追小球的小车程序问题

acpf

视频教程讲解追小球的小车程序这里检测到面积为2000，小车后退请问各位大佬那里程序体现到小车后退

acpf

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


# You may need to tweak the above settings for tracking green things...
# Select an area in the Framebuffer to copy the color settings.

s1 = Servo(1) # P7
s2 = Servo(2) # P8
s3 = Servo(3) # P9


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.

# 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   = (67, 100, -20, 93, 22, 75)
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

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, cy
        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:

kidswong999

就是面积大于2000就后退，小于2000就前进。

kidswong999

car.run(-h_output-x_output,-h_output+x_output)

都是这一句完成的。

acpf

我想在摄像头检测到面积为200时让机械手有动作程序应该加在那里谢谢

acpf

@kidswong999
我想在摄像头检测到面积为200时让机械手有动作程序应该加在那里谢谢

kidswong999

if blobs:
    max_blob = find_max(blobs)
    if max_blob[2]*max_blob[3] <200:
        你的动作
    #下面都不用动
    x_error = max_blob[5]-img.width()/2
    h_error = max_blob[2]*max_blob[3]-size_threshold
    print("x error: ", x_error)

acpf

@kidswong999
嗷嗷谢谢

gi1y

不是很懂程序，你的动作那里怎么写程序啊？如何使它停下来？