https://github.com/arlk/crazyflie.jl

A julia package that can fly
https://github.com/arlk/crazyflie.jl

crazyflie drone julia

Last synced: 11 months ago
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A julia package that can fly

• Host: GitHub
• URL: https://github.com/arlk/crazyflie.jl
• Owner: arlk
• License: mit
• Created: 2019-07-05T23:28:07.000Z (almost 7 years ago)
• Default Branch: master
• Last Pushed: 2020-02-08T14:51:19.000Z (over 6 years ago)
• Last Synced: 2025-04-22T15:49:07.985Z (about 1 year ago)
• Topics: crazyflie, drone, julia
• Language: Julia
• Size: 17.6 KB
• Stars: 3
• Watchers: 0
• Forks: 2
• Open Issues: 2
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# Crazyflie.jl

[![Build Status](https://travis-ci.org/arlk/Crazyflie.jl.svg?branch=master)](https://travis-ci.org/arlk/Crazyflie.jl) [![codecov](https://codecov.io/gh/arlk/Crazyflie.jl/branch/master/graph/badge.svg)](https://codecov.io/gh/arlk/Crazyflie.jl)

This package provides a Julia interface for [crazyflie-lib-python](https://github.com/bitcraze/crazyflie-lib-python) to communicate with a [crazyflie](https://bitcraze.io).

## Installation

Follow directions from [crazyflie-lib-python](https://github.com/bitcraze/crazyflie-lib-python) to (system-wide) install the python library and any necessary dependencies. Then from the REPL

```julia

julia> ] add Crazyflie

```

## Usage

#### Scan for crazyflies

```julia

julia> scan()

Found 2 crazyflies:

        radio://0/60/2M

        radio://0/80/2M

```

#### Run an algorithm

The `play` function takes the crazyflie [uri](https://wiki.bitcraze.io/doc:crazyflie:api:python:index#uniform_resource_identifier_uri) and the anonymous function in the `do...end` block as inputs:

```julia

play(uri) do cf

  # send commands

end

```

It constructs the [SyncCrazyflie](https://github.com/bitcraze/crazyflie-lib-python/blob/master/cflib/crazyflie/syncCrazyflie.py) python object, connects to the crazyflie, runs the provided algorithm, and disconnects from the crazyflie.

A motor ramp test example: This is already included in the [examples](https://github.com/arlk/Crazyflie.jl/blob/master/src/examples.jl) and can be invoked directly.

```julia

function motor_ramp_test(uri)

    play(uri) do cf

        cf.commander.send_setpoint(0, 0, 0, 0)

        thrust = 20000

        for i = 1:20

            cf.commander.send_setpoint(0, 0, 0, thrust)

            thrust += i > 10 ? -500 : 500

            sleep(0.1)

        end

        cf.commander.send_setpoint(0, 0, 0, 0)

        sleep(0.1)

    end

end

```