Codes Explanation of LiteBee Go

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Python tutorial Contents

I、 Brief Intro

II、 Basic operation and example 1. Basic Operation 2. Examples Import time Conditional and loop statement Formation example

III、 Instruction explanation 1. LiteBee Wing litebeeWing_calibration() calibrate litebeeWing_autoLand() land litebeeWing_getAnglePitch() the angle of pitch is litebeeWing_getAngleRoll() the angle of roll is litebeeWing_getAngleYaw() the angle of yaw is litebeeWing_getHigh() the height is litebeeWing_getVol() the voltage is litebeeWing_setBuzzer(['E4', 0.5]) set the buzzer litebeeWing_setDir([0, 0, 0, 10]) set the drone to fly horizontally litebeeWing_setHigh([110]) set the flight height as litebeeWing_setMotor([1, 50]) test the rotor litebeeWing_setYaw([1, 90]) yaw the drone litebeeWing_takeOff() take off 2. litebeeWingAvoidance With the obstacle avoiding module litebeeWingAvoidance_autoLand() land litebeeWingAvoidance_backward() sense the obstacle behind litebeeWingAvoidance_calibration() calibrate litebeeWingAvoidance_center() sense the obstacle below litebeeWingAvoidance_forward() sense the obstacle ahead litebeeWingAvoidance_left() sense the obstacle on the left litebeeWingAvoidance_right() sense the obstacle on the right litebeeWingAvoidance_setDir([0, 0, 0, 10]) set the drone to fly horizontally litebeeWingAvoidance_setHigh([110]) set the flight height litebeeWingAvoidance_setVXYZ([0, 0, 0, 10, 0, 0]) set the drone fly litebeeWingAvoidance_setYaw([1, 90]) Yaw the drone litebeeWingAvoidance_takeOff() take off 3. litebeeWingFormation Formation mode litebeeWingFormation_allLand() crash-land litebeeWingFormation_autoLand() land litebeeWingFormation_calibration([5]) calibrate litebeeWingFormation_circle([66, 77, 0, 2, 15]) circle litebeeWingFormation_circleZ([66, 77, 0, 150, 15]) ircle and adjust drone's height litebeeWingFormation_clear() clear all setting litebeeWingFormation_code([66, 10]) fly to the given QR code litebeeWingFormation_codeS(['12 23 27', 15]) fly multiple QR codes in order litebeeWingFormation_codeZ([66, 120, 10]) fly to the given QR code and adjust drone's height litebeeWingFormation_flightNum([1]) set for the given drone litebeeWingFormation_missionSend() send the mission to drones litebeeWingFormation_missionStart() start the mission litebeeWingFormation_RGB([1]) turn the LED on litebeeWingFormation_setZ([100, 3]) set the flight height litebeeWingFormation_takeOff([100, 5]) take off 4. litebeeWingLine with line tracking module litebeeWingLine_autoLand() land litebeeWingLine_calibration() calibrate litebeeWingLine_color() the color of tracking line litebeeWingLine_control([1, 15]) Line tracking setting litebeeWingLine_crossDetrct() at the crossroads litebeeWingLine_crossX() Distance from the cross-point in X-axis litebeeWingLine_crossY() Distance from the cross-point in Y-axis litebeeWingLine_open() start line tracking module litebeeWingLine_setRGBLed([1, 255, 255, 255]) LED module setting litebeeWingLine_takeOff() take off litebeeWingLine_type() the mode of line tracking 5. ghost2 ghost2_autoLand() land ghost2_calibration() calibration ghost2_getAnglePitch() the angle of pitch is ghost2_getAngleRoll() the angle of roll is ghost2_getAngleYaw() the angle of yaw is ghost2_getHigh() the height is ghost2_getVol() the voltage is ghost2_setDir([1, 1]) set the drone to fly ghost2_setHigh([110]) set the flight height as ghost2_setMotor([1, 50]) test the rotor ghost2_setYaw([1, 90]) yaw the drone ghost2_takeOff() take off 6. ghost2Avoidance with the obstacle avoiding module ghost2Avoidance_autoLand() land ghost2Avoidance_backward() sense the obstacle behind ghost2Avoidance_calibration() calibrate ghost2Avoidance_center() sense the obstacle above ghost2Avoidance_forward() sense the obstacle ahead ghost2Avoidance_setDir([0, 0, 0, 10]) set thedrone fly horizontally ghost2Avoidance_setHigh([110]) set the flight height as ghost2Avoidance_setVXYZ([0, 0, 0, 10, 0, 0]) set the drone to fly ghost2Avoidance_setYaw([1, 90]) yaw the drone ghost2Avoidance_takeOff() take off

I. Brief Intro The python programming in LiteBeeGo can be applied for both LiteBee Wing and Ghost II, and it works with different modes such as drone only, obstacle avoiding, formation, and line tracking. Each Python instruction corresponds to the graphic code of scratch mode, and there will be an explanation when you input the relevant instructions. Details will be list in Chapter 3.

II. Basic operation and examples 1.Basic operation Just as the picture shows, we can start LiteBeeGo and click “python” to enter the interface of Python. Connect the drone with the computer, then click "run" to execute the Python program


Hover the mouse on the “run” button to choose other operations such as Open, Save, and Stop. Attention, for easy to find and open, suffix it as “.py” when saving the file. 2.Example import time Excepting formation, all the programming mode have to apply the “import time” to give a time for executing the mission. For example: import time //Write “import time” in the first line litebeeWing_calibration() //calibrate litebeeWing_takeOff() take off time.sleep(10) //wait 10s litebeeWing_autoland() //land

Conditional and loop statement Conditional and loop statement is needed when using these instructions, such as “if-elif-else”, “for”, “while”, here is an example: import time //import execution time litebeeWing_calibration() //calibration time.sleep(5) //wait 5s litebeeWing_takeOff() //take off time.sleep(5) //wait 5s if litebeeWing_getVol() > 7.5: //if litebee’s voltage >7.5v 

   litebeeWing_setHigh([50])			//set the flight height as 50cm

while True: //execute “while” loop 

   if litebeeWing_getVol() < 7.2:			//if litebee’s voltage < 7.2v
       litebeeWing_autoLand()			//land
       break;						//break the loop

Formation example When we program for a formation, we need to program for each drone; take a 2 drones formation as an example:

litebeeWingFormation_flightnum([1]) //program for drone No. 1 litebeeWingFormation_calibration([5]) //calibrate for 5s litebeeWingFormation_takeOff([100,5]) //fly to the height 100cm in 5s litebeeWingFormation_code([10,5]) //move to QR code No.10 in 5s litebeeWingFormation_RGB([1]) //red light on litebeeWingFormation_autoLand() //land

litebeeWingFormation_flightnum([2]) //program for drone No.2 litebeeWingFormation_calibration([5]) //calibrate for 5s litebeeWingFormation_takeOff([100,5]) //fly to the height 100cm in 5s litebeeWingFormation_code([20,5]) //move to the QR code No. 20 in 5s litebeeWingFormation_RGB([2]) //green light on litebeeWingFormation_autoLand() //land

litebeeWingFormation_missionSend() //send these mission to drones time.sleep(3) //wait 3 s litebeeWingFormation_missionStart() //start the mission

III. Instruction explanation Note: p1, p2, p3, p4 are the parameter after the instruction (from left to right). And those instructions without parameter can be use directly. litebeeWing_setDir([0, 10, 1, 20]) Set the drone to fly horizontally

  1. p1: 0 - left; 1 - right
  2. p2: 0 ~ 100 cm/s for left/right
  3. p3: 0 - forward; 1 - backward
  4. p4: 0 ~ 100 cm/s for forward/backward

The following are relevant instructions and their explanation

1.litebeeWing

litebeeWing_calibration() calibrate litebeeWing_autoLand() land litebeeWing_getAnglePitch() the angle of pitch is litebeeWing_getAngleRoll() the angle of roll is litebeeWing_getAngleYaw() the angle of yaw is litebeeWing_getHigh() the flight height is litebeeWing_getVol() the voltage is litebeeWing_setBuzzer(['E4', 0.5]) set for the buzzer

  1. p1: scale

It can be:

  1. 'B0', 'C1', 'CS1', 'D1','DS1', 'E1', 'F1', 'FS1','G1', 'GS1', 'A1', 'AS1','B1', 'C2', 'CS2', 'D2',

'DS2', 'E2', 'F2', 'FS2','G2', 'GS2', 'A2', 'AS2','B2', 'C3', 'CS3', 'D3','DS3', 'E3', 'F3', 'FS3', 'G3', 'GS3', 'A3', 'AS3','B3', 'C4', 'CS4', 'D4','DS4', 'E4', 'F4', 'FS4','G4', 'GS4', 'A4', 'AS4', 'B4', 'C5', 'CS5', 'D5','DS5', 'E5', 'F5', 'FS5','G5', 'GS5', 'A5', 'AS5','B5', 'C6', 'CS6', 'D6', 'DS6', 'E6', 'F6', 'FS6','G6', 'GS6', 'A6', 'AS6','B6', 'C7', 'CS7', 'D7','DS7', 'E7', 'F7', 'FS7', 'G7', 'GS7', 'A7', 'AS7','B7', 'C8', 'CS8', 'D8', 'DS8']

  1. p2: metre

It can be:

  1. 0.5 ,1 ,1.5 ,2 ,2.5

litebeeWing_setDir([0, 0, 0, 10]) set the drone to fly horizontally

  1. p1: 0 - left; 1 - right
  2. p2: speed 0-100 cm/s for left/right
  3. p3: 0 - forward; 1 - backward
  4. p4: speed 0-100 cm/s for forward/backward

litebeeWing_setHigh([110]) Set flight height: #cm litebeeWing_setMotor([1, 50]) rotor test It’s invalid to test the rotor when drone is flying; the advised rev is 5~50rpm for the test

  1. p1: which rotor
  2. p2: rev

litebeeWing_setRGBLed([1, 255, 255, 255]) Set for the LED module

  1. p1: which LED
  2. p2: value of red 0~255
  3. p3: value of green 0~255
  4. p4: value of blue 0~255

litebeeWing_setYaw([1, 90]) Yaw the drone

  1. p1: 1 - cw: 2 - ccw
  2. p2: angle for rotation

litebeeWing_takeOff() take off

2.litebeeWingAvoidance With obstacle avoiding mode litebeeWingAvoidance_autoLand() land litebeeWingAvoidance_backward() Sense the obstacle behind

  1. it is invalid when the value is 0(max sense range:240cm)

litebeeWingAvoidance_calibration() calibrate litebeeWingAvoidance_center() Sense the obstacle below

  1. it is invalid when the value is 0(max sense range:240cm)

litebeeWingAvoidance_forward() Sense the obstacle ahead

  1. it is invalid when the value is 0(max sense range:240cm)

litebeeWingAvoidance_left() Sense the obstacle on the left

  1. it is invalid when the value is 0(max sense range:240cm)

litebeeWingAvoidance_right() Sense the obstacle on the right

  1. it is invalid when the value is 0(max sense range:240cm)

litebeeWingAvoidance_setDir([0, 0, 0, 10]) Set the drone to fly horizontally

  1. p1: 0 - left; 1 - right
  2. p2: 0 ~ 100 cm/s for left/right
  3. p3: 0 - forward; 1 - backward
  4. p4: 0 ~ 100 cm/s for forward/backward

litebeeWingAvoidance_setHigh([110]) Set the flight height litebeeWingAvoidance_setVXYZ([0, 0, 0, 10, 0, 0]) Set the drone to fly freely

  1. p1: 0 - left; 1 - right
  2. p2: 0 ~ 100 cm/s for left/right
  3. p3: 0 - forward; 1 - backward
  4. p4: 0 ~ 100 cm/s for forward/backward
  5. p5: 0 - up; 1 - down
  6. p6: 0~100 cm/s for up/down

litebeeWingAvoidance_setYaw([1, 90]) Yaw the drone

  1. p1: 1 - cw; 2 - ccw
  2. p2: degree of yaw

litebeeWingAvoidance_takeOff() take off

3.litebeeWingFormation formation litebeeWingFormation_allLand() crash-land

  1. crash-land can be used for every drone, and it prior to other instruction

litebeeWingFormation_autoLand() land litebeeWingFormation_calibration([5]) calibrate

  1. p1: # s for execution time

litebeeWingFormation_circle([66, 77, 0, 2, 15]) circle

  1. p1: QR code No. #
  2. p2: QR code No. #
  3. p3: 0 - cw; 1 - ccw
  4. p4: # half-circle
  5. the drone circle around the point between #p1 and #p2, circle 2 semicircle, the drone will fly back to the origin

litebeeWingFormation_circleZ([66, 77, 0, 150, 15]) half-circle and adjust its height

  1. p1: QR code No. #
  2. p2: QR code No. #
  3. p3: 0 - cw; 1 - ccw
  4. p4: fly up for # cm
  5. p5: in # seconds
  6. the drone will take the mid-point between #p1 and #p2 as the center and circle #p5 half-circle, meanwhile fly up for #p4 cm

litebeeWingFormation_clear() reset all setting litebeeWingFormation_code([66, 10]) move to QR code

  1. p1: move to QR code No. #p1
  2. p2: in #p2 seconds

litebeeWingFormation_codeS(['12 23 27', 15]) move in order

  1. p1: move to QR code No.#, No.#, No.#, No.#, No.#, one by one
  2. p2: execution time #s

litebeeWingFormation_codeZ([66, 120, 10]) Move to QR code No. #p1 and adjust its height to #p2 in #p3 seconds litebeeWingFormation_flightNum([1]) Set for drone No.# litebeeWingFormation_missionSend() Send the mission to drone

  1. wait a few seconds after the mission sent

litebeeWingFormation_missionStart() Mission start litebeeWingFormation_RGB([1]) Set the color of the LED module

  1. p1: set the LED light as #p1: 0 - black; 1 - red; 2 - green; 3 - yellow; 4 - blue; 5 - purple; 6 - cyan; 7 - white

litebeeWingFormation_setZ([100, 3]) Set the flight height

  1. p1: height #p1 cm
  2. p2: execution time #p2 second

litebeeWingFormation_takeOff([100, 5]) Take off

  1. p1: height of take-off #p1 cm
  2. p2: execution time #p2 seconds


4.litebeeWingLine Line tracking litebeeWingLine_autoLand() land litebeeWingLine_calibration() calibrate litebeeWingLine_color() The color of the line

  1. the value can be: R: red; G: green; B: blue
  2. for example: if litebeewingline_color() == ‘R’

litebeeWingLine_control([1, 15]) Line tracking control

  1. p1: it can be: 0 - yaw; 1 - speed; 2 - height
  2. p2: corresponding value # degree; #cm/s; #cm

litebeeWingLine_crossDetrct() At the crossroad litebeeWingLine_crossX() Distance from the cross-point in X-axis litebeeWingLine_crossY() Distance from the cross-point in Y-axis litebeeWingLine_open() Open the line tracking mode

litebeeWingLine_setRGBLed([1, 255, 255, 255]) Set for the LED module

  1. p1: LED No. #p1
  2. p2: value of R 0~255
  3. p3: value of G 0~255
  4. p4: value of B 0~255

litebeeWingLine_takeOff() Take off

litebeeWingLine_type() The type of line tracking is

  1. the value and its corresponding type of line tracking

FRLR //route of tracking is ┼ FBL //route of tracking is ┤ FBR //route of tracking is ├ BL //route of tracking is ┃ BR //route of tracking is ┐ B //route of tracking is ┌

  1. 如： if litebeeWingLine_type() == “FBLR”

5.ghost2 Drone only ghost2_autoLand() land ghost2_calibration() calibrate ghost2_getAnglePitch() the angle of pitch is ghost2_getAngleRoll() the angle of roll is ghost2_getAngleYaw() the angle of yaw is ghost2_getHigh() The flight height is ghost2_getVol() the voltage is ghost2_setDir([1, 1]) set the drone to fly

  1. p1: 1- forward; 2- backward; 3- right; 4- right; 5- up; 5:down: 7- stop
  2. p2: speed 1 - slow; 2 - normal; 3 - fast

ghost2_setHigh([110]) Set flight height as # cm ghost2_setMotor([1, 50]) test the rotor

  1. it’s invalid to test the rotor when the drone is flying. Recommended test rev: 5~50
  2. p1: which rotor
  3. p2: rev

ghost2_setYaw([1, 90]) yaw the drone

  1. p1: yaw 1 - cw; 2 - ccw
  2. p2: degree of yaw

ghost2_takeOff() take off

6.ghost2Avoidance Obstacle avoiding mode ghost2Avoidance_autoLand() land ghost2Avoidance_backward() Sense the obstacle behind

  1. it is invalid when the value is 0(max sense range:240cm)

ghost2Avoidance_calibration() calibration ghost2Avoidance_center() Sense the distance from the obstacle above

  1. it is invalid when the value is 0(max sense range:240cm)

ghost2Avoidance_forward() Sense the distance from the obstacle ahead

  1. it is invalid when the value is 0(max sense range:240cm

ghost2Avoidance_left() Sense the distance from the obstacle on the left

  1. it is invalid when the value is 0(max sense range:240cm)

ghost2Avoidance_right() Sense the distance from the obstacle on the left

  1. it is invalid when the value is 0(max sense range:240cm)

ghost2Avoidance_setDir([0, 0, 0, 10]) Set the drone fly horizontally

  1. p1: 0 - left; 1 - right
  2. p2: 0 ~ 100 cm/s for left/right
  3. p3: 0 - forward; 1 - backward
  4. p4: 0 ~ 100 cm/s for forward/backward

ghost2Avoidance_setHigh([110]) Set the flight height ghost2Avoidance_setVXYZ([0, 0, 0, 10, 0, 0]) Set the drone to fly freely

  1. p1: 0 - left; 1 - right
  2. p2: 0 ~ 100 cm/s for left/right
  3. p3: 0 - forward; 1 - backward
  4. p4: 0 ~ 100 cm/s for forward/backward
  5. p5: 0 - up; 1 - down
  6. p6: 0~100 cm/s for up/down

ghost2Avoidance_setYaw([1, 90]) Yaw the drone

  1. p1: yaw 1- cw; 2 - ccw
  2. p2: degree of yaw

ghost2Avoidance_takeOff() Take off

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