要实现红绿灯规则但是现在的问题是不论是红灯还是绿灯小车都会动我想实现红灯停大佬能不能再把代码改一改？

dzq5

# Blob Detection Example

#

# This example shows off how to use the find_blobs function to find color

# blobs in the image. This example in particular looks for dark green objects.



import sensor, image, time

import car_1

from pid import PID



# You may need to tweak the above settings for tracking green things...

# Select an area in the Framebuffer to copy the color settings.



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...

red_threshold   = (93, 10, 98, 22, -33, 91)
green_threshold   = (72, 32, -12, -51, -1, 81)

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])
    blobs1 = img.find_blobs([red_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)

        if blobs1:

           car_1.run(0,0)
           max_blob1 = find_max(blobs1)

           x_error1 = max_blob1[5]-img.width()/2

           h_error1 = max_blob1[2]*max_blob1[3]-size_threshold
           car_1.run(0,0)

        '''

        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_blob1[0:4]) # rect

        img.draw_cross(max_blob1[5], max_blob1[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_1.run(-h_output-x_output,-h_output+x_output)

kidswong999

代码肯定要你自己写。你可以问具体的问题。

要实现红绿灯规则 但是现在的问题是 不论是红灯还是绿灯小车都会动 我想实现 红灯停 大佬能不能 再把代码改一改？

要实现红绿灯规则但是现在的问题是不论是红灯还是绿灯小车都会动我想实现红灯停大佬能不能再把代码改一改？