Tello-Python-Face-Tracking/Mapping.py at main · goppy07/Tello-Python-Face-Tracking · GitHub

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from djitellopy import tello
import KeyPressModule as kp
from time import sleep
import numpy as np
import cv2
import math

################### PARAMETERS #########################
fSpeed = 117 / 10  # Forward Speed in cm/s (15cm/s)
aSpeed = 360 / 10  # Angular Speed Degrees/s (50d/s)
interval = 0.25

dInterval = fSpeed * interval
aInterval = aSpeed * interval
########################################################

x, y = 500, 500
a = 0  # Angle
yaw = 0

kp.init()
me = tello.Tello()
me.connect()
print(me.get_battery())

points = [(0, 0), (0, 0)]


def getKeyboardInput():
    lr, fb, ud, yv = 0, 0, 0, 0
    speed = 15
    aspeed = 50
    global x, y, yaw, a
    d = 0  # Distance

    if kp.getKey("LEFT"):
        lr = -speed
        d = dInterval
        a = -180

    elif kp.getKey("RIGHT"):
        lr = speed
        d = -dInterval
        a = 180

    if kp.getKey("UP"):  # Forward
        fb = speed
        d = dInterval
        a = 270
    elif kp.getKey("DOWN"):  # Backward
        fb = -speed
        d = -dInterval
        a = -90

    if kp.getKey("w"):
        ud = speed
    elif kp.getKey("s"):
        ud = -speed

    if kp.getKey("a"):
        yv = -aspeed
        yaw -= aInterval
    elif kp.getKey("d"):
        yv = aspeed
        yaw += aInterval

    if kp.getKey("q"): me.land(); sleep(3)
    if kp.getKey("e"): me.takeoff()

    sleep(interval)
    a += yaw
    x += int(d * math.cos(math.radians(a)))
    y += int(d * math.sin(math.radians(a)))

    return [lr, fb, ud, yv, x, y]


def drawPoints(img, points):
    for point in points:
        cv2.circle(img, point, 5, (0, 0, 255), cv2.FILLED)

    cv2.circle(img, points[-1], 8, (0, 255, 0), cv2.FILLED)
    cv2.putText(img, f'({(points[-1][0] - 500) / 100}, {(points[-1][1] - 500) / 100})m',
                (points[-1][0] + 10, points[-1][1] + 30), cv2.FONT_HERSHEY_PLAIN, 1,
                (255, 0, 255), 1)


while True:
    vals = getKeyboardInput()
    me.send_rc_control(vals[0], vals[1], vals[2], vals[3])

    img = np.zeros((1000, 1000, 3), np.uint8)
    if (points[-1][0] != vals[4] or points[-1][1] != vals[5]):
        points.append((vals[4], vals[5]))
    drawPoints(img, points)
    cv2.imshow("Output", img)
    cv2.waitKey(1)