_mid(80,40 , 120, 150, 0, 120, 50, 8) tello.go_xyz_speed_mid(0, 40, 120, 100, 2) tello.move_up(60) tello.move_forward(110) tello.move_down(90) tello.move_back(90) tello.move_right(90) tello.move_up(40) tello.go_xyz_speed(290, 60, 0, 100) tello.move_forward(100) tello.land() tello.end()#結束 tello.curve_xyz_speed_mid(80, -40, 120, 150, 0, 120, 50, 4) ``` ::: ### 3. 三環 刀旗2 高環 刀旗1 中環 tomy :::spoiler ```py= from djitellopy import Tello tello = Tello()#創建無人機 tello.connect()#無人機連線 print("battery:",tello.get_battery())#印出電量 tello.takeoff()#起飛 tello.move_down(50) tello.go_xyz_speed(350, 0, 70, 60) tello.go_xyz_speed_mid(0, 40, 120, 100, 3) tello.move_up(60) tello.move_forward(110) tello.move_down(90) tello.move_back(90) tello.move_right(80) tello.move_up(40) tello.move_forward(110) tello.move_down(20) tello.move_left(20) tello.curve_xyz_speed_mid( 90, 50 , 120, 150 , 0, 120 , 50,4) tello.go_xyz_speed_yaw_mid(80, 0, 60, 60, 0, 5, 6) tello.go_xyz_speed_yaw_mid(240, 0,60 , 100,0,6,7) tello.move_up(60) tello.go_xyz_speed_mid(300, 0, 180, 100, 7) tello.move_down(60) tello.curve_xyz_speed_mid(90, 40, 120, 150, 0,120 , 50, 4) tello.go_xyz_speed(180, 0, 0, 100) tello.land() tello.end()#結束 ``` ::: ### 4. 中環 刀旗2 高環 三環 刀旗1 :::spoiler ```py= from djitellopy import Tello tello = Tello()#創建無人機 tello.connect()#無人機連線 print("battery:",tello.get_battery())#印出電量 tello.takeoff()#起飛 tello.move_down(50) tello.go_xyz_speed(310, 0, 70, 100) #3 tello.go_xyz_speed_mid(150, 0, 120, 100, 3) #4 tello.curve_xyz_speed_mid(80, 40, 120, 150, 0, 120, 50, 4) #5 tello.go_xyz_speed_yaw_mid(80, 0, 60, 60, 0, 5, 6) #6 tello.go_xyz_speed_yaw_mid(240, 0,60 , 100,0,6,7) #7 tello.go_xyz_speed_mid(150,0, 120, 100, 7) #8 tello.go_xyz_speed_mid(0, 0, 180, 100, 8) tello.go_xyz_speed(150, 0, 0,100) tello.move_down(60) #2 tello.go_xyz_speed_mid(0, 40, 120, 100, 2) tello.move_up(50) tello.move_forward(140) tello.move_down(90) tello.move_back(90) tello.move_right(90) tello.move_up(40) tello.go_xyz_speed(150, 45, 0, 100) #1 tello.curve_xyz_speed_mid(80, 40, 120, 150, 0, 120, 50, 1) tello.move_forward(90) tello.land() tello.end()#結束 ``` ::: ### 5. 刀旗1 高環 刀旗2 三環 中環 tomy :::spoiler ```Py= from djitellopy import Tello tello = Tello()#創建無人機 tello.connect()#無人機連線 print("battery:",tello.get_battery())#印出電量 tello.takeoff()#起飛 tello.move_down(50) tello.go_xyz_speed(350, 0, 70, 60) tello.curve_xyz_speed_mid(80, 40, 120, 150, 0, 120, 50, 3) tello.go_xyz_speed_mid(50, 0, 180,80 , 4) tello.go_xyz_speed(100, 0, 0, 80) tello.go_xyz_speed_yaw_mid(80, 0, 60, 60, 0, 5, 6) tello.go_xyz_speed_yaw_mid(240, 0,60 , 100,0,6,7) tello.go_xyz_speed_yaw_mid(140, 0, 120, 100, 0, 7, 8) tello.curve_xyz_speed_mid(80,40 , 120, 150, 0, 120, 50, 8) tello.go_xyz_speed_mid(0, 40, 120, 100, 2) tello.move_up(60) tello.move_forward(110) tello.move_down(90) tello.move_back(90) tello.move_right(90) tello.move_up(40) tello.go_xyz_speed(290, 60, 0, 100) tello.move_forward(100) tello.land() tello.end()#結束 ``` ::: ### 6. 刀旗1 三環 高環 刀旗2 中環 tomy (四號卡偏左) :::spoiler ```py= from djitellopy import Tello tello = Tello()#創建無人機 tello.connect()#無人機連線 print("battery:",tello.get_battery())#印出電量 tello.takeoff()#起飛 tello.move_down(50) tello.go_xyz_speed(350, 0, 70, 60) tello.curve_xyz_speed_mid(80, 40, 120, 150, 0, 120, 50, 3) tello.go_xyz_speed_mid(0, 40, 120, 100, 4) tello.move_up(50) tello.move_forward(110) tello.move_down(90) tello.move_back(90) tello.move_right(90) tello.move_up(40) tello.go_xyz_speed(130, 45, 0, 100) tello.go_xyz_speed_yaw_mid(80, 0, 60, 60, 0, 5, 6) tello.go_xyz_speed_yaw_mid(240, 0,60 , 100,0,6,7) tello.go_xyz_speed_yaw_mid(140, 0, 120, 100, 0, 7, 8) tello.move_up(60) tello.go_xyz_speed(150, 0, 0,100) tello.move_down(60) tello.curve_xyz_speed_mid(80, 40, 120, 150, 0, 120, 50, 2) tello.go_xyz_speed(280, 0, 0, 100) tello.land() tello.end()#結束 ``` ::: ### 7. 刀旗1 中環 高環 三環 刀旗2 :::spoiler ```py= from djitellopy import Tello tello = Tello()#創建無人機 tello.connect()#無人機連線 print("battery:",tello.get_battery())#印出電量 tello.takeoff()#起飛 #tello.move_down(50) tello.go_xyz_speed(310, 0, 10, 100) tello.curve_xyz_speed_mid(80, 40, 120, 135, 0, 120, 50, 3) tello.go_xyz_speed_yaw_mid(150, 0, 125, 100, 0,4,5) tello.go_xyz_speed_yaw_mid(80, 0, 60, 60, 0, 5, 6) tello.go_xyz_speed_yaw_mid(245, 0,60 , 100,0,6,7) tello.go_xyz_speed_yaw_mid(140,0,120,100,0,7,8) tello.move_up(60) tello.go_xyz_speed(275, 30, -10, 100) tello.move_down(90) tello.move_back(90) tello.move_right(100) tello.move_up(40) tello.go_xyz_speed(180, 40, -30, 100) tello.curve_xyz_speed_mid(80, 50, 120, 150, 25, 120, 50, 1) tello.move_forward(80) tello.land() tello.end() ``` ::: ### 8. 刀旗1 刀旗2 三環 高環 中環 tomy :::spoiler ```py= from djitellopy import Tello tello = Tello()#創建無人機 tello.connect()#無人機連線 print("battery:",tello.get_battery())#印出電量 tello.takeoff()#起飛 tello.move_down(50) tello.go_xyz_speed(310, 0, 70, 100) tello.curve_xyz_speed_mid(80, 40, 120, 150, 0, 120, 50, 3) tello.curve_xyz_speed_mid(80, -40, 120, 150, 0, 120, 50, 4) tello.go_xyz_speed_yaw_mid(80, 0, 60, 60, 0, 5, 6) tello.go_xyz_speed_yaw_mid(245, 0,60 , 100,0,6,7) tello.go_xyz_speed_yaw_mid(150,0,120,100,7,8) tello.go_xyz_speed_mid(0, 40, 120, 100, 8) tello.move_up(50) tello.move_forward(110) tello.move_down(90) tello.move_back(90) tello.move_right(90) tello.move_up(40) tello.go_xyz_speed(150, 40, 0, 100) tello.go_xyz_speed_mid(0, 0, 180, 100, 2) tello.go_xyz_speed(220, 0, 0,100) tello.move_down(60) tello.go_xyz_speed_mid(240, 0, 120, 100, 1) tello.land() tello.end()#結束 ``` ::: ### 9.刀旗1 刀旗2 中環 三環 高環 :::spoiler ```py= from djitellopy import Tello tello = Tello()#創建無人機 tello.connect()#無人機連線 print("battery:",tello.get_battery())#印出電量 tello.takeoff()#起飛 from djitellopy import Tello tello = Tello()#創建無人機 tello.connect()#無人機連線 print("battery:",tello.get_battery())#印出電量 tello.takeoff()#起飛 tello.move_down(50) tello.go_xyz_speed(310, 0, 70, 100) tello.curve_xyz_speed_mid(80, 40, 120, 150, 0, 120, 50, 3) tello.curve_xyz_speed_mid(80, -40, 120, 150, 0, 120, 50, 4) tello.go_xyz_speed_yaw_mid(80, 0, 60, 60, 0, 5, 6) tello.go_xyz_speed_yaw_mid(245, 0,60 , 100,0,6,7) tello.go_xyz_speed_yaw_mid(200,0,125,100,7,2) tello.go_xyz_speed_mid(0, 40, 120, 100, 2) tello.move_up(60) tello.move_forward(110) tello.move_down(90) tello.move_back(90) tello.move_right(90) tello.move_up(40) tello.go_xyz_speed(160, 50, 0, 100) tello.go_xyz_speed_mid(0, 0, 180, 100, 1) tello.go_xyz_speed(290, 0, 0, 100) tello.land() tello.end()#結束 ``` ::: ### 10. 刀旗1 刀旗2 高環 中環 三環 tomy :::spoiler ```py= from djitellopy import Tello tello = Tello()#創建無人機 tello.connect()#無人機連線 print("battery:",tello.get_battery())#印出電量 tello.takeoff()#起飛 tello.move_down(50) tello.go_xyz_speed(350, 0, 70, 60) tello.curve_xyz_speed_mid(80, 0, 60, 60, 0, 5, 6) tello.go_xyz_speed_yaw_mid(240, 0,60 , 100,0,6,7) tello.go_xyz_speed_yaw_mid(140, 0, 120, 100, 0, 7, 8) tello.move_up(60) tello.go_xyz_speed(150, 0, 0, 100) tello.move_down(60) tello.go_xyz_speed_mid(215, 0, 120, 100, 2) tello.go_xyz_speed_mid(0, 40, 120, 100, 1) tello.move_up(60) tello.move_forward(110) tello.move_down(90) tello.move_back(90) tello.move_right(90) tello.move_up(40) tello.go_xyz_speed(200, 40, 0, 100) tello.land() tello.end()#結束 ``` ::: ### 開頭 ##### 刀旗開頭 :::spoiler ```py= from djitellopy import Tello tello = Tello()#創建無人機 tello.connect()#無人機連線 print("battery:",tello.get_battery())#印出電量 tello.takeoff()#起飛 tello.move_down(50) tello.go_xyz_speed(320, 0, 70, 100) tello.curve_xyz_speed(80, -40 , 0 , 150 , 0, 0 , 50) tello.land()#降落 tello.end()#結束 ``` ::: #### 低環開頭 :::spoiler ```py= from djitellopy import Tello tello = Tello()#創建無人機 tello.connect()#無人機連線 print("battery:",tello.get_battery())#印出電量 tello.takeoff()#起飛 tello.move_down(50) tello.go_xyz_speed(450, 0, 100, 100) tello.land()#降落 tello.end()#結束 ``` ::: #### 高環開頭 :::spoiler ```py= from djitellopy import Tello tello = Tello()#創建無人機 tello.connect()#無人機連線 print("battery:",tello.get_battery())#印出電量 tello.takeoff()#起飛 tello.move_down(50) tello.go_xyz_speed(330, 0, 70, 100) tello.move_up(80) tello.move_forward(150) tello.land()#降落 tello.end()#結束 ``` ::: #### 三環開頭 :::spoiler ```py= from djitellopy import Tello tello = Tello()#創建無人機 tello.connect()#無人機連線 print("battery:",tello.get_battery())#印出電量 tello.takeoff()#起飛 tello.move_down(50) tello.go_xyz_speed(350, 0, 70, 60) tello.move_up(60) tello.move_left(40) tello.move_forward(100) tello.move_down(90) tello.move_back(100) tello.move_right(80) tello.move_up(50) tello.go_xyz_speed(100, 80, 0, 80) tello.land()#降落 tello.end()#結束 ``` ::: ## 原始程式(刀刀高三中) #### 林 :::spoiler ```py= from djitellopy import Tello tello = Tello()#創建無人機 tello.connect()#無人機連線 print("battery:",tello.get_battery())#印出電量 tello.takeoff()#起飛 #tello.go_xyz_speed(120,0,60,50)#以飛機當前位置為原點前往P(50,50,0) #tello.go_xyz_speed_yaw_mid( 260, 0, 60, 50, 0, 8, 2) #tello.move_up(60) #tello.go_xyz_speed_yaw_mid(110, 0, 120, 50, 0, 2, 3) #tello.curve_xyz_speed( 80, -50 , 0 , 150 , 0, 0 , 50)#x1,y1,z1,x2,y2,z2,speed #tello.curve_xyz_speed( 90, 50 , 0 , 150 , 0, 0 , 50) #tello.move_down(90) #tello.go_xyz_speed_yaw_mid(80,0,60,50,0,5,6) #tello.move_forward(250) tello.go_xyz_speed_yaw_mid(150,0,120,80,0,7,8)#150,0,60 tello.move_up(60) tello.go_xyz_speed(280,40, 0, 50) tello.move_down(80) tello.move_back(80) tello.move_right(80) tello.move_up(50) tello.go_xyz_speed(280, 40, 0, 50) tello.land()#降落 tello.end()#結束 ``` ::: #### 廖 :::spoiler ```py= from djitellopy import Tello t = Tello() t.connect() print("battert:",t.get_battery()) t.takeoff() #tello.go_xyz_speed(50, 50, 0, 50) t.go_xyz_speed_yaw_mid( 120, 0, 110, 50, 0, 8, 1) t.move_down(40) t.go_xyz_speed_yaw_mid(140, 0, 70, 50, 0, 1, 2) t.move_up(50) t.move_forward(110) t.curve_xyz_speed_mid(75, -40, 120, 150, 0, 120, 50, 3) t.curve_xyz_speed_mid(75, 40, 120, 150, 0, 120, 50, 4) t.go_xyz_speed_yaw_mid( 75, 30, 120, 50, 0, 5, 6) t.move_down(70) t.move_forward(220) t.move_up(70) t.go_xyz_speed_yaw_mid( 150, 0 ,120, 50, 0, 7, 8) t.move_up(60) t.go_xyz_speed(295, 40, -10, 50) t.move_down(80) t.move_back(85) t.curve_xyz_speed(0, -40, 20, 45, -80, 40, 50) t.go_xyz_speed(130, 40, 10, 50) t.move_forward(30) t.land()#降落 t.end()#結束 from djitellopy import Tello t = Tello() t.connect() print("battert:",t.get_battery()) t.takeoff() #tello.go_xyz_speed(50, 50, 0, 50) #1 #t.go_xyz_speed_yaw_mid( 120, 0, 110, 50, 0, 8, 1) #t.move_down(40) #t.go_xyz_speed_yaw_mid(140, 0, 70, 50, 0, 1, 2) #2 #t.move_up(50) #t.move_forward(110) #3 #t.curve_xyz_speed_mid(75, -40, 120, 150, 0, 120, 50, 3) #4 #t.curve_xyz_speed_mid(75, 40, 120, 150, 0, 120, 50, 4) #5 t.go_xyz_speed_yaw_mid( 150, 0, 120, 50, 0, 5, 6) #6 t.move_down(70) t.move_forward(200) t.move_forward(200) t.move_up(70) #7 t.go_xyz_speed_yaw_mid( 150, 0 ,120, 50, 0, 7, 8) #8 #t.move_up(60) #t.go_xyz_speed(295, 40, -10, 50) #t.move_down(80) #t.move_back(85) #t.curve_xyz_speed(0, -40, 20, 45, -80, 40, 50) #t.go_xyz_speed(130, 40, 10, 50) #t.move_forward(30) t.land()#降落 t.end()#結束 ``` ::: #### function stable version :::spoiler ```py= from djitellopy import Tello tello = Tello()#創建無人機 tello.connect()#無人機連線 print("battery:",tello.get_battery())#印出電量 forward_time=0 def flag1(card:int): tello.curve_xyz_speed_mid(75, -40, 120, 140, 0, 120, 50, card) def flag2(card:int): tello.curve_xyz_speed_mid(75, 40, 120, 150, 0, 120, 50, card) def c3(card:int): tello.go_xyz_speed_mid(150, 40, 170, 80,card) tello.move_down(90)#80 tello.move_back(85) tello.curve_xyz_speed(0, -40, 20, 45, -80, 40, 50) tello.go_xyz_speed(80, 40, -10, 80) def ct(): tello.move_up(60) tello.move_forward(140) tello.move_down(60) def cm(card:int): tello.move_up(40) tello.go_xyz_speed(100, 0, 0, 80) tello.takeoff()#起飛 tello.move_forward(120) # 前進 120 tello.move_down(50) # 下降 50 tello.go_xyz_speed_yaw_mid(140, 0, 100, 100, 0, 1, 2) # 由 m1 跳飛到 m2 直行 140 高度 100 tello.go_xyz_speed_yaw_mid(110, 0, 120, 100, 0, 2, 3) # 由 m2 跳飛到 m3 直行 110 高度 120 while(forward_time<5): tello.move_forward(40) pad = tello.get_mission_pad_id() forward_time=forward_time+1 if pad==3: flag1(pad) elif pad==4: flag2(pad) a1=100 # a1 為隧道入口與實際的差 tello.go_xyz_speed_yaw_mid(100, 150-20-a1, 60, 100, 0, 5, 6) # 由 m5 跳飛到 m6 直行 100 左移 150-20-a1 高度 60 a2=60 # a2 為隧道出口與實際長度的差 tello.go_xyz_speed_yaw_mid(20+130+150-a2,0 , 60, 100, 0, 6, 7) # 由 m6 跳飛到 m7 直行 20+130+150-a2 高度 60 elif pad==8: ct() elif pad==2: c3(pad) elif pad==1: cm(pad) print("battery:",tello.get_battery())#印出電量 tello.disable_mission_pads() tello.land() tello.end() ``` ::: #### function version :::spoiler ```py= from djitellopy import Tello def A(d:int): tello.go_xyz_speed_mid(0,0,95,80,2) tello.move_forward(d) def flag1(): tello.curve_xyz_speed_mid(75, -40, 120, 140, 0, 120, 50, 3) def flag2(): tello.curve_xyz_speed_mid(75, 40, 120, 150, 0, 120, 50, 1) def start(d:int,speed:int): tello.go_xyz_speed_mid(d,0,70,speed,8) tello.move_up(20) def c3(): tello.go_xyz_speed_mid(150, 40, 170, 80,2) print("found card2") tello.move_down(90)#80 tello.move_back(85) tello.curve_xyz_speed(0, -40, 20, 45, -80, 40, 50) tello.go_xyz_speed(80, 40, -10, 80) def ct(): tello.move_up(60) tello.move_forward(140) tello.move_down(60) tello = Tello()#創建無人機 tello.connect()#無人機連線 print("battery:",tello.get_battery())#印出電量 tello.takeoff()#起飛 pad = tello.get_mission_pad_id() #tello.go_xyz_speed(260,0,0,100) #tello.move_forward(260) #start(220,80) '''tello.go_xyz_speed_yaw_mid( 120, 0, 90, 50, 0, 8, 4) tello.move_down(40) tello.go_xyz_speed_yaw_mid(140, 0, 100, 50, 0, 4) #tello.move_up(50) tello.move_forward(80)''' ft=0 card4=1 pad = tello.get_mission_pad_id() #tello.move_up(40) while ft<6: if pad==3: ft=0 #card2=2 print("flag1") flag1() #flag2() if pad==1: ft=0 print("flag2") flag2() if pad==6: ft=0 print("read card6") tello.go_xyz_speed_yaw_mid(70,0,80,80,0,6,5) if pad==5: break ft=0 print("read card5") #tello.go_xyz_speed_mid(0,0,50,80,5) #print("move_down sucess") #tello.go_xyz_speed_yaw_mid(230,0,50,80,0,5,7) tello.go_xyz_speed_mid(250,0,40,80,5) tello.move_up(70) #tello.go_xyz_speed_mid(0,0,120,80,7) '''if pad==7: print("read card7") tello.go_xyz_speed_yaw_mid(70,0,120,80,0,7,1)''' if pad==8: print("read card8") ft=0 ct() if pad==2: ft=0 print("read card2") c3() if pad==4: print("read card4") ft=0 tello.go_xyz_speed_yaw_mid(40,0,120,80,0,4,3) tello.go_xyz_speed(80, 0, 20, 80) tello.move_forward(40) ft=ft+1; pad = tello.get_mission_pad_id() #tello.move_down(70) #tello.go_xyz_speed_yaw_mid(80,30,80,50,0,5,6) #tello.move_forward(220) if ft>=6: print("too far") print("battery:",tello.get_battery())#印出電量 tello.disable_mission_pads() tello.land() tello.end() ``` ::: ## 常用函式整理 :::spoiler ```py= def move_up(self, x: int):#上 """Fly x cm up. Arguments: x: 20-500 """ self.move("up", x) def move_down(self, x: int):#下 """Fly x cm down. Arguments: x: 20-500 """ self.move("down", x) def move_left(self, x: int):#左 """Fly x cm left. Arguments: x: 20-500 """ self.move("left", x) def move_right(self, x: int):#右 """Fly x cm right. Arguments: x: 20-500 """ self.move("right", x) def move_forward(self, x: int):#前 """Fly x cm forward. Arguments: x: 20-500 """ self.move("forward", x) def move_back(self, x: int):#後 """Fly x cm backwards. Arguments: x: 20-500 """ self.move("back", x) def rotate_clockwise(self, x: int):#順時針轉 """Rotate x degree clockwise. Arguments: x: 1-360 """ self.send_control_command("cw {}".format(x)) def rotate_counter_clockwise(self, x: int):#逆時針轉 """Rotate x degree counter-clockwise. Arguments: x: 1-3600 """ self.send_control_command("ccw {}".format(x)) def go_xyz_speed(self, x: int, y: int, z: int, speed: int): """Fly to x y z relative to the current position. Speed defines the traveling speed in cm/s. Arguments: x: -500-500 y: -500-500 z: -500-500 speed: 10-100 """ cmd = 'go {} {} {} {}'.format(x, y, z, speed) self.send_control_command(cmd) def curve_xyz_speed(self, x1: int, y1: int, z1: int, x2: int, y2: int, z2: int, speed: int): """Fly to x2 y2 z2 in a curve via x2 y2 z2. Speed defines the traveling speed in cm/s. - Both points are relative to the current position - The current position and both points must form a circle arc. - If the arc radius is not within the range of 0.5-10 meters, it raises an Exception - x1/x2, y1/y2, z1/z2 can't both be between -20-20 at the same time, but can both be 0. Arguments: x1: -500-500 x2: -500-500 y1: -500-500 y2: -500-500 z1: -500-500 z2: -500-500 speed: 10-60 """ cmd = 'curve {} {} {} {} {} {} {}'.format(x1, y1, z1, x2, y2, z2, speed) self.send_control_command(cmd) def go_xyz_speed_mid(self, x: int, y: int, z: int, speed: int, mid: int): """Fly to x y z relative to the mission pad with id mid. Speed defines the traveling speed in cm/s. Arguments: x: -500-500 y: -500-500 z: -500-500 speed: 10-100 mid: 1-8 """ cmd = 'go {} {} {} {} m{}'.format(x, y, z, speed, mid) self.send_control_command(cmd) def curve_xyz_speed_mid(self, x1: int, y1: int, z1: int, x2: int, y2: int, z2: int, speed: int, mid: int): """Fly to x2 y2 z2 in a curve via x2 y2 z2. Speed defines the traveling speed in cm/s. - Both points are relative to the mission pad with id mid. - The current position and both points must form a circle arc. - If the arc radius is not within the range of 0.5-10 meters, it raises an Exception - x1/x2, y1/y2, z1/z2 can't both be between -20-20 at the same time, but can both be 0. Arguments: x1: -500-500 y1: -500-500 z1: -500-500 x2: -500-500 y2: -500-500 z2: -500-500 speed: 10-60 mid: 1-8 """ cmd = 'curve {} {} {} {} {} {} {} m{}'.format(x1, y1, z1, x2, y2, z2, speed, mid) self.send_control_command(cmd) def go_xyz_speed_yaw_mid(self, x: int, y: int, z: int, speed: int, yaw: int, mid1: int, mid2: int): """Fly to x y z relative to mid1. Then fly to 0 0 z over mid2 and rotate to yaw relative to mid2's rotation. Speed defines the traveling speed in cm/s. Arguments: x: -500-500 y: -500-500 z: -500-500 speed: 10-100 yaw: -360-360 mid1: 1-8 mid2: 1-8 """ cmd = 'jump {} {} {} {} {} m{} m{}'.format(x, y, z, speed, yaw, mid1, mid2) self.send_control_command(cmd) ``` ::: ## 基礎知識 :::spoiler ### 座標系 跟數學認知的有點不一樣 x軸表前後，y軸表左右，z軸表上下 (向前為正)(向左為正)(向上為正) ![](https://i.imgur.com/MVYNdg9.png) ### 起飛前檢查 1. 確認機身方向(有鏡頭、LED燈處朝前) 3. 確認四隻螺旋槳平衡插入馬達軸心 4. 確認機身平衡、完好 5. 確認wifi已連接 6. ==程式有起飛也有降落== ### 失控解救方法 如果遇到斷線或任何不可空因素導致無人機失控、無法降落；請從==無人機下方快速抓起並按下電源關閉鍵==(拜託不要從上面、側邊做任何擠壓，很傷螺旋槳) ## 挑戰卡 - 功能：定位&修正無人機方向 - 元素 1. 數字：表示挑戰卡編號 2. 火箭：表x軸方向 - 程式呼叫名稱 mid：定位挑戰卡 mid1：基準挑戰卡 mid2：目標挑戰卡 ![](https://i.imgur.com/3N7CGGA.png)![](https://i.imgur.com/1O8Io5D.jpg) ## Python控制 ### 安裝函式庫 - 函式庫名稱：djitellopy 詳細內容請看github:point_down:(常用函式line 618~782) https://github.com/damiafuentes/DJITelloPy/blob/master/djitellopy/tello.py 打開cmd，輸入以下指令(電腦要先裝Python IDE) Python IDE推薦：Spyder、LDLE、VScode ```py= pip install djitellopy ``` ::: ## 範例程式 :::spoiler 打開程式編輯器，輸入sample code ```py= from djitellopy import Tello tello = Tello()#創建無人機 tello.connect()#無人機連線 print("battert:",tello.get_battery())#印出電量 tello.takeoff()#起飛 tello.go_xyz_speed(50,50,0,50)#以飛機當前位置為原點前往P(50,50,0) tello.land()#降落 tello.end()#結束 ``` :::success 可以正常起飛基本就完成了，剩得靠自己QWQ :::