me.friwi.tello4j.api.drone

Class TelloDrone

java.lang.Object

me.friwi.tello4j.api.drone.TelloDrone

All Implemented Interfaces:

AutoCloseable

public abstract class TelloDrone
extends Object
implements AutoCloseable

This class represents all tello drones with their possible sdk actions and their current data. You can construct a tello drone by using a tello drone factory (e.g. WifiDroneFactory).

Author:

Fritz Windisch

Constructor Summary

Constructors

Constructor and Description
TelloDrone()

Method Summary

Modifier and Type	Method and Description
void	addStateListener(StateListener listener) Adds a StateListener to this drone, which can then receive new TelloDroneStates from this drone
void	addVideoListener(VideoListener listener) Adds a VideoListener to this drone, which can then receive new TelloVideoFrames from this drone
void	backward(int cm) Instructs this drone to move backward a certain amount of centimeters.
void	close() Disconnects and frees the resources of this tello drone.
abstract void	connect() Estabilishes a connection with the tello drone.
abstract void	curve(int x1, int y1, int z1, int x2, int y2, int z2, int speed) Instructs this drone to fly a curve via one relative point to another
abstract void	disconnect() Disconnects from this tello drone.
void	down(int cm) Instructs this drone to move down a certain amount of centimeters.
abstract void	emergency() Instructs this drone to turn off all motors.
abstract double[]	fetchAcceleration() Fetch the current acceleration force of this drone.
abstract int[]	fetchAttitude() Fetches the current attitude of this drone.
abstract double	fetchBarometer() Fetch the barometer value of this drone.
abstract int	fetchBattery() Fetch the current battery level of this drone.
abstract int	fetchHeight() Fetch the current altitude of this drone.
abstract int	fetchMotorTime() Fetch the current running duration of the motors/airborne time.
abstract double	fetchSpeed() Fetch the current speed setting of this drone.
abstract int	fetchTemperature() Fetch the current temperature of this drone (own temperature, not outside temperature).
abstract int	fetchTOFDistance() Fetch the distance ahead using the time-of-flight sensor.
abstract int	fetchWifiSnr() Fetch the wifi signal-noise-ratio from this drones perspective.
abstract void	flip(FlipDirection direction) Instructs this drone to perform a flip in the direction you specify
void	forward(int cm) Instructs this drone to move forward a certain amount of centimeters.
TelloDroneState	getCachedState() Fetches the last received TelloDroneState of this drone
List<StateListener>	getStateListeners() Lists all StateListeners currently attached to this drone
TelloVideoExportType	getVideoExportType() Retrieves the current TelloVideoExportType for this drone
List<VideoListener>	getVideoListeners() Lists all VideoListeners currently attached to this drone
abstract boolean	isConnected() Retrieves the connection state of this drone.
abstract boolean	isStreaming() Fetches whether streaming is currently enabled on this drone
abstract void	land() Instructs this drone to land.
void	left(int cm) Instructs this drone to move to the left a certain amount of centimeters.
abstract void	move(int x, int y, int z, int speed) Instructs this drone to move to a relative position (x, y, z) with a set speed
abstract void	moveDirection(MovementDirection direction, int cm) Instructs this drone to move a certain amount of centimeters in one direction.
boolean	removeStateListener(StateListener listener) Removes a StateListener from this drone, which will no longer receive TelloDroneStates
boolean	removeVideoListener(VideoListener listener) Removes a VideoListener from this drone, which will no longer receive TelloVideoFrames
void	right(int cm) Instructs this drone to move to the right a certain amount of centimeters.
abstract void	sendRemoteControlInputs(int lr, int fb, int ud, int yaw) Send remote control input to this drone
void	setCachedState(TelloDroneState cachedState) Set the last received TelloDroneState of this drone
abstract void	setSpeed(int speed) Sets the flying speed of this drone
abstract void	setStreaming(boolean stream) Instruct this drone to enable/disable streaming.
void	setVideoExportType(TelloVideoExportType videoExportType) Sets the current TelloVideoExportType for this drone.
abstract void	setWifiSSIDAndPassword(String ssid, String password) Changes your tello wifi name (ssid) and password.
abstract void	takeoff() Instructs this drone to take off.
abstract void	turn(TurnDirection direction, int degrees) Instructs this drone to turn a certain amount of degrees in one direction
void	turnLeft(int degrees) Instructs this drone to turn left a certain amount of degrees
void	turnRight(int degrees) Instructs this drone to turn right a certain amount of degrees
void	up(int cm) Instructs this drone to move up a certain amount of centimeters.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

TelloDrone

public TelloDrone()

Method Detail

close

public void close()

Disconnects and frees the resources of this tello drone.

Specified by:

close in interface AutoCloseable

connect

public abstract void connect()
                      throws TelloNetworkException,
                             TelloCommandTimedOutException,
                             TelloCustomCommandException,
                             TelloGeneralCommandException

Estabilishes a connection with the tello drone. Can only be used once, please construct a new tello drone object when reconnecting. You still need to connect to the tello wifi manually before invoking this call.

Throws:

TelloNetworkException - If communication with the tello drone produced invalid input or the wifi network was set up incorrectly. Also thrown if you called connect() twice.

TelloCommandTimedOutException - If the tello drone did not answer in time.

TelloCustomCommandException - If the tello drone answered with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the tello drone answered with an unspecified error (possibly battery too low).

disconnect

public abstract void disconnect()

Disconnects from this tello drone. Does not close this drones resources.

isConnected

public abstract boolean isConnected()

Retrieves the connection state of this drone. When the drone times out after not sending commands for 15 seconds, the drone automatically lands safely and closes the connection.

Returns:

true: if drone was already connected, false: otherwise

takeoff

public abstract void takeoff()
                      throws TelloNetworkException,
                             TelloCommandTimedOutException,
                             TelloCustomCommandException,
                             TelloGeneralCommandException

Instructs this drone to take off.

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error (possibly battery too low).

land

public abstract void land()
                   throws TelloNetworkException,
                          TelloCommandTimedOutException,
                          TelloCustomCommandException,
                          TelloGeneralCommandException

Instructs this drone to land.

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

isStreaming

public abstract boolean isStreaming()

Fetches whether streaming is currently enabled on this drone

Returns:

true: if streaming is enabled, false: otherwise

setStreaming

public abstract void setStreaming(boolean stream)
                           throws TelloNetworkException,
                                  TelloCommandTimedOutException,
                                  TelloCustomCommandException,
                                  TelloGeneralCommandException

Instruct this drone to enable/disable streaming. You can listen to the stream by adding a VideoListener using addVideoListener(VideoListener).

Parameters:

stream - true: drone should start streaming, false: drone should stop streaming.

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

emergency

public abstract void emergency()
                        throws TelloNetworkException,
                               TelloCommandTimedOutException,
                               TelloCustomCommandException,
                               TelloGeneralCommandException

Instructs this drone to turn off all motors.

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

moveDirection

public abstract void moveDirection(MovementDirection direction,
                                   int cm)
                            throws TelloNetworkException,
                                   TelloCommandTimedOutException,
                                   TelloCustomCommandException,
                                   TelloNoValidIMUException,
                                   TelloGeneralCommandException

Instructs this drone to move a certain amount of centimeters in one direction.

Parameters:

direction - The direction the drone should move in

cm - The amount in centimeters to be moved

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

TelloNoValidIMUException - If the IMU is not correctly calibrated or the ground beneath the drone does. not provide enough textual features.

turn

public abstract void turn(TurnDirection direction,
                          int degrees)
                   throws TelloNetworkException,
                          TelloCommandTimedOutException,
                          TelloCustomCommandException,
                          TelloNoValidIMUException,
                          TelloGeneralCommandException

Instructs this drone to turn a certain amount of degrees in one direction

Parameters:

direction - The direction to turn the drone

degrees - The amount of degrees to turn

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

TelloNoValidIMUException - If the IMU is not correctly calibrated or the ground beneath the drone does. not provide enough textual features.

flip

public abstract void flip(FlipDirection direction)
                   throws TelloNetworkException,
                          TelloCommandTimedOutException,
                          TelloCustomCommandException,
                          TelloNoValidIMUException,
                          TelloGeneralCommandException

Instructs this drone to perform a flip in the direction you specify

Parameters:

direction - The direction to perform the flip to

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error (possibly battery too low).

TelloNoValidIMUException - If the IMU is not correctly calibrated or the ground beneath the drone does. not provide enough textual features.

move

public abstract void move(int x,
                          int y,
                          int z,
                          int speed)
                   throws TelloNetworkException,
                          TelloCommandTimedOutException,
                          TelloCustomCommandException,
                          TelloNoValidIMUException,
                          TelloGeneralCommandException

Instructs this drone to move to a relative position (x, y, z) with a set speed

Parameters:

x - Amount of centimeters to move on the x-Axis (left/right)

y - Amount of centimeters to move on the y-Axis (forward/backward)

z - Amount of centimeters to move on the z-Axis (up/down)

speed - Flying speed

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

TelloNoValidIMUException - If the IMU is not correctly calibrated or the ground beneath the drone does. not provide enough textual features.

curve

public abstract void curve(int x1,
                           int y1,
                           int z1,
                           int x2,
                           int y2,
                           int z2,
                           int speed)
                    throws TelloNetworkException,
                           TelloCommandTimedOutException,
                           TelloCustomCommandException,
                           TelloNoValidIMUException,
                           TelloGeneralCommandException

Instructs this drone to fly a curve via one relative point to another

Parameters:

x1 - Amount of centimeters to the first point on the x-Axis (left/right)

y1 - Amount of centimeters to the first point on the y-Axis (forward/backward)

z1 - Amount of centimeters to the first point on the z-Axis (up/down)

x2 - Amount of centimeters to the second point on the x-Axis (left/right)

y2 - Amount of centimeters to the second point on the y-Axis (forward/backward)

z2 - Amount of centimeters to the second point on the z-Axis (up/down)

speed - Flying speed

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

TelloNoValidIMUException - If the IMU is not correctly calibrated or the ground beneath the drone does. not provide enough textual features.

setSpeed

public abstract void setSpeed(int speed)
                       throws TelloNetworkException,
                              TelloCommandTimedOutException,
                              TelloCustomCommandException,
                              TelloGeneralCommandException

Sets the flying speed of this drone

Parameters:

speed - Flying speed

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

sendRemoteControlInputs

public abstract void sendRemoteControlInputs(int lr,
                                             int fb,
                                             int ud,
                                             int yaw)
                                      throws TelloNetworkException,
                                             TelloCommandTimedOutException,
                                             TelloCustomCommandException,
                                             TelloGeneralCommandException

Send remote control input to this drone

Parameters:

lr - Left/right input

fb - Forward/Backward input

ud - Up/Down input

yaw - Rotation input

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

setWifiSSIDAndPassword

public abstract void setWifiSSIDAndPassword(String ssid,
                                            String password)
                                     throws TelloNetworkException,
                                            TelloCommandTimedOutException,
                                            TelloCustomCommandException,
                                            TelloGeneralCommandException

Changes your tello wifi name (ssid) and password. Can be reset by pressing the tello "on" button for 5 seconds

Parameters:

ssid - New wifi ssid

password - New wifi password

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

fetchSpeed

public abstract double fetchSpeed()
                           throws TelloCommandTimedOutException,
                                  TelloNetworkException,
                                  TelloCustomCommandException,
                                  TelloGeneralCommandException

Fetch the current speed setting of this drone. Please note that this does not return the actual current speed.

Returns:

Speed setting

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

fetchBattery

public abstract int fetchBattery()
                          throws TelloCommandTimedOutException,
                                 TelloNetworkException,
                                 TelloCustomCommandException,
                                 TelloGeneralCommandException

Fetch the current battery level of this drone.

Returns:

Battery level

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

fetchMotorTime

public abstract int fetchMotorTime()
                            throws TelloCommandTimedOutException,
                                   TelloNetworkException,
                                   TelloCustomCommandException,
                                   TelloGeneralCommandException

Fetch the current running duration of the motors/airborne time.

Returns:

Motor time in seconds

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

fetchHeight

public abstract int fetchHeight()
                         throws TelloCommandTimedOutException,
                                TelloNetworkException,
                                TelloCustomCommandException,
                                TelloGeneralCommandException

Fetch the current altitude of this drone.

Returns:

Altitude in centimeters

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

fetchTemperature

public abstract int fetchTemperature()
                              throws TelloCommandTimedOutException,
                                     TelloNetworkException,
                                     TelloCustomCommandException,
                                     TelloGeneralCommandException

Fetch the current temperature of this drone (own temperature, not outside temperature).

Returns:

Temperature in degrees celsius

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

fetchAttitude

public abstract int[] fetchAttitude()
                             throws TelloCommandTimedOutException,
                                    TelloNetworkException,
                                    TelloCustomCommandException,
                                    TelloGeneralCommandException

Fetches the current attitude of this drone.

Returns:

An array of int[]{x, y, z}, containing the relative coordinates from the starting point

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

fetchBarometer

public abstract double fetchBarometer()
                               throws TelloCommandTimedOutException,
                                      TelloNetworkException,
                                      TelloCustomCommandException,
                                      TelloGeneralCommandException

Fetch the barometer value of this drone.

Returns:

Barometer value in hectopascal

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

fetchAcceleration

public abstract double[] fetchAcceleration()
                                    throws TelloCommandTimedOutException,
                                           TelloNetworkException,
                                           TelloCustomCommandException,
                                           TelloGeneralCommandException

Fetch the current acceleration force of this drone.

Returns:

An array of double[]{vx, vy, vz}. vy always contains the earth acceleration.

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

fetchTOFDistance

public abstract int fetchTOFDistance()
                              throws TelloCommandTimedOutException,
                                     TelloNetworkException,
                                     TelloCustomCommandException,
                                     TelloGeneralCommandException

Fetch the distance ahead using the time-of-flight sensor.

Returns:

Distance to the next obstacle in centimeters

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

fetchWifiSnr

public abstract int fetchWifiSnr()
                          throws TelloCommandTimedOutException,
                                 TelloNetworkException,
                                 TelloCustomCommandException,
                                 TelloGeneralCommandException

Fetch the wifi signal-noise-ratio from this drones perspective.

Returns:

Signal-noise-ratio value

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

up

public void up(int cm)
        throws TelloNetworkException,
               TelloCommandTimedOutException,
               TelloCustomCommandException,
               TelloNoValidIMUException,
               TelloGeneralCommandException

Instructs this drone to move up a certain amount of centimeters.

Parameters:

cm - The amount in centimeters to be moved

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

TelloNoValidIMUException - If the IMU is not correctly calibrated or the ground beneath the drone does. not provide enough textual features.

down

public void down(int cm)
          throws TelloNetworkException,
                 TelloCommandTimedOutException,
                 TelloCustomCommandException,
                 TelloNoValidIMUException,
                 TelloGeneralCommandException

Instructs this drone to move down a certain amount of centimeters.

Parameters:

cm - The amount in centimeters to be moved

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

TelloNoValidIMUException - If the IMU is not correctly calibrated or the ground beneath the drone does. not provide enough textual features.

left

public void left(int cm)
          throws TelloNetworkException,
                 TelloCommandTimedOutException,
                 TelloCustomCommandException,
                 TelloNoValidIMUException,
                 TelloGeneralCommandException

Instructs this drone to move to the left a certain amount of centimeters.

Parameters:

cm - The amount in centimeters to be moved

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

TelloNoValidIMUException - If the IMU is not correctly calibrated or the ground beneath the drone does. not provide enough textual features.

right

public void right(int cm)
           throws TelloNetworkException,
                  TelloCommandTimedOutException,
                  TelloCustomCommandException,
                  TelloNoValidIMUException,
                  TelloGeneralCommandException

Instructs this drone to move to the right a certain amount of centimeters.

Parameters:

cm - The amount in centimeters to be moved

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

TelloNoValidIMUException - If the IMU is not correctly calibrated or the ground beneath the drone does. not provide enough textual features.

forward

public void forward(int cm)
             throws TelloNetworkException,
                    TelloCommandTimedOutException,
                    TelloCustomCommandException,
                    TelloNoValidIMUException,
                    TelloGeneralCommandException

Instructs this drone to move forward a certain amount of centimeters.

Parameters:

cm - The amount in centimeters to be moved

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

TelloNoValidIMUException - If the IMU is not correctly calibrated or the ground beneath the drone does. not provide enough textual features.

backward

public void backward(int cm)
              throws TelloNetworkException,
                     TelloCommandTimedOutException,
                     TelloCustomCommandException,
                     TelloNoValidIMUException,
                     TelloGeneralCommandException

Instructs this drone to move backward a certain amount of centimeters.

Parameters:

cm - The amount in centimeters to be moved

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

TelloNoValidIMUException - If the IMU is not correctly calibrated or the ground beneath the drone does. not provide enough textual features.

turnLeft

public void turnLeft(int degrees)
              throws TelloNetworkException,
                     TelloCommandTimedOutException,
                     TelloCustomCommandException,
                     TelloNoValidIMUException,
                     TelloGeneralCommandException

Instructs this drone to turn left a certain amount of degrees

Parameters:

degrees - The amount of degrees to turn

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

TelloNoValidIMUException - If the IMU is not correctly calibrated or the ground beneath the drone does. not provide enough textual features.

turnRight

public void turnRight(int degrees)
               throws TelloNetworkException,
                      TelloCommandTimedOutException,
                      TelloCustomCommandException,
                      TelloNoValidIMUException,
                      TelloGeneralCommandException

Instructs this drone to turn right a certain amount of degrees

Parameters:

degrees - The amount of degrees to turn

Throws:

TelloNetworkException - If there was an error sending the command or receiving the result.

TelloCommandTimedOutException - If the drone does not answer.

TelloCustomCommandException - If the drone responds with a custom error message. Use TelloCustomCommandException.getReason() to fetch the custom error message.

TelloGeneralCommandException - If the drone responds with an unspecified error.

TelloNoValidIMUException - If the IMU is not correctly calibrated or the ground beneath the drone does. not provide enough textual features.

addVideoListener

public void addVideoListener(VideoListener listener)

Adds a VideoListener to this drone, which can then receive new TelloVideoFrames from this drone

Parameters:

listener - The listener to be added

removeVideoListener

public boolean removeVideoListener(VideoListener listener)

Removes a VideoListener from this drone, which will no longer receive TelloVideoFrames

Parameters:

listener - The listener to be removed

Returns:

true: if the listener was previously attatched to this drone, false: otherwise

getVideoListeners

public List<VideoListener> getVideoListeners()

Lists all VideoListeners currently attached to this drone

Returns:

List of all VideoListeners

addStateListener

public void addStateListener(StateListener listener)

Adds a StateListener to this drone, which can then receive new TelloDroneStates from this drone

Parameters:

listener - The listener to be added

removeStateListener

public boolean removeStateListener(StateListener listener)

Removes a StateListener from this drone, which will no longer receive TelloDroneStates

Parameters:

listener - The listener to be removed

Returns:

true: if the listener was previously attatched to this drone, false: otherwise

getStateListeners

public List<StateListener> getStateListeners()

Lists all StateListeners currently attached to this drone

Returns:

List of all StateListeners

getCachedState

public TelloDroneState getCachedState()

Fetches the last received TelloDroneState of this drone

Returns:

Last received TelloDroneState

setCachedState

public void setCachedState(TelloDroneState cachedState)

Set the last received TelloDroneState of this drone

Parameters:

cachedState - A new TelloDroneState to be cached for this drone

getVideoExportType

public TelloVideoExportType getVideoExportType()

Retrieves the current TelloVideoExportType for this drone

Returns:

Current video export type

setVideoExportType

public void setVideoExportType(TelloVideoExportType videoExportType)

Sets the current TelloVideoExportType for this drone. Please note that it may take a few seconds for the new type to be applied.

Parameters:

videoExportType - The new video export type