云台控制

xsi2

怎样控制云台一直旋转

import sensor, image, time

from pid import PID
from pyb import Servo

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

red_threshold  = (13, 49, 18, 61, 6, 47)

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=0.1, i=0, imax=90)#在线调试使用这个PID
#tilt_pid = PID(p=0.1, 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.

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

        print("pan_error: ", pan_error)

        img.draw_rectangle(max_blob.rect()) # rect
        img.draw_cross(max_blob.cx(), max_blob.cy()) # cx, cy
        tilt_output=tilt_pid.get_pid(tilt_error,1)
        pan_output=pan_pid.get_pid(pan_error,1)/2

        print("pan_output",pan_output)
        pan_servo.angle(pan_servo.angle()+pan_output)
        tilt_servo.angle(tilt_servo.angle()-tilt_output)

kidswong999

一直旋转是什么意思？怎么旋转？

yuan

云台的舵机是180度的，不能连续360度旋转。

yuan

控制舵机转动就是控制舵机的角度，你要一直旋转，那就让舵机从0 1 2 3....一直转到180度即可。

for i in range(0,180):
     pan_servo.angle(1)
     tilt_servo.angle(1)

xsi2

@kidswong999 我们想要实现在没有找到颜色识别区域时，云台可以自动旋转，直到找到静止的目标

xsi2

@yuan 但是加进去后没有效果

kidswong999

。。。代码的逻辑不对呗，仔细看看