4. 追踪小车里,让小车固定一定范围寻找目标,加入pyb.delay之后相机也延迟了怎么解决
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    • 追踪小车里,让小车固定一定范围寻找目标,加入pyb.delay之后相机也延迟了怎么解决

    • 3
       

      # Blob Detection Example
#
# This example shows off how to use the find_blobs function to find color
# blobs in the image. This example in particular looks for dark green objects.

import sensor, image, time, pyb
import car
from pid import PID

# You may need to tweak the above settings for tracking green things...
# Select an area in the Framebuffer to copy the color settings.
led = pyb.LED(3)
led.on()
time.sleep_ms(150)
led.off()
time.sleep_ms(100)
led.on()
time.sleep_ms(150)
led.off()
time.sleep_ms(100)
led.on()
time.sleep_ms(150)
led.off()



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(50) # Let new settings take affect.
sensor.set_auto_whitebal(False) # turn this off.
clock = time.clock() # Tracks FPS.

# For color tracking to work really well you should ideally be in a very, very,
# very, controlled enviroment where the lighting is constant...
green_threshold   = (22, 85, -66, -28, -29, 65)
#green_threshold   = (0, 16, 12, 33, -1, 24)
size_threshold = 2000
x_pid = PID(p=0.5, i=1, imax=0)
h_pid = PID(p=0.03, i=0.1, imax=0)



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([green_threshold])
    if blobs:
        max_blob = find_max(blobs)
        x_error = max_blob[5]-img.width()/2
        h_error = max_blob[2]*max_blob[3]-size_threshold
        print("x error: ", x_error)
        '''
        for b in blobs:
            # Draw a rect around the blob.
            img.draw_rectangle(b[0:4]) # rect
            img.draw_cross(b[5], b[6]) # cx, cy
        '''
        img.draw_rectangle(max_blob[0:4]) # rect
        img.draw_cross(max_blob[5], max_blob[6]) # cx, cya
        x_output=x_pid.get_pid(x_error,1)
        h_output=h_pid.get_pid(h_error,1)
        print("h_output",h_output)
        car.run(-h_output-x_output,-h_output+x_output)

    else:
        car.run(10,0)
        pyb.delay(1500)
        car.run(-10,0)
        pyb.delay(1500)
      0

    • 解决办法：再死循环里，使用pyb.millis()查询运行的时间，然后判断，而不使用delay。

      https://docs.singtown.com/micropython/zh/latest/openmvcam/library/pyb.html?highlight=millis#pyb.millis

      0
      3
       1 条回复
    • 3

      还是一样的

      # Blob Detection Example
#
# This example shows off how to use the find_blobs function to find color
# blobs in the image. This example in particular looks for dark green objects.

import sensor, image, time, pyb
import car
from pid import PID

# You may need to tweak the above settings for tracking green things...
# Select an area in the Framebuffer to copy the color settings.
led = pyb.LED(3)
led.on()
time.sleep_ms(150)
led.off()
time.sleep_ms(100)
led.on()
time.sleep_ms(150)
led.off()
time.sleep_ms(100)
led.on()
time.sleep_ms(150)
led.off()



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(50) # Let new settings take affect.
sensor.set_auto_whitebal(False) # turn this off.
clock = time.clock() # Tracks FPS.

# For color tracking to work really well you should ideally be in a very, very,
# very, controlled enviroment where the lighting is constant...
green_threshold   = (22, 85, -66, -28, -29, 65)
#green_threshold   = (0, 16, 12, 33, -1, 24)
size_threshold = 2000
x_pid = PID(p=0.5, i=1, imax=0)
h_pid = PID(p=0.03, i=0.1, imax=0)



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([green_threshold])
    if blobs:
        max_blob = find_max(blobs)
        x_error = max_blob[5]-img.width()/2
        h_error = max_blob[2]*max_blob[3]-size_threshold
        print("x error: ", x_error)
        '''
        for b in blobs:
            # Draw a rect around the blob.
            img.draw_rectangle(b[0:4]) # rect
            img.draw_cross(b[5], b[6]) # cx, cy
        '''
        img.draw_rectangle(max_blob[0:4]) # rect
        img.draw_cross(max_blob[5], max_blob[6]) # cx, cya
        x_output=x_pid.get_pid(x_error,1)
        h_output=h_pid.get_pid(h_error,1)
        print("h_output",h_output)
        car.run(-h_output-x_output,-h_output+x_output)

    else:
        #pyb.delay(1500)
        #car.run(-10,0)
        #pyb.delay(1500)
        start = pyb.millis()
        #while pyb.elapsed_millis(start) > 10:
            #car.run(-10,0)
            ##start = pyb.millis()
        ##else:
            ##car.run(-10,0)
        while pyb.elapsed_millis(start) < 2000:
            car.run(10,0)
    ##start = pyb.millis()
        while pyb.elapsed_millis(start) < 4000:
            car.run(-10,0)
      0
    • 3

      @kidswong999 也是一样😭

      # Blob Detection Example
#
# This example shows off how to use the find_blobs function to find color
# blobs in the image. This example in particular looks for dark green objects.

import sensor, image, time, pyb
import car
from pid import PID

# You may need to tweak the above settings for tracking green things...
# Select an area in the Framebuffer to copy the color settings.
led = pyb.LED(3)
led.on()
time.sleep_ms(150)
led.off()
time.sleep_ms(100)
led.on()
time.sleep_ms(150)
led.off()
time.sleep_ms(100)
led.on()
time.sleep_ms(150)
led.off()



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(50) # Let new settings take affect.
sensor.set_auto_whitebal(False) # turn this off.
clock = time.clock() # Tracks FPS.

# For color tracking to work really well you should ideally be in a very, very,
# very, controlled enviroment where the lighting is constant...
green_threshold   = (22, 85, -66, -28, -29, 65)
#green_threshold   = (0, 16, 12, 33, -1, 24)
size_threshold = 2000
x_pid = PID(p=0.5, i=1, imax=0)
h_pid = PID(p=0.03, i=0.1, imax=0)



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([green_threshold])
    if blobs:
        max_blob = find_max(blobs)
        x_error = max_blob[5]-img.width()/2
        h_error = max_blob[2]*max_blob[3]-size_threshold
        print("x error: ", x_error)
        '''
        for b in blobs:
            # Draw a rect around the blob.
            img.draw_rectangle(b[0:4]) # rect
            img.draw_cross(b[5], b[6]) # cx, cy
        '''
        img.draw_rectangle(max_blob[0:4]) # rect
        img.draw_cross(max_blob[5], max_blob[6]) # cx, cya
        x_output=x_pid.get_pid(x_error,1)
        h_output=h_pid.get_pid(h_error,1)
        print("h_output",h_output)
        car.run(-h_output-x_output,-h_output+x_output)

    else:
        #pyb.delay(1500)
        #car.run(-10,0)
        #pyb.delay(1500)
        start = pyb.millis()
        #while pyb.elapsed_millis(start) > 10:
            #car.run(-10,0)
            ##start = pyb.millis()
        ##else:
            ##car.run(-10,0)
        while pyb.elapsed_millis(start) < 2000:
            car.run(10,0)
    ##start = pyb.millis()
        while pyb.elapsed_millis(start) < 4000:
            car.run(-10,0)
      0 

    • # Blob Detection Example
#
# This example shows off how to use the find_blobs function to find color
# blobs in the image. This example in particular looks for dark green objects.

import sensor, image, time, pyb
import car
from pid import PID

# You may need to tweak the above settings for tracking green things...
# Select an area in the Framebuffer to copy the color settings.
led = pyb.LED(3)
led.on()
time.sleep_ms(150)
led.off()
time.sleep_ms(100)
led.on()
time.sleep_ms(150)
led.off()
time.sleep_ms(100)
led.on()
time.sleep_ms(150)
led.off()



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(50) # Let new settings take affect.
sensor.set_auto_whitebal(False) # turn this off.
clock = time.clock() # Tracks FPS.

# For color tracking to work really well you should ideally be in a very, very,
# very, controlled enviroment where the lighting is constant...
green_threshold   = (22, 85, -66, -28, -29, 65)
#green_threshold   = (0, 16, 12, 33, -1, 24)
size_threshold = 2000
x_pid = PID(p=0.5, i=1, imax=0)
h_pid = PID(p=0.03, i=0.1, imax=0)



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([green_threshold])
    if blobs:
        last_time = pyb.millis()
        max_blob = find_max(blobs)
        x_error = max_blob[5]-img.width()/2
        h_error = max_blob[2]*max_blob[3]-size_threshold
        print("x error: ", x_error)
        '''
        for b in blobs:
            # Draw a rect around the blob.
            img.draw_rectangle(b[0:4]) # rect
            img.draw_cross(b[5], b[6]) # cx, cy
        '''
        img.draw_rectangle(max_blob[0:4]) # rect
        img.draw_cross(max_blob[5], max_blob[6]) # cx, cya
        x_output=x_pid.get_pid(x_error,1)
        h_output=h_pid.get_pid(h_error,1)
        print("h_output",h_output)
        car.run(-h_output-x_output,-h_output+x_output)

    else:
        if pyb.elapsed_millis(last_time) % 2000 > 1000:
            car.run(10,0)
        else
            car.run(-10,0)

      思路就是不用while 用if，然后每次找到色块后更新时间。

      0