yeeshukant's branch

README.md

@@ -1,39 +1,208 @@
 <div id="top"></div>
 
-[![Issues][issues-shield]][issues-url]
-
 # Drone Swarm Python
-API for controlling The Pluto 1.2 nano drone
+## Inter-IIT Tech Meet 11.0: Bronze medal winning solution to [Drona Aviation](https://github.com/DronaAviation)'s Pluto Drone Swarm Challenge
+
+Team Members: [Yeeshukant Singh](https://github.com/Yeeshukant), [Kshitij Bhat](https://github.com/KshitijBhat), [Harsh Bardhan](https://github.com/harshahb), [Rohan Jha](https://github.com/rohanjha04), [Sairaj Loke](https://github.com/SairajLoke), [Akshit Raizada](https://github.com/AkshitRaizada), [Omkar Shirgaonkar](https://github.com/BulzEye), [Shivankar Sharma](https://github.com/Shivankar007), [Abhishek Nair](https://github.com/NairAbhishek1403) and Karandevsinh Khuman
+
+- [Problem Statement](https://github.com/DaemonLab/Drone-Swarm-InterIIT-2023/blob/yeeshukant/Problem_Statement.pdf) 
+
+- [Presentation](https://github.com/DaemonLab/Drone-Swarm-InterIIT-2023/blob/yeeshukant/Presentation.pdf) 
+
+- [Report](https://github.com/DaemonLab/Drone-Swarm-InterIIT-2023/blob/yeeshukant/Report.pdf)
+
+### API for controlling The Pluto 1.2 nano drone
+
+![Pluto1 2-ISO-Front](https://user-images.githubusercontent.com/79806119/214293414-403e11c9-3395-4ed4-a8a5-4aa190e86979.png)
 
 [![](https://img.shields.io/badge/License-GPLv3-blue.svg)]()
 
 <!-- TABLE OF CONTENTS (ADD ONCE SUBTOPICS START COMING TOGETHER)-->
 
 
+## Table of Contents
+
+
+ <p><a href="#ProjD">1. Project Description</a></p>
+ <p><a href="#RepoS">2. Repository Structure</a></p>
+ <p><a href="#TechS">3. Tech Stack</a></p>
+ <p><a href="#GetSL">4. Getting Started ( Linux / Windows) </a></p>
+
+ - <p><a href="#PreR">a. Prerequisite</a></p>
+ - <p><a href="#SetU">b. Setting Up </a></p>
+
+	 - Python Env for Linux(Optional)
+	- pypluto package in Linux
+	- pypluto package in Windows
+
+<p><a href="#Usg">5. Usage</a></p>
+
+-	a. Pre-Programmed Execution
+-  b. Camera Feedback Execution
+-  c. Keyboard Control
+-  d. Manually stopping (killing) the drone
+
+
+<p><a href="#Video">6. Video</a></p>
+
+
+
+
 <!-- PROJECT DESCRIPTION -->
+<div id="ProjD"></div>
+
+## 1. Project Description 
+
+*Task 1*: 
+Develop a Python wrapper for India's one and only number-one-selling educational nano drone, The Pluto.
+
+*Task 2*: 
+Hovering a pluto drone on a particular height using ArUco Tag. 
+Set a web camera (which is not included in the kit) on the ceiling.
+- A. Get a pose estimation of the drone using ArUco tag on the drone.
+- B. Add PID to the script for controlling the droneC
+- C. Hover the drone in one position.
+- D. Move the drone in rectangular motion (1 x 2 meter)
+
+*Task 3*: 
+Pluto Swarming (A second drone will be provided - both the drones should fly
+at the same time)
+A. Generate one more ArUco tag and place it on the second drone.
+B. Initially, Drone2 will be at position0, and drone1 will be at position1. Write
+commands to move Drone1 from position1 to position2. When Drone1 reaches
+position2, drone2 should follow drone1 and reach position1 automatically.
+C. Same way, create a rectangle motion. (1 x 2 meter)
+D. Record a video and make the final submission similarly as the previous one.
 
-## Project Description 
 
-*Task 1*: Develop a Python wrapper for India's one and only number-one-selling educational nano drone, The Pluto.
+<p align="right">(<a href="#top">back to top</a>)</p>
+
+
+
+<div id="RepoS"></div>
+
+
+## 2. Repository structure
+<pre>
+├─ docs
+│    ├─ Task1.md
+|    ├─ keyboard_control.md
+│    └─ Task2.md
+│  
+├─ pypluto
+│    ├─ pypluto
+│    │   ├─ Camera
+│    │   |   ├─ CAM_CONFIGS_lenovo.py
+│    │   |   └─ marker.py
+│    │   |
+│    │   ├─ Control
+│    │   |   └─ PIDmain.py
+│    │   | 
+│    │   ├─ __init__.py
+│    │   ├─ drone.py
+│    │   └─ enforce.py
+│    │  
+│    ├─ kill.py
+│    ├─ main.py
+│    └─ master.py
+│    
+├─ PrimusV4-Pluto_1_2-1.hex  
+│
+└─ requirements.txt
+
+</pre>
+
+<div id="TechS"></div>
+
+## 3. Tech Stack 
+
+- python>=3.7
+- numpy==1.17.4
+- opencv_contrib_python==4.6.0.66
+- setuptools==45.2.0
+- matplotlib==3.1.2
 
-*Task 2*: Hovering a pluto drone on a particular height using ArUco Tag. Set a web camera (which is not included in the kit) on the ceiling.
 
-*Task 3*: Pluto Swarming (A second drone will be provided - both the drones should fly at the same time)
+<p align="right">(<a href="#top">back to top</a>)</p>
+
+
+
+<div id="GetSL"></div>
+
+## 4. Getting Started 
 
-## Getting Started
+<div id="PreR"></div>
 
 ### Prerequisites
 
 <!-- *Put setup instructions here.* -->
 
 The API is tested with the ```PrimusV4-Pluto_1_2-1.hex``` firmware installed on Pluto Drone.
+Ensure that git is installed on the system.
+
+If ```pip3``` is not installed, install it using the following command in Terminal
 
-If ```pip3``` is not installed, install it using the following command on **linux**
 ```shell
 $ sudo apt update
 $ sudo apt install python3-pip
 ``` 
-and for **Windows**
+
+<div id="PyEnv"></div>
+
+<details open>
+<summary> Setting up a Python-Environment (optional) </summary>
+<br>
+
+
+```shell
+$ pip install virtualenv
+```
+Now check your installation
+```
+$ virtualenv --version
+```
+Now create a virtual environment inside an appropriate folder, type
+this in terminal for specific python-3 version
+```
+$ virtualenv -p /usr/bin/python3 Drone_Env
+```
+After this command, a folder named  **Drone_Env**  will be created. 
+
+Now at last we just need to activate it, using the command
+```
+$ source Drone_Env/bin/activate
+```
+Now you are in a Drone's Python virtual environment , follow the <a href="#SetU">following cmds</a> for installation of packages
+
+Note:
+You can deactivate environment using
+```
+$ deactivate 
+```
+</details>
+
+
+<div id="SetU"></div>
+
+## Setting up pypluto package in Linux
+
+```
+$ git clone https://github.com/team53-interiit-11/Drona-Aviation-Team53
+$ cd pypluto
+```
+Install the External Dependencies using the following command 
+```
+pip install -r requirements.txt
+```
+
+<p align="right">(<a href="#top">back to top</a>)</p>
+
+
+<div id="GetSW"></div>
+
+**Note: For MacOS, follow the same procedure as Linux**
+
+## Setting up pypluto package in Windows
 Download [get-pip.py](https://bootstrap.pypa.io/get-pip.py) using cmd prompt
 ```
 curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
@@ -42,6 +211,12 @@ To install run the following command using cmd prompt
 ```
 python /path/to/get-pip.py
 ```
+ Run the following commands:
+```
+$ git clone https://github.com/team53-interiit-11/Drona-Aviation-Team53
+$ cd pypluto
+```
+
 Install the External Dependencies using the following command 
 ```
 pip install -r requirements.txt
@@ -50,71 +225,66 @@ pip install -r requirements.txt
 
 <p align="right">(<a href="#top">back to top</a>)</p>
 
-### Usage
+
+<div id="Usg"></div>
+
+### 5. Usage
+
+#### a. Pre-Programmed Execution
 <!-- *Explain API cmds here.... might need a more detailed version like (make another section for structure)* -->
 
-Use the ```main.py``` template file for programming the drone movement.<br> 
-or refer to the following sample program.
+Use the ```main.py``` template file for pre-programming the drone movement( without using any external camera) .<br> 
+
+Following is a sample program.
+note: you might need to change the trim values depending on your drone.
 ```python
-from pypluto.pluto import *
+from pypluto import pluto
 
 if __name__ == '__main__':
-    client = Drone()
-
-    client.disarm()
-    time.sleep(5)
-
-    client.arm()
-    time.sleep(5)
-
-    client.trim(50, -50, 0, 0)
-    client.steer("up",400)
-    time.sleep(4)
-
-    client.land()
-    time.sleep(4)
-
-    client.disarm()
+	#initializing the drone
+	drone=pluto()
+	drone.connect()
+	drone.disarm()
+
+	#drone plan execution
+	drone.trim(-2,2,0,0)
+	drone.takeoff()
+	drone.throttle_speed(0,3)
+
+	#closing the execution
+	drone.land()
+	drone.disarm()
+
 ```
 
-For detailed explanation on use of various movement functions refer to [functions.md](https://github.com/DaemonLab/Drone-Swarm/blob/main/docs/functions.md) <br>
+For detailed explanation of use of various movement functions, refer to [Task1.md](/docs/Task1.md) <br>
 
-User can also control the drone from keyboard by running the ```keyboard.py``` file in terminal / command prompt. Instructions for control via keyboard can be found in [keyboard_control.md](https://github.com/DaemonLab/Drone-Swarm/blob/main/docs/keyboard_control.md)
+#### b. Camera Feedback Execution
 
-### Manually stopping (killing) the drone
+Instructions for controlling the drone using camera setup can be found in the
+[Task2.md](/docs/Task2.md)
 
-Sometimes, it may happen that the python program using the API may end without deactivating (landing and/or disarming) the drone, and the drone may stay on. In that case, one can run the ```kill.py``` script, which will send the required commands to properly deactivate the drone. 
 
-## Roadmap
+#### c. Keyboard Control
 
-### Finalized
-- [x] Basic Control Commands
-- [x] Sending commands continously with threading
-- [x] Keyboard Control
-- [x] ArUco Detection
-- [x] Multiple Drones
-- [ ] PID balancing with ArUco
-- [ ] Take sensor data for height
+User can also control the drone from keyboard by running the ```keyboard.py``` file in terminal/command prompt. 
+Instructions for control via keyboard can be found in [keyboard_control.md](/docs/keyboard_control.md)
 
 
-<div id="ideas"></div>
+### d. Manually stopping (killing) the drone
 
-### Ideas
+In case the drone does not arm after running ```main.py```, which may happen due to improper disarming of the drone, you can run ```kill.py``` instead of disconnecting the drone to disarm it properly and then run ```main.py``` to get regular operation
 
-- [ ] Modes and other flips
-- [ ] Amphibian support
+<div id="Video"></div>
 
-<p align="right">(<a href="#top">back to top</a>)</p>
+#### 6. Video
+
+Link to Drive : https://drive.google.com/file/d/1zlupXXNTnhAbURaeVlbYnx64emY9gVFm/view?usp=sharing
 
-## Contact Us
+Hover Task: 0:00 to 0:32
 
-Members :  
+Control Task: 0:33 to 1:39
+
+<p align="right">(<a href="#top">back to top</a>)</p>
 
-[contributors-shield]: https://img.shields.io/github/contributors/DaemonLab/Drone-Swarm?color=informational&style=for-the-badge
-[contributors-url]: https://github.com/DaemonLab/Drone-Swarm/graphs/contributors
-[forks-shield]: https://img.shields.io/github/forks/DaemonLab/Drone-Swarm?color=blueviolet&style=for-the-badge
-[forks-url]: https://github.com/DaemonLab/Drone-Swarm/fork
-[stars-shield]: https://img.shields.io/github/stars/DaemonLab/Drone-Swarm?color=yellow&style=for-the-badge
-[stars-url]: https://github.com/DaemonLab/Drone-Swarm/stargazers
-[issues-shield]: https://img.shields.io/github/issues-raw/DaemonLab/Drone-Swarm?color=%23FF0000&style=for-the-badge
-[issues-url]: https://github.com/DaemonLab/Drone-Swarm/issues
+<div id="RoadM"></div>