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# simple example demonstrating how to control a Tello using your keyboard.
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# For a more fully featured example see manual-control-pygame.py
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#
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# Use W, A, S, D for moving, E, Q for rotating and R, F for going up and down.
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# When starting the script the Tello will takeoff, pressing ESC makes it land
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# and the script exit.
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# 简单的演示如何用键盘控制Tello
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# 欲使用全手动控制请查看 manual-control-pygame.py
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#
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# W, A, S, D 移动， E, Q 转向，R、F上升与下降.
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# 开始运行程序时Tello会自动起飞，按ESC键降落
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# 并且程序会退出
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from djitellopy import Tello
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import cv2, math, time
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tello = Tello()
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tello.connect()
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tello.streamon()
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frame_read = tello.get_frame_read()
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tello.takeoff()
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while True:
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# In reality you want to display frames in a seperate thread. Otherwise
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# they will freeze while the drone moves.
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# 在实际开发里请在另一个线程中显示摄像头画面，否则画面会在无人机移动时静止
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img = frame_read.frame
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cv2.imshow("drone", img)
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key = cv2.waitKey(1) & 0xff
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if key == 27: # ESC
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break
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elif key == ord('w'):
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tello.move_forward(30)
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elif key == ord('s'):
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tello.move_back(30)
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elif key == ord('a'):
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tello.move_left(30)
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elif key == ord('d'):
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tello.move_right(30)
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elif key == ord('e'):
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tello.rotate_clockwise(30)
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elif key == ord('q'):
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tello.rotate_counter_clockwise(30)
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elif key == ord('r'):
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tello.move_up(30)
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elif key == ord('f'):
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tello.move_down(30)
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tello.land()
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