OpenMV4 H7 Plus 硬件和代码保持原样，无法正常运行
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问题描述：OpenMV4 H7 Plus 在2024年1月的代码和硬件，功能实时运行正常。硬件和代码保持原样，无法正常运行，图像能识别，舵机没有反应。
代码如下：
import sensor, image, time from pid import PID from pyb import Servo from pyb import Pin s1=Servo(1) s2=Servo(2) #pan_servo.calibration(500,2500,500) #tilt_servo.calibration(500,2500,500) pin_0 = Pin('P0', Pin.IN, Pin.PULL_UP) pin_1 = Pin('P1', Pin.IN, Pin.PULL_UP) pin_2 = Pin('P2', Pin.IN, Pin.PULL_UP) #pin_2 = Pin('P2', Pin.OUT_PP, Pin.PULL_NONE) pin_3 = Pin('P3', Pin.OUT_PP, Pin.PULL_NONE) #red_threshold = (30, 100, 15, 127, -40, 127)(70, 0, 49, 127, -128, 127) red_threshold =(75, 0, 127, 25, -128, 127) #红色光点阈值(50, 6, 74, 15, 67, -5)(100, 30, 42, 10, 20, -2)(15, 75, 18, 90, 0, 60) green_threshold = (46, 92, -35, 87, -12, 11)#[(25, 100, -65, -15, -15, 40)](54, 41, -128, -11, -128, 127) #pan_pid = PID(p=0.06, 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=0.08, i=0, imax=90)#在线调试使用这个PID #tilt_pid = PID(p=0.09, 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.VGA) # use QQVGA for speed. sensor.skip_frames(10) # Let new settings take affect. #sensor.set_auto_whitebal(False) # turn this off. sensor.set_auto_exposure (False, exposure_us=54000) sensor.set_windowing((440, 440)) # Set 240x240 window. #sensor.set_brightness(-2) #设置亮度 #sensor.set_contrast(3) #对比度 #sensor.set_vflip(True) clock = time.clock() # Tracks FPS. 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 s1.angle(0)#-14----12 原点2,4 s2.angle(0)#270°舵机要乘以0.66666 +13----- -13 pin_2.value(0) time.sleep_ms(1000) def find_red(): x_error=0 y_error=0 x_red=0 y_red=0 Total_y=0 Total_x=0 x_red_last=0 y_red_last=0 x_green_last=0 y_green_last=0 x_green=0 y_green=0 Px=0.006 Py=0.006 Ix=0 Iy=0 Dx=0 #Dx=0.00007# Dy=0 Total_x=0 Total_y=0 Px_num=0 Ix_num=0 Dx_num=0 Py_num=0 Iy_num=0 Dy_num=0 last1_error_x=0 last1_error_y=0 last2_error_x=0 last2_error_y=0 dt=1/13 while(True): clock.tick() # Track elapsed milliseconds between snapshots(). img = sensor.snapshot() # Take a picture and return the image. value0 = pin_0.value() # get value, 0 or 1#读入p_in引脚的值 #if value0==0 : #time.sleep_ms(1000) #while(True) : #s1.angle(Total_y) #s2.angle(Total_x) #value0 = pin_0.value() # get value, 0 or 1#读入p_in引脚的值 #value1 = pin_1.value() # get value, 0 or 1#读入p_in引脚的值 #pin_2.value(0) #pin_3.value(0) #if value0==0 or value1==0 : #time.sleep_ms(200) #break blobs = img.find_blobs([red_threshold]) #红色！！！！！！！！！！！！ if blobs: max_blob = find_max(blobs) x_red = max_blob.cx() y_red = max_blob.cy() x_red=x_red*0.6+x_red_last*0.4 x_red_last=x_red y_red=y_red*0.6+y_red_last*0.4 y_red_last=y_red print("RED") # print(pan_error,tilt_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) blobs = img.find_blobs([green_threshold])#飞机 if blobs: max_blob = find_max(blobs) x_green = max_blob.cx() y_green = max_blob.cy() x_green= x_green*0.6+x_green_last*0.4 x_green_last=x_green y_green= y_green*0.6+y_green_last*0.4 y_green_last=y_green print("fjfjfjfjfj") # print("GREEN",x_green,y_green) img.draw_rectangle(max_blob.rect()) # rect img.draw_cross(max_blob.cx(), max_blob.cy()) # cx, cy x_error=x_green-x_red y_error=y_green-y_red#计算误差 Px_num=x_error-last1_error_x Ix_num=x_error*dt if Ix_num >20: Ix_num=20 if Ix_num <-20: Ix_num=-20 Dx_num=x_error-last1_error_x*last1_error_x+last2_error_x Total_x=x_error*Px+Ix_num*Ix+Dx_num*Dx+Total_x if Total_x>20 : Total_x=20 if Total_x<-20 : Total_x=-20 Py_num=Py*y_error Iy_num=y_error*dt if Iy_num >5: Iy_num=5 if Iy_num <-5: Iy_num=-5 Dy_num=y_error-last1_error_y*last1_error_y+last2_error_y Total_y=Py*y_error+Iy_num*Iy+Dy_num*Dy+Total_y print(Total_x,Total_y) if Total_y>20 : Total_y=20 if Total_y<-20 : Total_y=-20 value1 = pin_1.value() # get value, 0 or 1#读入p_in引脚的值 if value1==0 : break value2 = pin_2.value() # get value, 0 or 1#读入p_in引脚的值 if value2==0 : time.sleep_ms(1000) while(True): value2 = pin_2.value() # get value, 0 or 1#读入p_in引脚的值 if value2==0 : break #s1.angle(Total_y) s2.angle(Total_x) # print(Total_x,x_error) last2_error_x=last1_error_x last2_error_y=last1_error_y last1_error_x=x_error last1_error_y=y_error dt=1/clock.fps() # print(dt) # print(clock.fps()) # print("pan_output",pan_output) # 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) while(True): clock.tick() # Track elapsed milliseconds between snapshots(). img = sensor.snapshot() # Take a picture and return the image. value0 = pin_0.value() # get value, 0 or 1#读入p_in引脚的值 value1 = pin_1.value() # get value, 0 or 1#读入p_in引脚的值 value2 = pin_2.value() # get value, 0 or 1#读入p_in引脚的值 #pin_2.value(0) #pin_3.value(0) print(value0,value1,value2) s1.angle(0)#-14----12 原点2,4 s2.angle(0)#270°舵机要乘以0.66666 +13----- -13 if value0==0 : find_red()
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那你要用示波器看看引脚输出的波形，然后检查舵机的电源