将云台的绿色的板子换成pca9685后云台不能追踪报错
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import sensor, image,time from servo import Servos from machine import I2C, Pin i2c = I2C(sda=Pin('P5'), scl=Pin('P4')) servo = Servos(i2c, address=0x40, freq=50, min_us=500, max_us=2500, degrees=180) from pid import PID from pyb import Servo pan_servo=Servos(1) tilt_servo=Servos(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 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)![0_1545645060497_1545645036(1).png](https://fcdn.singtown.com/eb14b26c-b0af-4cbc-89b8-be690e8b4978.png)
程序报错,为啥错?
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https://singtown.com/learn/50057/
根据视频操作。很有可能是代码有问题。
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此回复已被删除!
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请问问题解决了吗
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我的看法是PCA9685使用的是Servos类
而追踪小球的云台例程里用的是Servo类
二者存在区别,追踪小球例程里的舵机是直接用P7,P8,P9口直接输出PWM驱动的,所以代码不能直接调用,Servo类可以直接获取当前角度,而Servos类无法实施获取,建议用两个变量实时保存Servos类的角度变量