PSTello.psm1
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using namespace System.Text using namespace System.Net.Sockets using namespace System.Net.IPAddress using namespace System.Net.IPEndPoint function Send-PSTelloCommand { param ( [Parameter(Mandatory)] [System.Net.Sockets.Socket] $socket, [Parameter(Mandatory)] [string] $Command ) $EncodedText = [System.Text.Encoding]::ASCII.GetBytes($Command) $socket.send($EncodedText) } function Connect-PSTello { $socket = [System.Net.Sockets.Socket]::new([System.Net.Sockets.SocketType]::dgram, [System.Net.Sockets.ProtocolType]::Udp) $socket.Connect([System.Net.IPAddress]'192.168.10.1', 8889) $null = Enable-PSTelloDevMode -Socket $socket return $socket } function Enable-PSTelloDevMode { param ( [Parameter(Mandatory)] [System.Net.Sockets.Socket] $Socket ) Send-PSTelloCommand -Socket $Socket -Command 'command' } function Get-PSTelloState { $endpoint = [System.Net.IPEndPoint]::new([System.Net.IPAddress]'0.0.0.0', 8890) $client = [System.Net.Sockets.UdpClient]::new('8890') $client.Receive([ref]$endpoint) } function Get-PSTelloTelemetry { param ( [Parameter(Mandatory)] [System.Net.Sockets.Socket] $Socket, [Parameter()] [ValidateSet('speed?','battery?','time?','height?','temp?','attitude?','baro?','acceleration?','tof?','wifi?')] [string] $Value = 'battery?' ) Send-PSTelloCommand -Socket $Socket -Command $Value } function Move-PSTelloFlip { param ( [Parameter(Mandatory)] [System.Net.Sockets.Socket] $Socket, [Parameter(Mandatory)] [ValidateSet( 'left', 'right', 'forward', 'back' )] [string] $Direction ) Send-PSTelloCommand -Socket $Socket -Command ('flip {0}' -f $Direction.Substring(0,1)) } function Move-PSTelloHorizontally { param ( [Parameter(Mandatory)] [System.Net.Sockets.Socket] $Socket, [Parameter(Mandatory)] [ValidateSet( 'left', 'right', 'forward', 'back' )] [string] $Direction, [Parameter()] [ValidateRange(20,500)] [Int] $Distance = 20 ) Send-PSTelloCommand -Socket $Socket -Command ('{0} {1}' -f $Direction, $Distance) } function Move-PSTelloRotation { param ( [Parameter(Mandatory)] [System.Net.Sockets.Socket] $Socket, [Parameter()] [ValidateSet( 'ClockWise', 'CounterClockWise' )] [string] $Direction = 'ClockWise', [Parameter()] [ValidateRange(1, 360)] [Int] $Degree = 180 ) switch ($Direction) { 'ClockWise' { $rotationDirection = 'cw' } 'CounterClockWise' { $rotationDirection = 'ccw' } Default { $rotationDirection = 'cw' } } Send-PSTelloCommand -Socket $Socket -Command ('{0} {1}' -f $rotationDirection, $Degree) } function Move-PSTelloVertically { param ( [Parameter(Mandatory)] [System.Net.Sockets.Socket] $Socket, [Parameter(Mandatory)] [ValidateSet( 'up', 'down' )] [string] $Direction, [Parameter()] [ValidateRange(20,500)] [Int] $Distance = 20 ) Send-PSTelloCommand -Socket $Socket -Command ('{0} {1}' -f $Direction, $Distance) } function Send-PSTello { param ( [Parameter(Mandatory)] [System.Net.Sockets.Socket] $Socket, [Parameter()] [ValidateSet('takeoff','land','streamon','streamoff','emergency')] [string] $Command = 'land' ) Send-PSTelloCommand -Socket $Socket -Command $Command } function Set-PSTelloKeyBindings { param ( [Parameter(Mandatory)] [System.Net.Sockets.Socket] $Socket ) #region: Horizontal movement Set-PSReadLineKeyHandler -Key LeftArrow ` -BriefDescription MoveLeft20cm ` -LongDescription "Move the drone 20cm to the left" ` -ScriptBlock { Move-PSTelloHorizontally -Socket $Socket -Direction 'left' -Distance 20 } Set-PSReadLineKeyHandler -Key RightArrow ` -BriefDescription MoveRight20cm ` -LongDescription "Move the drone 20cm to the Right" ` -ScriptBlock { Move-PSTelloHorizontally -Socket $Socket -Direction 'right' -Distance 20 } Set-PSReadLineKeyHandler -Key UpArrow ` -BriefDescription MoveForward20cm ` -LongDescription "Move the drone 20cm to the front" ` -ScriptBlock { Move-PSTelloHorizontally -Socket $Socket -Direction 'forward' -Distance 20 } Set-PSReadLineKeyHandler -Key DownArrow ` -BriefDescription MoveBackward20cm ` -LongDescription "Move the drone 20cm to the back" ` -ScriptBlock { Move-PSTelloHorizontally -Socket $Socket -Direction 'back' -Distance 20 } #endregion #region: Vertical movement Set-PSReadLineKeyHandler -Key Ctrl+UpArrow ` -BriefDescription MoveHigher20cm ` -LongDescription "Move the drone 20cm to higher" ` -ScriptBlock { Move-PSTelloVertically -Socket $Socket -Direction 'up' -Distance 20 } Set-PSReadLineKeyHandler -Key Ctrl+DownArrow ` -BriefDescription MoveLower20cm ` -LongDescription "Move the drone 20cm to lower" ` -ScriptBlock { Move-PSTelloVertically -Socket $Socket -Direction 'down' -Distance 20 } #endregion #region: Rotation Set-PSReadLineKeyHandler -Key Ctrl+LeftArrow ` -BriefDescription RotateCCW20cm ` -LongDescription "Rotate the drone 90 degrees Counter-CockWise" ` -ScriptBlock { Move-PSTelloRotation -Socket $Socket -Direction 'CounterClockWise' -Degree 90 } Set-PSReadLineKeyHandler -Key Ctrl+RightArrow ` -BriefDescription RotateCW20cm ` -LongDescription "Rotate the drone 90 degrees CockWise" ` -ScriptBlock { Move-PSTelloRotation -Socket $Socket -Direction 'ClockWise' -Degree 90 } #endregion #region: Flip Set-PSReadLineKeyHandler -Key Shift+UpArrow ` -BriefDescription FlipForward ` -LongDescription "Flip the drone forwards" ` -ScriptBlock { Move-PSTelloFlip -Socket $Socket -Direction 'forward' } Set-PSReadLineKeyHandler -Key Shift+DownArrow ` -BriefDescription FlipBackward ` -LongDescription "Flip the drone backwards" ` -ScriptBlock { Move-PSTelloFlip -Socket $Socket -Direction 'back' } Set-PSReadLineKeyHandler -Key Shift+LeftArrow ` -BriefDescription FlipLeft ` -LongDescription "Flip the drone left" ` -ScriptBlock { Move-PSTelloFlip -Socket $Socket -Direction 'left' } Set-PSReadLineKeyHandler -Key Shift+RightArrow ` -BriefDescription FlipRight ` -LongDescription "Flip the drone right" ` -ScriptBlock { Move-PSTelloFlip -Socket $Socket -Direction 'right' } #endregion #region: TakeOff and landing Set-PSReadLineKeyHandler -Key Ctrl+Shift+UpArrow ` -BriefDescription TakeOff ` -LongDescription "Start the drone" ` -ScriptBlock { Start-PSTello -Socket $Socket } Set-PSReadLineKeyHandler -Key Ctrl+Shift+DownArrow ` -BriefDescription Land ` -LongDescription "Land the drone" ` -ScriptBlock { Stop-PSTello -Socket $Socket -Emergency $false } Set-PSReadLineKeyHandler -Key Escape ` -BriefDescription Emergency ` -LongDescription "Emergency land the drone" ` -ScriptBlock { Stop-PSTello -Socket $Socket } #endregion } function Start-PSTello { param ( [Parameter(Mandatory)] [System.Net.Sockets.Socket] $Socket ) Send-PSTelloCommand -Socket $Socket -Command 'takeoff' } function Stop-PSTello { param ( [Parameter(Mandatory)] [System.Net.Sockets.Socket] $Socket, [Parameter()] [bool] $Emergency = $true ) if ($Emergency) { $command = 'emergency' } else { $command = 'land' } Send-PSTelloCommand -Socket $Socket -Command $command } Export-ModuleMember -Function Connect-PSTello, Enable-PSTelloDevMode, Get-PSTelloState, Get-PSTelloTelemetry, Move-PSTelloFlip, Move-PSTelloHorizontally, Move-PSTelloRotation, Move-PSTelloVertically, Send-PSTello, Set-PSTelloKeyBindings, Start-PSTello, Stop-PSTello |