Movement base changed

tello_code_hunt_pygame_manual_control.py

@@ -16,7 +16,7 @@ from dbr import *
 # Speed of the drone
 S = 100
 # Step size
-s_S = 100
+STEP = 100
 # Frames per second of the pygame window display
 # A low number also results in input lag, as input information is processed once per frame.
 FPS = 120
@@ -42,47 +42,33 @@ class FrontEnd():
         def run(self):
             """ Main thread."""
             while True:
+                #try:
                 command = self.commands_to_run.get(block=True, timeout=None)
+                
                 if command == "e":  # forward
-                    success = self.tello.move_forward(s_S)
-                    while not success:
+                    while not self.tello.move_forward(STEP):
                         time.sleep(1)
-                        success = self.tello.move_forward(s_S)
                 elif command == "h": # back
-                    success = self.tello.move_back(s_S)
-                    while not success:
+                    while not self.tello.move_back(STEP):
                         time.sleep(1)
-                        success = self.tello.move_back(s_S)
                 elif command == "b": # left
-                    success = self.tello.move_left(s_S)
-                    while not success:
+                    while not self.tello.move_left(STEP):
                         time.sleep(1)
-                        success = self.tello.move_left(s_S)
                 elif command == "j": # right
-                    success = self.tello.move_right(s_S)
-                    while not success:
+                    while not self.tello.move_right(STEP):
                         time.sleep(1)
-                        success = self.tello.move_right(s_S)
                 elif command == "f": # up
-                    success = self.tello.move_up(int(s_S/4))
-                    while not success:
+                    while not self.tello.move_up(int(STEP/4)):
                         time.sleep(1)
-                        success = self.tello.move_up(int(s_S/4))
                 elif command == "l": # down
-                    success = self.tello.move_down(int(s_S/4))
-                    while not success:
+                    while not self.tello.move_down(int(STEP/4)):
                         time.sleep(1)
-                        success = self.tello.move_down(int(s_S/4))
                 elif command == "ccw": # turn left
-                    success = self.tello.rotate_counter_clockwise(15)
-                    while not success:
+                    while not self.tello.rotate_counter_clockwise(15):
                         time.sleep(1)
-                        success = self.tello.rotate_counter_clockwise(15)
                 elif command == "cw": # turn right
-                    success = self.tello.rotate_clockwise(15)
-                    while not success:
+                    while not self.tello.rotate_clockwise(15):
                         time.sleep(1)
-                        success = self.tello.rotate_clockwise(15)
 
     def __init__(self):
         # Init pygame
@@ -99,6 +85,10 @@ class FrontEnd():
         self.tello = Tello()
 
         # Drone velocities between -100~100
+        self.for_back_velocity = 0
+        self.left_right_velocity = 0
+        self.up_down_velocity = 0
+        self.yaw_velocity = 0
         self.speed = S
 
         # create update timer