# Basic swarm operations

<table><thead><tr><th width="150" align="center">Function</th><th align="center">Description</th></tr></thead><tbody><tr><td align="center"><a href="#swarm.takeoffall-z-1">takeOffAll</a></td><td align="center">All drones take off simultaneously</td></tr><tr><td align="center"><a href="#swarm.landall">landAll</a></td><td align="center">All drones land in the current position</td></tr><tr><td align="center"><a href="#swarm.returntohome">returnToHome</a></td><td align="center">All drones return to their initial formation coordinates</td></tr><tr><td align="center"><a href="#swarm.returnandland">returnAndLand</a></td><td align="center">All drones return to their initial formation coordinates and land there</td></tr><tr><td align="center"><a href="#swarm.applyformation-speed-1-tolerance-0.2-wait-true">applyFormation</a></td><td align="center">Applies the selected formation or operation</td></tr><tr><td align="center"><a href="#swarm.plotpreview-plot_type-2d">plotPreview</a></td><td align="center">Open a window with a preview of the selected formation or operation</td></tr></tbody></table>

#### `Swarm.takeOffAll(`*`z=1`*`)`

* <mark style="color:green;">Parameters:</mark>
  * `z: int or float`\
    Set the height of the swarm
* <mark style="color:red;">Result:</mark>\
  All drones takeoff at the same time and go up to the selected height.

#### `Swarm.landAll()`

* <mark style="color:green;">Parameters:</mark>
  * None
* <mark style="color:red;">Result:</mark>\
  All the armed clovers go down to the floor in their current position and disarm themselves.

#### `Swarm.returnToHome()`

* <mark style="color:green;">Parameters:</mark>
  * None
* <mark style="color:red;">Result:</mark>\
  All the drones return to the initial formation they started operating.

#### `Swarm.returnAndLand()`

* <mark style="color:green;">Parameters:</mark>
  * None
* <mark style="color:red;">Result:</mark>\
  Very similar to the `returnToHome` function, but the drones also land and disarm.

#### `Swarm.applyFormation(`*`speed=1, tolerance=0.2, wait=True`*`)`

* <mark style="color:green;">Parameters:</mark>
  * `speed: int or float, optional`\
    Set the speed of the drones' movement
  * `tolerance: int or float, optional`\
    Set the tolerance of the `navigateWait` function
  * `wait: bool, optional`\
    While *'True'* uses the `navigateWait` module and the drones will wait for the conclusion of previous operations before applying the current desired formation
* <mark style="color:red;">Result:</mark>\
  Applies the previously selected formation or operation and the clovers start to move in order to form it.

{% hint style="warning" %}
All the operations involved in this section already apply the formation for the user, but all the more complex functions must be followed by the applyFormation command or the desired coordinates will not be executed.
{% endhint %}

#### `Swarm.plotPreview(`*`plot_type='2D'`*`)`

* <mark style="color:green;">Parameters:</mark>
  * `plot_type: string`\
    Defines if the plot will be *'2D'* or *'3D'*
* <mark style="color:red;">Result:</mark>
  * A [Swarm Preview](https://swarm-in-blocks.gitbook.io/swarm-in-blocks/background-theory/systems/swarm-preview) window will appear on the screen showing how the drones are or where they will go after applying the formation. It will also allow accessing the movement history of the drones.

{% hint style="info" %}
It's highly recommended to use the `plotPreview` feature before applying the formations in simulation or real life, to make sure that the expected behavior will confirm.
{% endhint %}