舵机云台程序发送舵机角度到串口出现错误

[zx2b]

显示这行有这个错误 有大佬知道咋回事吗 下面是我的代码

import sensor, image, time, json

from pid import PID
from pyb import Servo
from pyb import UART

pan_servo=Servo(1)
tilt_servo=Servo(2)

pan_servo.calibration(500,2500,500)
tilt_servo.calibration(500,2500,500)

red_threshold  =  (21, 100, -82, -28, -73, 59)

#pan_pid = PID(p=0.07, i=0, imax=90) #脱机运行或者禁用图像传输，使用这个PID
#tilt_pid = PID(p=0.05, i=0, imax=90) #脱机运行或者禁用图像传输，使用这个PID
pan_pid = PID(p=0.12, i=0, imax=90)#在线调试使用这个PID
tilt_pid = PID(p=0.12, i=0, imax=90)#在线调试使用这个PID

sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.RGB565) # use RGB565.
sensor.set_framesize(sensor.QQVGA) # use QQVGA for speed.
sensor.skip_frames(10) # Let new settings take affect.
sensor.set_auto_whitebal(False) # turn this off.
clock = time.clock() # Tracks FPS.
uart = UART(3, 9600)

def find_max(blobs):
    max_size=0
    for blob in blobs:
        if blob[2]*blob[3] > max_size:
            max_blob=blob
            max_size = blob[2]*blob[3]
    return max_blob


while(True):
    clock.tick() # Track elapsed milliseconds between snapshots().
    img = sensor.snapshot() # Take a picture and return the image.

    blobs = img.find_blobs([red_threshold])
    if blobs:
        max_blob = find_max(blobs)
        pan_error = max_blob.cx()-img.width()/2
        tilt_error = max_blob.cy()-img.height()/2
        output_str=json.dumps(Servo.angle())
        print("pan_error: ", pan_error)

        img.draw_rectangle(max_blob.rect()) # rect
        img.draw_cross(max_blob.cx(), max_blob.cy()) # cx, cy

        pan_output=pan_pid.get_pid(pan_error,1)/2
        tilt_output=tilt_pid.get_pid(tilt_error,1)
        print("pan_output",pan_output)
        pan_servo.angle(pan_servo.angle()+pan_output)
        tilt_servo.angle(tilt_servo.angle()-tilt_output)

[kidswong999]

pan_servo.angle() tilt_servo.angle()
而不是Servo.angle()

[zx2b]

@kidswong999
老师我照你说的做了 可以运行了 但串口上没东西
波特率和COM口都设置了

[65qg]

@zx2b 看起来这是直接驱动小车的例程，并没有用到串口

[kidswong999]

对啊，只是print，没有控制串口。