ingenuity.py simulation.py

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# Nasa 3d model source: https://mars.nasa.gov/resources/25043/mars-ingenuity-helicopter-3d-model/
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# Mars surface texture source: https://www.nasa.gov/image-feature/jpl/second-color-image-taken-by-ingenuity/
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import time
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from simulation import Ingenuity
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​
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drone = Ingenuity()
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TARGET_ALTITUDE = 2.5
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​
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# display the countdown
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for countdown in range(5, 0, -1):
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  print("Takeoff in", countdown)
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  time.sleep(1)
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# startup rotors
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drone.spin_rotor(1, 50)
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drone.spin_rotor(2, 50)
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time.sleep(1)
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​
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rotor_speed = 50
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​
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while True:
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  altitude = drone.get_altitude()
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  if altitude < TARGET_ALTITUDE:
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    rotor_speed += 5
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    if rotor_speed > 100:
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      rotor_speed = 100
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  else:
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    rotor_speed -= 5
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    if rotor_speed < 0:
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      rotor_speed = 0
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  drone.spin_rotor(1, rotor_speed)
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  drone.spin_rotor(2, rotor_speed)
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  print("Rotor speed: {:3}% Altitude: {:.2f}m".format(rotor_speed, altitude))
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  time.sleep(0.1)
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# Challenges
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# 1) Adjust the rotor speeds to make the drone hover at 2.5m
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# 2) Make the drone hover at 2.5m for 3s then descend to 1m for 3s
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# 3) Make the drone land safely
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