4. 我想加入LCD模块，但添加后电机的部分就没有反应了，这是为什么，需要怎么调整？
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    • 我想加入LCD模块，但添加后电机的部分就没有反应了，这是为什么，需要怎么调整？

    • V

      这是我原来的程序，IDE的版本是 IDE 4.0.14，只使用LCD的部分时程序可以正常运行

      THRESHOLD = (0, 34, -16, 4, -1, 15) # Grayscale threshold for dark things...
import sensor, image, time
from pyb import LED
import car
from pid import PID
rho_pid = PID(p=0.5, i=0,d=0.015)
theta_pid = PID(p=0.001, i=0,d=0.01)
circle=0

LED(1).on()
LED(2).on()
LED(3).on()
from machine import SPI, Pin
from display import SPIDisplay

lcd=display.SPIDisplay()
sensor.reset()
sensor.set_vflip(False)
sensor.set_hmirror(False)
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQQVGA) # 80x60 (4,800 pixels) - O(N^2) max = 2,3040,000.
#sensor.set_windowing([0,20,80,40])
sensor.skip_frames(time = 2000)     # WARNING: If you use QQVGA it may take seconds


clock = time.clock()               # to process a frame sometimes.
last_increase_time = time.time()-10



while True:
    clock.tick()
    img = sensor.snapshot().binary([THRESHOLD])
    for blob in img.find_blobs([THRESHOLD], roi=[0,0,80,60], x_stride=2, y_stride=2, invert=True,  pixels_threshold=1000, merge=True):
        img.draw_rectangle(blob.rect())
        img.draw_cross(blob.cx(), blob.cy())
        current_time = time.time()
        if (current_time - last_increase_time >= 10):
            circle += 1
            last_increase_time = current_time

            if circle % 2 != 0:
                
                start_time = time.time()
                while True:
                    current_time = time.time()
                    elapsed_time = current_time - start_time
                    car.run(30, 30)
                    if elapsed_time >= 0.1:
                        break
                
                start_time = time.time()
                while True:
                    current_time = time.time()
                    elapsed_time = current_time - start_time
                    car.run(28 , 31 )
                    if elapsed_time >= 0.2:
                        break
            else:
                start_time = time.time()
                while True:
                    current_time = time.time()
                    elapsed_time = current_time - start_time
                    car.run(30, 30)
                    if elapsed_time >= 0.4:
                        break
                   # time.sleep(0.1)


    line = img.get_regression([(100, 100)], robust=True)
    if (line):
        rho_err = abs(line.rho())-img.width()/2
        if line.theta()>90:
            theta_err = line.theta()-180
        else:
            theta_err = line.theta()
        img.draw_line(line.line(), color = 127)
        print(rho_err,line.magnitude(),rho_err)
        if line.magnitude()>8:
            #if -40<b_err<40 and -30<t_err<30:
            rho_output = rho_pid.get_pid(rho_err,1)
            theta_output = theta_pid.get_pid(theta_err,1)
            output = rho_output+theta_output
            car.run(30+output, 30-output)
        else:
            car.run(0,0)
    else:
        car.run(30,-30)
        pass
    #print(clock.fps())
    print(circle)

      以下是我添加LCD后的程序：

      THRESHOLD = (0, 34, -16, 4, -1, 15) # Grayscale threshold for dark things...
import sensor, image, time,display
from pyb import LED
import car
from pid import PID
rho_pid = PID(p=0.5, i=0,d=0.015)
theta_pid = PID(p=0.001, i=0,d=0.01)
circle=0

LED(1).on()
LED(2).on()
LED(3).on()
from machine import SPI, Pin
from display import SPIDisplay

lcd=display.SPIDisplay()
#lcd = display.SPIDisplay()
sensor.reset()
sensor.set_vflip(False)
sensor.set_hmirror(False)
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQQVGA) # 80x60 (4,800 pixels) - O(N^2) max = 2,3040,000.
#sensor.set_windowing([0,20,80,40])
sensor.skip_frames(time = 2000)     # WARNING: If you use QQVGA it may take seconds


clock = time.clock()               # to process a frame sometimes.
last_increase_time = time.time()-10



while True:
    clock.tick()
    img = sensor.snapshot().binary([THRESHOLD])
    #lcd.write(img) 
    for blob in img.find_blobs([THRESHOLD], roi=[0,0,80,60], x_stride=2, y_stride=2, invert=True,  pixels_threshold=1000, merge=True):
        img.draw_rectangle(blob.rect())
        img.draw_cross(blob.cx(), blob.cy())
        current_time = time.time()
        if (current_time - last_increase_time >= 10):
            circle += 1
            last_increase_time = current_time

            if circle % 2 != 0:
                
                start_time = time.time()
                while True:
                    current_time = time.time()
                    elapsed_time = current_time - start_time
                    car.run(30, 30)
                    if elapsed_time >= 0.1:
                        break
                
                start_time = time.time()
                while True:
                    current_time = time.time()
                    elapsed_time = current_time - start_time
                    car.run(28 , 31 )
                    if elapsed_time >= 0.2:
                        break
            else:
                start_time = time.time()
                while True:
                    current_time = time.time()
                    elapsed_time = current_time - start_time
                    car.run(30, 30)
                    if elapsed_time >= 0.4:
                        break
                   # time.sleep(0.1)


    line = img.get_regression([(100, 100)], robust=True)
    if (line):
        rho_err = abs(line.rho())-img.width()/2
        if line.theta()>90:
            theta_err = line.theta()-180
        else:
            theta_err = line.theta()
        img.draw_line(line.line(), color = 127)
        print(rho_err,line.magnitude(),rho_err)
        if line.magnitude()>8:
            #if -40<b_err<40 and -30<t_err<30:
            rho_output = rho_pid.get_pid(rho_err,1)
            theta_output = theta_pid.get_pid(theta_err,1)
            output = rho_output+theta_output
            car.run(30+output, 30-output)
        else:
            car.run(0,0)
    else:
        car.run(30,-30)
        pass
    #print(clock.fps())
    print(circle)

      car.py程序如下：

      from pyb import Pin, Timer
inverse_left=False
inverse_right=False
ain1 =  Pin('P0', Pin.OUT_PP)
ain2 =  Pin('P1', Pin.OUT_PP)
bin1 =  Pin('P2', Pin.OUT_PP)
bin2 =  Pin('P3', Pin.OUT_PP)
ain1.low()
ain2.low()
bin1.low()
bin2.low()
pwma = Pin('P7')
pwmb = Pin('P8')
tim = Timer(4, freq=1000)
ch1 = tim.channel(1, Timer.PWM, pin=pwma)
ch2 = tim.channel(2, Timer.PWM, pin=pwmb)
ch1.pulse_width_percent(0)
ch2.pulse_width_percent(0)
def run(left_speed, right_speed):
	if inverse_left==True:
		left_speed=(-left_speed)
	if inverse_right==True:
		right_speed=(-right_speed)
	if left_speed < 0:
		ain1.low()
		ain2.high()
	else:
		ain1.high()
		ain2.low()
	ch1.pulse_width_percent(int(abs(left_speed)))
	if right_speed < 0:
		bin1.low()
		bin2.high()
	else:
		bin1.high()
		bin2.low()
	ch2.pulse_width_percent(int(abs(right_speed)))

      pid.py的程序如下：
      from pyb import millis
      from math import pi, isnan

      class PID:
      _kp = _ki = _kd = _integrator = _imax = 0
      _last_error = _last_derivative = _last_t = 0
      _RC = 1/(2 * pi * 20)
      def init(self, p=0, i=0, d=0, imax=0):
      self._kp = float(p)
      self._ki = float(i)
      self._kd = float(d)
      self._imax = abs(imax)
      self._last_derivative = float('nan')

      def get_pid(self, error, scaler):
    tnow = millis()
    dt = tnow - self._last_t
    output = 0
    if self._last_t == 0 or dt > 1000:
        dt = 0
        self.reset_I()
    self._last_t = tnow
    delta_time = float(dt) / float(1000)
    output += error * self._kp
    if abs(self._kd) > 0 and dt > 0:
        if isnan(self._last_derivative):
            derivative = 0
            self._last_derivative = 0
        else:
            derivative = (error - self._last_error) / delta_time
        derivative = self._last_derivative + \
                                 ((delta_time / (self._RC + delta_time)) * \
                                    (derivative - self._last_derivative))
        self._last_error = error
        self._last_derivative = derivative
        output += self._kd * derivative
    output *= scaler
    if abs(self._ki) > 0 and dt > 0:
        self._integrator += (error * self._ki) * scaler * delta_time
        if self._integrator < -self._imax: self._integrator = -self._imax
        elif self._integrator > self._imax: self._integrator = self._imax
        output += self._integrator
    return output
def reset_I(self):
    self._integrator = 0
    self._last_derivative = float('nan')
      0
    • L

      可能是引脚冲突了

      0

    • 就是引脚冲突了，LCD不能和电机扩展板同时使用。

      0