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  • 追小球小车关于识别问题



    • 老师我想请问一下为啥我按照历程上传程序,追小球的时候,小球在左边它向右转呢 左右方向相反咋回事,但是如果换了电机接线的话 那就前后相反了



    • 检查一下:

      car.run(100,100)向前走,
      car.run(100,0)左轮子转,右轮子不转。
      car.run(0,100)左轮子不转,右轮子转。



    • @kidswong999追小球小车关于识别问题 中说:

      左轮子转,右轮子不转。

      对的呀 老师 这些都是对的



    • @kidswong999

      import sensor, image, time
      import car
      from pid import PID
      sensor.reset()
      sensor.set_pixformat(sensor.RGB565)
      sensor.set_framesize(sensor.QQVGA)
      sensor.skip_frames(10)
      sensor.set_auto_whitebal(False)
      clock = time.clock() # Tracks FPS.
      green_threshold   = (76, 96, -110, -30, 8, 66)  
      size_threshold = 2000  
      x_pid = PID(p=0.5, i=1, imax=100)   
      h_pid = PID(p=0.005, 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()
          img = sensor.snapshot()
          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])
              img.draw_cross(max_blob[5], max_blob[6])
              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:
              car.run(10,-10)
      
      

      这是main.py

      from pyb import Pin, Timer
      inverse_left=False
      inverse_right=False
      ain1 =  Pin('P0', Pin.OUT_PP)
      ain2 =  Pin('P1', Pin.OUT_PP)
      bin1 =  Pin('P2', Pin.OUT_PP)
      bin2 =  Pin('P3', Pin.OUT_PP)
      ain1.low()
      ain2.low()
      bin1.low()
      bin2.low()
      pwma = Pin('P7')
      pwmb = Pin('P8')
      tim = Timer(4, freq=1000)
      ch1 = tim.channel(1, Timer.PWM, pin=pwma)
      ch2 = tim.channel(2, Timer.PWM, pin=pwmb)
      ch1.pulse_width_percent(0)
      ch2.pulse_width_percent(0)
      def run(left_speed, right_speed):
          #if inverse_left==True:
          #	left_speed=(-left_speed)
          #if inverse_right==True:
          #	right_speed=(-right_speed)
          if left_speed < 0:
              ain1.low()
              ain2.high()
          else:
              ain1.high()
              ain2.low()
          ch1.pulse_width_percent(int(abs(left_speed)))
          if right_speed < 0:
              bin1.low()
              bin2.high()
          else:
              bin1.high()
              bin2.low()
          ch2.pulse_width_percent(int(abs(right_speed)))
      
      

      这是car.py

      from pyb import millis
      from math import pi, isnan
      
      class PID:
          _kp = _ki = _kd = _integrator = _imax = 0
          _last_error = _last_derivative = _last_t = 0
          _RC = 1/(2 * pi * 20)
          def __init__(self, p=0, i=0, d=0, imax=0):
              self._kp = float(p)
              self._ki = float(i)
              self._kd = float(d)
              self._imax = abs(imax)
              self._last_derivative = float('nan')
      
          def get_pid(self, error, scaler):
              tnow = millis()
              dt = tnow - self._last_t
              output = 0
              if self._last_t == 0 or dt > 1000:
                  dt = 0
                  self.reset_I()
              self._last_t = tnow
              delta_time = float(dt) / float(1000)
              output += error * self._kp
              if abs(self._kd) > 0 and dt > 0:
                  if isnan(self._last_derivative):
                      derivative = 0
                      self._last_derivative = 0
                  else:
                      derivative = (error - self._last_error) / delta_time
                  derivative = self._last_derivative + \
                                           ((delta_time / (self._RC + delta_time)) * \
                                              (derivative - self._last_derivative))
                  self._last_error = error
                  self._last_derivative = derivative
                  output += self._kd * derivative
              output *= scaler
              if abs(self._ki) > 0 and dt > 0:
                  self._integrator += (error * self._ki) * scaler * delta_time
                  if self._integrator < -self._imax: self._integrator = -self._imax
                  elif self._integrator > self._imax: self._integrator = self._imax
                  output += self._integrator
              return output
          def reset_I(self):
              self._integrator = 0
              self._last_derivative = float('nan')
      
      

      这是pid.py

      感觉都是用的原来的 不知道为啥,前进还有原地旋转都没有问题 就是这个左右反了 小球在左边向右转,小球在右边向左转