I am trying to use stockfish to evaluate a chess position using FEN notation all in Python. I am mainly using two libraries (pgnToFen I found on github here: https://github.com/SindreSvendby/pgnToFen and Stockfish the MIT licensed one here: https://github.com/zhelyabuzhsky/stockfish). After many bugs I have reached problem after problem. Stockfish not only can't analyse this FEN position (3b2k1/1p3pp1/8/3pP1P1/pP3P2/P2pB3/6K1/8 b f3 -) but it infinitely loops! "No worries!" and thought changing the source code would be accomplishable. Changed to _put(), but basically I am unable to put dummy values in because stdin.flush() won't execute once I give it those values! Meaning I don't even think I can skip to the next row in my dataframe. :( The code I changed is below.
def _put(self, command: str, tmp_time) -> None:
if not self.stockfish.stdin:
raise BrokenPipeError()
self.stockfish.stdin.write(f"{command}\n")
try:
self.stockfish.stdin.flush()
except:
if command != "quit":
self.stockfish.stdin.write('isready\n')
try:
time.sleep(tmp_time)
self.stockfish.stdin.flush()
except:
#print ('Imma head out', file=sys.stderr)
raise ValueError('Imma head out...')
#sys.stderr.close()
def get_evaluation(self) -> dict:
"""Evaluates current position
Returns:
A dictionary of the current advantage with "type" as "cp" (centipawns) or "mate" (checkmate in)
"""
evaluation = dict()
fen_position = self.get_fen_position()
if "w" in fen_position: # w can only be in FEN if it is whites move
compare = 1
else: # stockfish shows advantage relative to current player, convention is to do white positive
compare = -1
self._put(f"position {fen_position}", 5)
self._go()
x=0
while True:
x=x+1
text = self._read_line()
#print(text)
splitted_text = text.split(" ")
if splitted_text[0] == "info":
for n in range(len(splitted_text)):
if splitted_text[n] == "score":
evaluation = {
"type": splitted_text[n + 1],
"value": int(splitted_text[n + 2]) * compare,
}
elif splitted_text[0] == "bestmove":
return evaluation
elif x == 500:
evaluation = {
"type": 'cp',
"value": 10000,
}
return evaluation
and last but not least change to the init_ contructor below:
self._stockfish_major_version: float = float(self._read_line().split(" ")[1])
And the code where I am importing this code to is below, this is where errors pop up.
import pandas as pd
import re
import nltk
import numpy as np
from stockfish import Stockfish
import os
import sys
sys.path.insert(0, r'C:\Users\path\to\pgntofen')
import pgntofen
#nltk.download('punkt')
#Changed models.py for major version line 39 in stockfish from int to float
stockfish = Stockfish(r"C:\Users\path\to\Stockfish.exe")
file = r'C:\Users\path\to\selenium-pandas output.csv'
chunksize = 10 ** 6
for chunk in pd.read_csv(file, chunksize=chunksize):
for index, row in chunk.iterrows():
FullMovesStr = str(row['FullMoves'])
FullMovesStr = FullMovesStr.replace('+', '')
if "e.p" in FullMovesStr:
row.to_csv(r'C:\Users\MyName\Logger.csv', header=None, index=False, mode='a')
print('Enpassant')
continue
tokens = nltk.word_tokenize(FullMovesStr)
movelist = []
for tokenit in range(len(tokens)):
if "." in str(tokens[tokenit]):
try:
tokenstripped = re.sub(r"[0-9]+\.", "", tokens[tokenit])
token = [tokenstripped, tokens[tokenit+1]]
movelist.append(token)
except:
continue
else:
continue
DFMoves = pd.DataFrame(movelist, columns=[['WhiteMove', 'BlackMove']])
DFMoves['index'] = row['index']
DFMoves['Date'] = row['Date']
DFMoves['White'] = row['White']
DFMoves['Black'] = row['Black']
DFMoves['W ELO'] = row['W ELO']
DFMoves['B ELO'] = row['B ELO']
DFMoves['Av ELO'] = row['Av ELO']
DFMoves['Event'] = row['Event']
DFMoves['Site'] = row['Site']
DFMoves['ECO'] = row['ECO']
DFMoves['Opening'] = row['Opening']
pd.set_option('display.max_rows', DFMoves.shape[0]+1)
print(DFMoves[['WhiteMove', 'BlackMove']])
seqmoves = []
#seqmovesBlack = []
evalmove = []
pgnConverter = pgntofen.PgnToFen()
#stockfish.set_fen_position("rnbqkbnr/pppppppp/8/8/8/8/PPPPPPPP/RNBQKBNR w KQkq - 0 1")
#rnbqkbnr/pppppppp/8/8/8/8/PPPPPPPP/RNBQKBNR w KQkq - 0 1
for index, row in DFMoves.iterrows():
try:
stockfish.set_fen_position("rnbqkbnr/pppppppp/8/8/8/8/PPPPPPPP/RNBQKBNR w KQkq - 0 1")
except:
evalmove.append("?")
continue
#stockfish.set_fen_position("rnbqkbnr/pppppppp/8/8/8/8/PPPPPPPP/RNBQKBNR w KQkq - 0 1")
pgnConverter.resetBoard()
WhiteMove = str(row['WhiteMove'])
BlackMove = str(row['BlackMove'])
if index == 0:
PGNMoves1 = [WhiteMove]
seqmoves.append(WhiteMove)
#seqmoves.append(BlackMove)
else:
seqmoves.append(WhiteMove)
#seqmoves.append(BlackMove)
PGNMoves1 = seqmoves.copy()
#print(seqmoves)
try:
pgnConverter.pgnToFen(PGNMoves1)
fen = pgnConverter.getFullFen()
except:
break
try:
stockfish.set_fen_position(fen)
print(stockfish.get_board_visual())
evalpos = stockfish.get_evaluation()
evalmove.append(evalpos)
except:
pass
try:
stockfish.set_fen_position("rnbqkbnr/pppppppp/8/8/8/8/PPPPPPPP/RNBQKBNR w KQkq - 0 1")
except:
evalmove.append("?")
continue
pgnConverter.resetBoard()
if index == 0:
PGNMoves2 = [WhiteMove, BlackMove]
seqmoves.append(BlackMove)
else:
seqmoves.append(BlackMove)
PGNMoves2 = seqmoves.copy()
try:
pgnConverter.pgnToFen(PGNMoves2)
fen = pgnConverter.getFullFen()
except:
break
try:
stockfish.set_fen_position(fen)
print(stockfish.get_board_visual())
evalpos = stockfish.get_evaluation()
print(evalpos)
evalmove.append(evalpos)
except:
pass
#DFMoves['EvalWhite'] = evalwhite
#DFMoves['EvalBlack'] = evalblack
print(evalmove)
So the detailed question is getting stockfish.get_evalution() to just skip, or better yet fix the problem, for this ( 3b2k1/1p3pp1/8/3pP1P1/pP3P2/P2pB3/6K1/8 b f3 - ) FEN position. I have been working on this problem for quite a while so any insight into this would be very much appreciated.
My specs are Windows 10, Python 3.9, Processor:Intel(R) Core(TM) i9-10980XE CPU # 3.00GHz 3.00 GHz and RAM is 64.0 GB.
Thanks :)
Ok. It seems your fen is invalid (3b2k1/1p3pp1/8/3pP1P1/pP3P2/P2pB3/6K1/8 b f3 -). So check that. And python-chess (https://python-chess.readthedocs.io/en/latest/index.html) library allows you to use FEN AND chess engines. So, pretty cool no ? Here is an example of theses two fantastics tools :
import chess
import chess.engine
import chess.pgn
pgn = open("your_pgn_file.pgn")
game = chess.pgn.read_game(pgn)
engine = chess.engine.SimpleEngine.popen_uci("your_stockfish_path.exe")
# Iterate through all moves, play them on a board and analyse them.
board = game.board()
for move in game.mainline_moves():
board.push(move)
print(engine.analyse(board, chess.engine.Limit(time=0.1))["score"])
I have been building a flashcard app and have run into a roadblock while trying to implement a radiobutton. The issue is when run the menu shows up and your able to access the lesson, but the radiobuttons do not appear. Whenever the code is run this error shows up TypeError: string indices must be integers attached to the radiobutton functionbalancing_radio_butto1 = Radiobutton(balancing_frame, text = balancing[answer_list[0]], variable=balancing_radio, value = 1) if someone could explain the why this error shows up as well as how to fix it it would be much appreciated. Below is my code that I have so far.
from tkinter import *
from PIL import ImageTk, Image
from random import branding
import random
root = Tk()
root.title('Chemistry Flashcards')
root.geometry("500x500")
def balancing():
balancing_frame.pack(fill="both", expand=1)
global show_balancing
show_balancing = Label(balancing_frame)
show_balancing.pack(pady=15)
global balancing
balancing = ['balanced1', 'balanced2', 'balanced3', 'balanced4', 'balanced5', 'unbalanced1', 'unbalanced2', 'unbalanced3', 'unbalanced4', 'unbalanced5']
global balancing_state
balancing_state = {
'balanced1':'balanced',
'balanced2':'balanced',
'balanced3':'balanced',
'balanced4':'balanced',
'balanced5':'balanced',
'unbalanced1':'unbalanced',
'unbalanced2':'unbalanced',
'unbalanced3':'unbalanced',
'unbalanced4':'unbalanced',
'unbalanced5':'unbalanced',
}
answer_list = []
count = 1
while count < 3:
rando = randint(0, len(balancing_state)-1)
if count == 1:
answer = balancing[rando]
global balancing_image
balancing = "C:/Users/Kisitu/Desktop/project/balancing/" + balancing[rando] + ".png"
balancing_image = ImageTk.PhotoImage(Image.open(balancing))
show_balancing.config(image=balancing_image)
answer_list.append(balancing[rando])
'''random.shuffle(balancing)'''
count += 1
random.shuffle(answer_list)
global balancing_radio
balancing_radio = IntVar()
balancing_radio_butto1 = Radiobutton(balancing_frame, text = balancing[answer_list[0]], variable=balancing_radio, value = 1)
balancing_radio_butto1.pack(pady=10)
balancing_radio_butto2 = Radiobutton(balancing_frame, text = balancing[answer_list[1]], variable=balancing_radio, value = 2).pack()
my_menu = Menu(root)
root.config(menu=my_menu, bg='#B7F7BB')
lesson_menu = Menu(my_menu)
my_menu.add_cascade(label="Lesson", menu=lesson_menu)
lesson_menu.add_command(label="balancing", command=balancing)
lesson_menu.add_separator()
lesson_menu.add_command(label="Exit", command=root.quit)
balancing_frame = Frame(root, width=500, height=500, )
root.mainloop()
... text = balancing[answer_list[0]] ...
balancing is a list, you are trying to index a value from the list.
you are passing answer_list[0] as index.
answer_list contains random strings from balancing.
you are trying to index a list with a string like in
balancing["balanced2"]
maybe you could use a dictionary?
I am attempting to fill out a word document form with Python 2.7's docx module. I can modify text elements just fine but I am having difficulty figuring out how to check a yes or no checkbox.
How do I go about checking one the the checkboxes in the form. I have tried a few different ways but I think it all comes do to me not know how the docx xml is structured when it comes to check boxes.
Am I able to use the Bookmark property to find a specific checkbox and check it as seen in the picture below?
I have uploaded a copy of the test form to Google Drive here.
Ok, so after much frustration I finally figured out how to check a checkbox. There is a element within a checkbox element that signifies if the box is checked. I am essenially able to create that element with the following function.
from docx.oxml import OxmlElement
from docx.oxml.ns import qn
def checkedElement():
elm = OxmlElement('w:checked')
elm.set(qn('w:val'),"true")
return elm
I can find all checkboxes within a table cell with the following function. Since the yes is always the first checkbox in each cell I can set the index for a yes check to 0 and a no check to index 1 and then I can append the checked element within the checkbox element:
def yesNoCheck(yes_no,tableIdx,coords):
print coords, yes_no
if yes_no == 'y':
index = 0
x = doc.tables[tableIdx].cell(coords[0],coords[1])._element.xpath('.//w:checkBox')
x[index].append(checkedElement())
elif yes_no == 'n':
index = 1
x = doc.tables[tableIdx].cell(coords[0],coords[1])._element.xpath('.//w:checkBox')
x[index].append(checkedElement())
else:
print "value was neither yes or no"
pass
here is my full code that I have written so far. I have a bunch of refactoring to do but it works great as of now. There are two tables in my .docx template and dictionary table1 and table2 contain the cell row and column coordinates. This script is used to fill out a required form using data published from ESRI's Survey123.
from docx import Document
from docx.oxml import OxmlElement
from docx.oxml.ns import qn
from docx.shared import Inches
from docx.enum.text import WD_ALIGN_PARAGRAPH
import arcpy
import datetime
import os
table1 = {
'BusinessName':[2,3],
'LicenseNumber':[2,14],
'OwnerName':[3,3],
'PhoneNumber':[3,14],
'BusinessAddress':[4,5],
'County':[4,14],
'City':[5,1],
'St':[5,8],
'Zip':[5,15],
'LicenceExpired':[6,1], #CheckBox
'DateExpired':[6,15],
'LicenceRenewal':[7,1], #CheckBox
'NumberDisplayed':[8,1], #CheckBox
'NameAddDisplayed':[10,1], #CheckBox
'VehicleInfoMatches':[12,1], #CheckBox
'DischargeValveCapped':[14,1], #CheckBox
'DischargeValveCapChained':[15,1], #CheckBox
'HoseDisinfectCarried':[16,1], #CheckBox
'VehicleAndTankClean':[17,1], #CheckBox
'FreeOfLeaks':[18,1] #CheckBox
}
table2 = {
'LandApplyWaste':[1,1], #Yes/No CheckBox
'LocationDescriptionAccurate':[6,1], #Yes/No CheckBox
'LocationDescriptionAccDesc':[6,5], #text
'Slope':[7,1], #Yes/No CheckBox
'DistanceNearestResidence':[8,1], #Yes/No CheckBox
'DistanceNearestWell':[9,1], #Yes/No CheckBox
'DistanceNearestStreamLakeEtc':[10,1], #Yes/No CheckBox
'SeptageIncorporated':[11,1], #Yes/No CheckBox
'InjectedIncorporated':[12,3], #Yes/No CheckBox, dependent on the septage incorporated being yes
'SeptageStabilized':[13,1], #Yes/No CheckBox
'HowIsLimeMixed':[14,3], #text dependent on if lime was used
'ConfiningLayerOrGroundwater':[15,1], #Yes/No CheckBox
'ConfiningLayerOrGroundwaterDesc':[16,3], #text
'CropGrown':[17,1], #Yes/No CheckBox
'CropGrownHowVerified':[19,3], #text
'LandAppCompliance':[20,1], #Yes/No CheckBox
'AdditionalComments':[22,3],
'SignDate':[22,13]
}
def checkedElement():
elm = OxmlElement('w:checked')
elm.set(qn('w:val'),"true")
return elm
def yesNoCheck(yes_no,tableIdx,coords):
print coords, yes_no
if yes_no == 'y':
index = 0
x = doc.tables[tableIdx].cell(coords[0],coords[1])._element.xpath('.//w:checkBox')
x[index].append(checkedElement())
elif yes_no == 'n':
index = 1
x = doc.tables[tableIdx].cell(coords[0],coords[1])._element.xpath('.//w:checkBox')
x[index].append(checkedElement())
else:
print "value was neither yes or no"
pass
def disposalMethodCheck(method, locationDec):
vals = {
'WastewaterTreatmentFacility':[20,1],
'LandApplication':[22,1],
'SanitaryLandfill':[24,1],
'SeptageLagoonOrDryingBed':[26,1]
}
if method != None:
row,col = vals[method]
checkBoxElm = doc.tables[0].cell(row,col)._element.xpath('.//w:checkBox')[0]
print "{0} Checked!".format(method)
checkBoxElm.append(checkedElement())
editTxt(locationDec,0,[row,6])
def editTxt(text, tblIdx, coords, alignment = WD_ALIGN_PARAGRAPH.LEFT, bold=True):
print text, coords
field = doc.tables[tblIdx].cell(coords[0],coords[1]).paragraphs[0]
field.text = text
field.alignment = alignment
field.runs[0].font.bold = bold
def addSig(sigJpgPath):
para = doc.tables[1].row_cells(23)[0].paragraphs[0]
para.alignment = WD_ALIGN_PARAGRAPH.CENTER
run = para.add_run()
run.add_picture(sigJpgPath,width=Inches(1.34),height=Inches(.35))
fc = r"E:\PumperTruckInspectionFeatureClass"
arcpy.MakeFeatureLayer_management (fc, "PumperTruckInspections")
attach = r"PumperTruckInspection__ATTACH" #Where signatures are stored
def rows_as_dicts(cursor):
colnames = cursor.fields
for row in cursor:
yield dict(zip(colnames, row))
def dateString(date):
if date != None:
d = date.strftime('%m/%d/%Y')
return d
else:
print "no date"
return ''
def checkBusName(name):
if name != None:
return name
else:
return 'unknown'
with arcpy.da.SearchCursor(fc, '*') as sc:
for row in rows_as_dicts(sc):
doc = Document(r"path\to\TEMPLATE.docx")
t = datetime.datetime.now().strftime('%Y-%m-%d')
newDocName = checkBusName(row['BusinessName']) + t + '.docx'
editTxt(row['BusinessName'],0,table1['BusinessName'])
editTxt(row['LicenseNumber'],0,table1['LicenseNumber'])
editTxt(row['OwnerName'],0,table1['OwnerName'])
editTxt(row['PhoneNumber'],0,table1['PhoneNumber'])
editTxt(row['BusinessAddress'],0,table1['BusinessAddress'])
editTxt(row['County'],0,table1['County'])
editTxt(row['City'],0,table1['City'])
editTxt(row['St'],0,table1['St'])
editTxt(row['Zip'],0,table1['Zip'])
editTxt(dateString(row['DateExpired']),0,table1['DateExpired'])
yesNoCheck(row['LicenceExpired'],0, table1['LicenceExpired'])
yesNoCheck(row['LicenceRenewal'],0, table1['LicenceRenewal'])
yesNoCheck(row['NumberDisplayed'],0, table1['NumberDisplayed'])
yesNoCheck(row['NameAddDisplayed'],0, table1['NameAddDisplayed'])
yesNoCheck(row['VehicleInfoMatches'],0, table1['VehicleInfoMatches'])
yesNoCheck(row['DischargeValveCapped'],0, table1['DischargeValveCapped'])
yesNoCheck(row['DischargeValveCapChained'],0, table1['DischargeValveCapChained'])
yesNoCheck(row['HoseDisinfectCarried'],0, table1['HoseDisinfectCarried'])
yesNoCheck(row['VehicleAndTankClean'],0, table1['VehicleAndTankClean'])
yesNoCheck(row['FreeOfLeaks'],0, table1['FreeOfLeaks'])
disposalMethodCheck(row['DisposalMethod'],row['DisposalLocation'])
if row['DisposalMethod'] == 'LandApplication':
yesNoCheck(row['LandApplyWaste'],1,table2['LandApplyWaste'])
yesNoCheck(row['LocationDescriptionAccurate'],1,table2['LocationDescriptionAccurate'])
editTxt(row['LocationDescriptionAccDesc'],1,table2['LocationDescriptionAccDesc'])
yesNoCheck(row['Slope'],1,table2['Slope'])
yesNoCheck(row['DistanceNearestResidence'],1,table2['DistanceNearestResidence'])
yesNoCheck(row['DistanceNearestWell'],1,table2['DistanceNearestWell'])
yesNoCheck(row['DistanceNearestStreamLakeEtc'],1,table2['DistanceNearestStreamLakeEtc'])
yesNoCheck(row['SeptageIncorporated'],1,table2['SeptageIncorporated'])
yesNoCheck(row['InjectedIncorporated'],1,table2['InjectedIncorporated']) #might need a new method since its not yes/no
yesNoCheck(row['SeptageStabilized'],1,table2['SeptageStabilized'])
editTxt(row['HowIsLimeMixed'],1,table2['HowIsLimeMixed'])
yesNoCheck(row['ConfiningLayerOrGroundwater'],1,table2['ConfiningLayerOrGroundwater'])
editTxt(row['ConfiningLayerOrGroundwaterDescript'],1,table2['ConfiningLayerOrGroundwaterDescript'])
yesNoCheck(row['CropGrown'],1,table2['CropGrown'])
editTxt(row['CropGrownHowVerified'],1,table2['CropGrownHowVerified'])
yesNoCheck(row['LandAppCompliance'],1,table2['LandAppCompliance'])
editTxt(row['AdditionalComments'],1,table2['AdditionalComments'],bold=False)
where = "REL_GLOBALID = '{0}'".format(row['GlobalID'])
from pprint import pprint
with arcpy.da.SearchCursor(attach,['DATA', 'ATT_NAME', 'ATTACHMENTID'],where_clause=where) as cursor:
for r in rows_as_dicts(cursor):
pprint(r)
name = r['ATT_NAME']
attachment = r['DATA']
if name.split('_')[0] == 'InspectorSignature':
imagePath = os.path.join(name.split('_')[0] + "_" + )
open(("sig.jpeg"), 'wb').write(attachment.tobytes())
addSig("sig.jpeg")
break
editTxt(dateString(row['SignDate']),1,table2['SignDate'],alignment = WD_ALIGN_PARAGRAPH.CENTER,bold=False)
doc.save(newDocName)
del doc
I just created a checked checkbox in word and then recreated the xml codes. Compiled the whole in a function, you just have to pass the paragraph as an argument.
import docx
from docx import Document
from docx.shared import Inches
from docx.oxml import OxmlElement
from docx.oxml.ns import qn
def addCheckedbox(para, box_id, name):
run = para.add_run()
tag = run._r
start = docx.oxml.shared.OxmlElement('w:bookmarkStart')
start.set(docx.oxml.ns.qn('w:id'), str(box_id - 1))
start.set(docx.oxml.ns.qn('w:name'), "_GoBack")
run2 = para.add_run()
tag2 = run2._r
fld = docx.oxml.shared.OxmlElement('w:fldChar')
fld.set(docx.oxml.ns.qn('w:fldCharType'), 'begin')
checker = docx.oxml.shared.OxmlElement('w:checkBox')
sizer = docx.oxml.shared.OxmlElement('w:sizeAuto')
checkValue = docx.oxml.shared.OxmlElement('w:default')
checkValue.set(docx.oxml.ns.qn('w:val'), '1')
checker.append(sizer)
checker.append(checkValue)
start.append(checker)
tag.append(start)
run3 = para.add_run()
tag3 = run3._r
instr = docx.oxml.OxmlElement('w:instrText')
instr.text = 'FORMCHECKBOX'
tag3.append(instr)
run4 = para.add_run()
tag4 = run4._r
fld2 = docx.oxml.shared.OxmlElement('w:fldChar')
fld2.set(docx.oxml.ns.qn('w:fldCharType'), 'end')
tag4.append(fld2)
run5 = para.add_run()
tag5 = run5._r
end = docx.oxml.shared.OxmlElement('w:bookmarkEnd')
end.set(docx.oxml.ns.qn('w:id'), str(box_id))
end.set(docx.oxml.ns.qn('w:name'), name)
tag5.append(end)
return
Drone's motion is not stable with rostopics...what can I do ?
import rospy
import time
#import library untuk mengirim command dan menerima data navigasi dari quadcopter
from geometry_msgs.msg import Twist
from std_msgs.msg import String
from std_msgs.msg import Empty
from ardrone_autonomy.msg import Navdata
#import class status untuk menentukan status ddari quadcopter
from drone_status import DroneStatus
COMMAND_PERIOD = 1000
class AutonomousFlight():
def __init__(self):
self.status = ""
rospy.init_node('forward', anonymous=False)
self.rate = rospy.Rate(10)
self.pubTakeoff = rospy.Publisher("ardrone/takeoff",Empty, queue_size=10)
self.pubLand = rospy.Publisher("ardrone/land",Empty, queue_size=10)
self.pubCommand = rospy.Publisher('cmd_vel',Twist, queue_size=10)
self.command = Twist()
#self.commandTimer = rospy.Timer(rospy.Duration(COMMAND_PERIOD/1000.0),self.SendCommand)
self.state_change_time = rospy.Time.now()
rospy.on_shutdown(self.SendLand)
def SendTakeOff(self):
self.pubTakeoff.publish(Empty())
self.rate.sleep()
def SendLand(self):
self.pubLand.publish(Empty())
def SetCommand(self, linear_x, linear_y, linear_z, angular_x, angular_y, angular_z):
self.command.linear.x = linear_x
self.command.linear.y = linear_y
self.command.linear.z = linear_z
self.command.angular.x = angular_x
self.command.angular.y = angular_y
self.command.angular.z = angular_z
self.pubCommand.publish(self.command)
self.rate.sleep()
if __name__ == '__main__':
try:
i = 0
uav = AutonomousFlight()
while not rospy.is_shutdown():
uav.SendTakeOff()
if i <= 30 :
uav.SetCommand(0,0,1,0,0,0)
i+=1
elif i<=60 :
uav.SetCommand(0,0,0,0,0,0)
i+=1
else:
uav.SendLand()
except rospy.ROSInterruptException:
pass
I need to just takeoff, go up and go to hover mode,
uav.SendTakeOff()
if i <= 30 :
uav.SetCommand(0,0,1,0,0,0)
i+=1
elif i<=60 :
uav.SetCommand(0,0,0,0,0,0)
after take off, this code makes the drone go to little back and some random motion and going up and going to hover mode. How can I fix this ?