这个代码是要实现云台追踪应该怎么修改？
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import sensor, image, time, math
threshold=(60, 255, -20, 20, -20, 20) # 激光灯在纸上颜色的阈值，可以执行调节
from pyb import Pin
sensor.reset()
sensor.set_auto_gain(False)
sensor.set_pixformat(sensor.GRAYSCALE) # or sensor.RGB565
sensor.set_framesize(sensor. QVGA) # or sensor.QVGA (or others)
sensor.skip_frames(time=900) # Let new settings take affect.
sensor.set_auto_exposure(False, 1000)#在这里调节曝光度，调节完可以比较清晰地看清激光点
sensor.set_auto_whitebal(False) # turn this off.
sensor.set_auto_gain(False) # 关闭增益（色块识别时必须要关）
clock = time.clock() # Tracks FPS.def color_blob(threshold):
blobs = img.find_blobs([threshold,x_stride=1, y_stride=1, area_threshold=0, pixels_threshold=0,merge=False,margin=1]) if len(blobs)>=1 :#有色块 # Draw a rect around the blob. b = blobs[0] img.draw_rectangle(b[0:4]) # rect cx = b[5] cy = b[6] for i in range(len(blobs)-1): img.draw_rectangle(b[0:4]) # rect cx = blobs[i][5]+cx cy = blobs[i][6]+cy cx=int(cx/len(blobs)) cy=int(cy/len(blobs)) img.draw_cross(cx, cy) # cx, cy print(cx,cy) return int(cx), int(cy) return -1, -1 #表示没有找到while(True):
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot() # Take a picture and return the image.blobs = img.find_blobs([threshold]) if blobs: max_blob = color_blob(threshold) 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)
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