4. 代码出现invalid syntax的错误该怎么办呢？
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    • 代码出现invalid syntax的错误该怎么办呢？

    • U

      0_1689836827323_d4969730256314ad81e738fd1f49186.png

      import sensor, image, time,math,pyb
from pyb import UART,LED
import json
import ustruct
import car
from pid import PID
LED_R = pyb.LED(1)
LED_G = pyb.LED(2)
LED_B = pyb.LED(3)
LED_R.on()
LED_G.on()
LED_B.on()
red_threshold_01 = ((0, 100, 127, 16, 127, -28));
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(10)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
clock = time.clock()
uart=UART(3,115200)
uart.init(115200,bits=8,parity=None,stop=1)
green_threshold   = (0, 100, 35, 11, 67, -13)
size_threshold = 2000
x_pid = PID(p=0.5, i=1, imax=100)
h_pid = PID(p=0.05, i=0.1, imax=50)

K=510#the value should be measured


		
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
def sending_data(cx,cy,cw,ch):
	global uart;
	data = bytearray([0x2C,4,cx,cy,0x5B])
	uart.write(data);
def receive_data():
	global uart
	if uart.any():
		tmp_data=uart.readchar();
		print(tmp_data)
while(True):
	clock.tick()
	img = sensor.snapshot() 
	blobs = img.find_blobs([red_threshold_01])
	cx=0;cy=0;
	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)
		img.draw_rectangle(max_blob[0:4])
		img.draw_cross(max_blob[5], max_blob[6])
		pixel_size=max_blob[4]
		cx=max_blob[5];
		cy=max_blob[6];
		cw=max_blob[2];
		ch=max_blob[3];
		
		focal_length=2.8
		actual_size=3.4
        th =(actual_size*focal_length)/pixel_size
        x_output=x_pid.get_pid(x_error,1)
        h_output=h_pid.get_pid(h_error,1)
        #print("h_output",h_output)
        print("cx",cx,"cy",cy,"cz",th)
        sending_data(cx,cy,cw,ch);
        receive_data();
        car.run(-h_output-x_output,-h_output+x_output)
	#else:
        #car.run(18,-18)
      0

    • 你的代码文本和截图不匹配。

      0
      U
       3 条回复
    • X

      会不会应该
      是b=blobs

      0
      U
       1 条回复
    • U

      @kidswong999 我改了一点，但是还是这个错误

      0
    • U

      @kidswong999

      LED_R = pyb.LED(1)
LED_G = pyb.LED(2)
LED_B = pyb.LED(3)
LED_R.on()
LED_G.on()
LED_B.on()
red_threshold_01 = ((2, 51, 11, 127, -128, 127));
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(10)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
clock = time.clock()
uart=UART(3,115200)
uart.init(115200,bits=8,parity=None,stop=1)
green_threshold   = (0, 100, 35, 11, 67, -13)
size_threshold = 2000
x_pid = PID(p=0.5, i=1, imax=100)
h_pid = PID(p=0.05, i=0.1, imax=50)
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
def sending_data(cx,cy,cw,ch):
	global uart;
	data = bytearray([0x2C,4,cx,cy,0x5B])
	uart.write(data);
def receive_data():
	global uart
	if uart.any():
		tmp_data=uart.readchar();
		print(tmp_data)
while(True):
	clock.tick()
	img = sensor.snapshot()
	blobs = img.find_blobs([red_threshold_01])
	if len(blobs) == 1:
        # Draw a rect around the blob.
        b = blobs[0]
        img.draw_rectangle(b[0:4]) # rect
        img.draw_cross(b[5], b[6]) # cx, cy
        Lm = (b[2]+b[3])/2
        length = K/Lm
        print(length)
        #print(Lm)
	cx=0;cy=0;
	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)
		img.draw_rectangle(max_blob[0:4])
		img.draw_cross(max_blob[5], max_blob[6])
		cx=max_blob[5];
		cy=max_blob[6];
		cw=max_blob[2];
		ch=max_blob[3];
		x_output=x_pid.get_pid(x_error,1)
		h_output=h_pid.get_pid(h_error,1)
		print("h_output",h_output)
		sending_data(cx,cy,cw,ch);
		sending_data(ch1.pulse_width_percent(int(abs(left_speed))))
		sending_data(ch2.pulse_width_percent(int(abs(right_speed))))
		receive_data();
		car.run(-h_output-x_output,-h_output+x_output)
	else:
		car.run(18,-18)
      0
    • U

      @kidswong999 这是原来的代码

      0
    • U

      @x6hc 改了之后还是这个错误

      0

    • 错误原因：tab和空格缩进混用。

      解决办法：把所有tab缩进改为4个空格。

      0