Crazyflie Jukebox

Play music on your Crazyflie drone by modulating the motor PWM frequencies to generate sound.

Tested on Crazyflie 2.1 and 2.1+. Likely incompatible with Brushless. Propellers must be attached to load the motors properly for accurate pitch.

Warning: Use at your own risk. While designed for low thrust, certain note combinations can cause the drone to move, flip, or take off unexpectedly.

Setup

1. Flash the jukebox app to your Crazyflie:

   cd app_jukebox
   make -j$(nproc)
   CLOAD_CMDS="-w radio://0/80/2M/E7E7E7E7E7" make cload

2. Install Python dependencies:

   pip install -r pyproject.toml

Usage

Run with a MIDI file:

python main.py --midi path/to/your/song.mid

Run with default test sequence:

python main.py

Connect to a specific Crazyflie:

python main.py --uri radio://0/80/2M/E7E7E7E701 --midi song.mid

Multi-drone swarm playback

Play a MIDI file across multiple drones, with each drone playing different tracks:

python main.py --uris radio://0/80/2M/E7E7E7E701 radio://0/80/2M/E7E7E7E702 --midi song.mid

The tool will prompt you to select which MIDI tracks to use and how to assign them across drones. Playback is synchronized: all drones receive periodic sync pulses from the host to stay aligned.

Press Ctrl+C to disconnect and terminate. Terminating the program will not stop music playback.