Last active
December 29, 2021 11:45
-
-
Save anoochit/6cc11eb907c7efa56ee993eb3de887c4 to your computer and use it in GitHub Desktop.
esp32 udp client control DJI Tello
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| #include <WiFi.h> | |
| #include <WiFiUdp.h> | |
| // WiFi network name and password: | |
| const char * networkName = "TELLO-C569FC"; | |
| const char * networkPswd = ""; | |
| //IP address to send UDP data to: | |
| // either use the ip address of the server or | |
| // a network broadcast address | |
| const char * udpAddress = "192.168.10.1"; | |
| const int udpPort = 8889; | |
| //Are we currently connected? | |
| boolean connected = false; | |
| //The udp library class | |
| WiFiUDP udp; | |
| void setup() { | |
| // Initilize hardware serial: | |
| Serial.begin(115200); | |
| //Connect to the WiFi network | |
| connectToWiFi(networkName, networkPswd); | |
| } | |
| bool takeOff = false; | |
| void loop() { | |
| if (takeOff) { | |
| // up 60 cm | |
| TelloCommand("up 60"); | |
| delay(3000); | |
| // down 50 cm | |
| TelloCommand("down 50"); | |
| delay(3000); | |
| // left 30 cm | |
| TelloCommand("left 30"); | |
| delay(3000); | |
| // right 30 cm | |
| TelloCommand("right 30"); | |
| delay(3000); | |
| // turn cw 360 degrees | |
| TelloCommand("cw 360"); | |
| delay(3000); | |
| // turn ccw 360 degrees | |
| TelloCommand("ccw 360"); | |
| delay(3000); | |
| // flip back | |
| TelloCommand("flip b"); | |
| delay(3000); | |
| // flip front | |
| TelloCommand("flip f"); | |
| delay(3000); | |
| // land | |
| TelloCommand("land"); | |
| delay(5000); | |
| takeOff = false; | |
| } | |
| } | |
| //void TelloCommand(char *cmd) | |
| //{ | |
| // uint8_t buffer[100]; | |
| // Serial.printf("Send [%s] to Tello.\n", cmd); | |
| // udp.beginPacket(udpAddress, udpPort); | |
| // udp.printf(cmd); | |
| // udp.endPacket(); | |
| // memset(buffer, 0, 100); | |
| // while (udp.parsePacket() == 0) { | |
| // delay(1); | |
| // } | |
| // if (udp.read(buffer, 100) > 0) { | |
| // Serial.print("Message from Tello: "); | |
| // Serial.println((char * )buffer); | |
| // } | |
| //} | |
| void TelloCommand(char *cmd) { | |
| //only send data when connected | |
| if (connected) { | |
| //Send a packet | |
| udp.beginPacket(udpAddress, udpPort); | |
| udp.printf(cmd); | |
| udp.endPacket(); | |
| Serial.printf("Send [%s] to Tello.\n", cmd); | |
| } | |
| } | |
| void connectToWiFi(const char * ssid, const char * pwd) { | |
| Serial.println("Connecting to WiFi network: " + String(ssid)); | |
| // delete old config | |
| WiFi.disconnect(true); | |
| //register event handler | |
| WiFi.onEvent(WiFiEvent); | |
| //Initiate connection | |
| WiFi.begin(ssid, pwd); | |
| Serial.println("Waiting for WIFI connection..."); | |
| } | |
| //wifi event handler | |
| void WiFiEvent(WiFiEvent_t event) { | |
| switch (event) { | |
| case SYSTEM_EVENT_STA_GOT_IP: | |
| //When connected set | |
| Serial.print("WiFi connected! IP address: "); | |
| Serial.println(WiFi.localIP()); | |
| //initializes the UDP state | |
| //This initializes the transfer buffer | |
| udp.begin(WiFi.localIP(), udpPort); | |
| connected = true; | |
| //only send data when connected | |
| TelloCommand("command"); | |
| delay(2000); | |
| TelloCommand("speed 50"); | |
| delay(2000); | |
| TelloCommand("takeoff"); | |
| delay(3000); | |
| takeOff = true; | |
| break; | |
| case SYSTEM_EVENT_STA_DISCONNECTED: | |
| Serial.println("WiFi lost connection"); | |
| connected = false; | |
| break; | |
| } | |
| } |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment