#quadcopter import RPi.GPIO as GPIO import time GPIO.setmode(GPIO.BCM) m1 = 17 m2 = 18 m3 = 22 m4 = 23 program_start = time.time() GPIO.setup(m1, GPIO.OUT) GPIO.setup(m2, GPIO.OUT) GPIO.setup(m3, GPIO.OUT) GPIO.setup(m4, GPIO.OUT) pwm1 = GPIO.PWM(m1, 100) pwm2 = GPIO.PWM(m2, 100) pwm3 = GPIO.PWM(m3, 100) pwm4 = GPIO.PWM(m4, 100) def up(x,y): while time.time() < x: pwm1.ChangeDutyCycle(75) pwm2.ChangeDutyCycle(75) pwm3.ChangeDutyCycle(75) pwm4.ChangeDutyCycle(75) print(time.time() - y) def down(x,y): while time.time() < x: pwm1.ChangeDutyCycle(30) pwm2.ChangeDutyCycle(30) pwm3.ChangeDutyCycle(30) pwm4.ChangeDutyCycle(30) print(time.time() - y) def pitch_right(x,y): while time.time() < x: pwm2.ChangeDutyCycle(30) pwm4.ChangeDutyCycle(30) print(time.time() - y) def pitch_left(x,y): while time.time() < x: pwm1.ChangeDutyCycle(30) pwm3.ChangeDutyCycle(30) print(time.time() - y) def pitch_back(x,y): while time.time() < x: pwm3.ChangeDutyCycle(30) pwm4.ChangeDutyCycle(30) print(time.time() - y) def pitch_front(x,y): while time.time() < x: pwm1.ChangeDutyCycle(30) pwm2.ChangeDutyCycle(30) print(time.time() - y) def roll(x,y): while time.time() < x: pwm1.ChangeDutyCycle(100) pwm2.ChangeDutyCycle(0) pwm3.ChangeDutyCycle(100) pwm4.ChangeDutyCycle(0) print(time.time() - y) end = x + 3 while time.time() < end: pwm1.ChangeDutyCycle(0) pwm2.ChangeDutyCycle(100) pwm3.ChangeDutyCycle(0) pwm4.ChangeDutyCycle(100) print(time.time() - y) end = end + 3 while time.time() < end: pwm1.ChangeDutyCycle(100) pwm2.ChangeDutyCycle(100) pwm3.ChangeDutyCycle(100) pwm4.ChangeDutyCycle(100) print(time.time() - y) def left_front_corner(x,y): while time.time() < x: pwm1.ChangeDutyCycle(30) pwm2.ChangeDutyCycle(50) pwm3.ChangeDutyCycle(50) pwm4.ChangeDutyCycle(75) print(time.time() - y) def right_front_corner(x,y): while time.time() < x: pwm2.ChangeDutyCycle(30) pwm1.ChangeDutyCycle(50) pwm4.ChangeDutyCycle(50) pwm3.ChangeDutyCycle(75) print(time.time() - y) def left_back_corner(x, y): while time.time() < x: pwm1.ChangeDutyCycle(50) pwm2.ChangeDutyCycle(75) pwm3.ChangeDutyCycle(30) pwm4.ChangeDutyCycle(50) print(time.time() - y) def right_back_corner(x, y): while time.time() < x: pwm1.ChangeDutyCycle(75) pwm2.ChangeDutyCycle(50) pwm3.ChangeDutyCycle(50) pwm4.ChangeDutyCycle(30) print(time.time() - x) power ="on" while power == "on": pwm1.start(50) pwm2.start(50) pwm3.start(50) pwm4.start(50) print("What would you like to do?") user = str(input()).lower() if user == "up": print("How many seconds?") dist = int(input()) end = time.time() + dist start_time = time.time() up(end, start_time) elif user == "down": print("How many seconds?") dist = int(input()) end = time.time() + dist start_time = time.time() down(end,start_time) elif user == "pitch right": print("How many seconds?") dist = int(input()) end = time.time() + dist start_time = time.time() pitch_right(end,start_time) elif user == "pitch left": print("How many seconds?") dist = int(input()) end = time.time() + dist start_time = time.time() pitch_left(end,start_time) elif user == "pitch front": print("How many seconds?") dist = int(input()) end = time.time() + dist start_time = time.time() pitch_front(end,start_time) elif user == "pitch back": print("How many seconds?") dist = int(input()) end = time.time() + dist start_time = time.time() pitch_back(end,start_time) elif user == "corner1": print("How many seconds?") dist = int(input()) end = time.time() + dist start_time = time.time() left_front_corner(end,start_time) elif user == "corner2": print("How many seconds?") dist = int(input()) end = time.time() + dist start_time = time.time() right_front_corner(end,start_time) elif user == "corner3": print("How many seconds?") dist = int(input()) end = time.time() + dist start_time = time.time() left_back_corner(end,start_time) elif user == "corner4": print("How many seconds?") dist = int(input()) end = time.time() + dist start_time = time.time() right_back_corner(end, start_time) elif user == "roll": start_time = time.time() end = time.time() + 3 roll(end,start_time) elif user == "power": break

Quadcopter