How to use the cflib.crazyflie.Crazyflie function in cflib

def __init__(self):
        """Initialize the headless client and libraries"""
        cflib.crtp.init_drivers()

        self._jr = JoystickReader(do_device_discovery=False)

        self._cf = Crazyflie(ro_cache=None,
                             rw_cache=cfclient.config_path + "/cache")

        signal.signal(signal.SIGINT, signal.SIG_DFL)

        self._devs = []

        for d in self._jr.available_devices():
            self._devs.append(d.name)

def __init__(self, link_uri):
        """ Initialize and run the example with the specified link_uri """

        # Create a Crazyflie object without specifying any cache dirs
        self._cf = Crazyflie()

        # Connect some callbacks from the Crazyflie API
        self._cf.connected.add_callback(self._connected)
        self._cf.disconnected.add_callback(self._disconnected)
        self._cf.connection_failed.add_callback(self._connection_failed)
        self._cf.connection_lost.add_callback(self._connection_lost)

        print("Connecting to %s" % link_uri)

        # Try to connect to the Crazyflie
        self._cf.open_link(link_uri)

        # Variable used to keep main loop occupied until disconnect
        self.is_connected = True

def __init__(self, link_uri):
        """ Initialize and run the example with the specified link_uri """

        self._cf = Crazyflie()

        self._cf.connected.add_callback(self._connected)
        self._cf.disconnected.add_callback(self._disconnected)
        self._cf.connection_failed.add_callback(self._connection_failed)
        self._cf.connection_lost.add_callback(self._connection_lost)

        self._cf.open_link(link_uri)

        print("Connecting to %s" % link_uri)

self.link_status = "Unknown"
        self.link_quality = 0.0
        self.packetsSinceConnection = 0
        self.motor_status = ""
        self.pitch = 0.0
        self.roll = 0.0
        self.thrust = 0
        self.yaw = 0.0

        self.cmd_thrust = 0
        self.cmd_pitch = 0.0
        self.cmd_roll = 0.0
        self.cmd_yaw = 0.0
        
        # Init the callbacks for the crazyflie lib
        self.crazyflie = Crazyflie()
        cflib.crtp.init_drivers()

        # Init the published topics for ROS, for this class
        self.link_status_pub  = rospy.Publisher('link_status', String, latch=True)
        self.link_quality_pub = rospy.Publisher('link_quality', Float32)
        self.packet_count_pub = rospy.Publisher('packet_count', UInt32)

        self.motor_status_pub = rospy.Publisher('motors', String)

        self.pitch_pub        = rospy.Publisher('stabilizer/pitch', Float32)
        self.roll_pub         = rospy.Publisher('stabilizer/roll', Float32)
        self.thrust_pub       = rospy.Publisher('stabilizer/thrust', Float32)
        self.yaw_pub          = rospy.Publisher('stabilizer/yaw', Float32)
 
        rospy.Subscriber('thrust', UInt16, self.set_thrust)

border: 1px solid grey;
                        border-radius: 5px;
                        text-align: center;
                    }
                    QProgressBar::chunk {
                        background-color: """ + COLOR_BLUE + """;
                    }
                 """
                self.setStyleSheet(tcss)

            else:
                logger.info("Pre-Yosemite - skinny bar stylesheet not applied")

        ######################################################

        self.cf = Crazyflie(ro_cache=None,
                            rw_cache=cfclient.config_path + "/cache")

        cflib.crtp.init_drivers(enable_debug_driver=Config()
                                .get("enable_debug_driver"))

        zmq_params = ZMQParamAccess(self.cf)
        zmq_params.start()

        zmq_leds = ZMQLEDDriver(self.cf)
        zmq_leds.start()

        self.scanner = ScannerThread()
        self.scanner.interfaceFoundSignal.connect(self.foundInterfaces)
        self.scanner.start()

        # Create and start the Input Reader

def __init__(self, link_uri):
        """ Initialize and run the example with the specified link_uri """

        # Create a Crazyflie object without specifying any cache dirs
        self._cf = Crazyflie()

        # Connect some callbacks from the Crazyflie API
        self._cf.connected.add_callback(self._connected)
        self._cf.disconnected.add_callback(self._disconnected)
        self._cf.connection_failed.add_callback(self._connection_failed)
        self._cf.connection_lost.add_callback(self._connection_lost)

        print("Connecting to %s" % link_uri)

        # Try to connect to the Crazyflie
        self._cf.open_link(link_uri)

        # Variable used to keep main loop occupied until disconnect
        self.is_connected = True

        self._param_check_list = []

))

    (power_conf, force, smart) = generate_config(args.power)
    power_pack = generate_lpp_packet(power_conf, force, smart)

    print('Sending anchor transmit power configuration to anchors (%i to %i) '
          'using %s. Setting transmit power to %s%s. Anchors will reset'
          'when configured.' % (
              args.anchor_id_lower,
              args.anchor_id_upper,
              args.uri,
              args.power, unit))

    logging.basicConfig(level=logging.ERROR)
    cflib.crtp.init_drivers(enable_debug_driver=False)
    cf = Crazyflie(rw_cache='./cache')
    with SyncCrazyflie(args.uri, cf=cf) as scf:
        print('Starting transmission. Terminate with CTRL+C.')
        while True:
            for id in range(args.anchor_id_lower, args.anchor_id_upper + 1):
                print('Anchor %i' % id)
                for _ in range(7):
                    scf.cf.loc.send_short_lpp_packet(id, power_pack)
                    time.sleep(0.2)
                time.sleep(0.5)

def __init__(self, link_uri):
        """ Initialize and run the example with the specified link_uri """

        # Create a Crazyflie object without specifying any cache dirs
        self._cf = Crazyflie()

        # Connect some callbacks from the Crazyflie API
        self._cf.connected.add_callback(self._connected)
        self._cf.disconnected.add_callback(self._disconnected)
        self._cf.connection_failed.add_callback(self._connection_failed)
        self._cf.connection_lost.add_callback(self._connection_lost)

        print("Connecting to %s" % link_uri)

        # Try to connect to the Crazyflie
        self._cf.open_link(link_uri)

        # Variable used to keep main loop occupied until disconnect
        self.is_connected = True