我想加入LCD模块，但添加后电机的部分就没有反应了，这是为什么，需要怎么调整？
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这是我原来的程序，IDE的版本是 IDE 4.0.14，只使用LCD的部分时程序可以正常运行
THRESHOLD = (0, 34, -16, 4, -1, 15) # Grayscale threshold for dark things... import sensor, image, time from pyb import LED import car from pid import PID rho_pid = PID(p=0.5, i=0,d=0.015) theta_pid = PID(p=0.001, i=0,d=0.01) circle=0 LED(1).on() LED(2).on() LED(3).on() from machine import SPI, Pin from display import SPIDisplay lcd=display.SPIDisplay() sensor.reset() sensor.set_vflip(False) sensor.set_hmirror(False) sensor.set_pixformat(sensor.RGB565) sensor.set_framesize(sensor.QQQVGA) # 80x60 (4,800 pixels) - O(N^2) max = 2,3040,000. #sensor.set_windowing([0,20,80,40]) sensor.skip_frames(time = 2000) # WARNING: If you use QQVGA it may take seconds clock = time.clock() # to process a frame sometimes. last_increase_time = time.time()-10 while True: clock.tick() img = sensor.snapshot().binary([THRESHOLD]) for blob in img.find_blobs([THRESHOLD], roi=[0,0,80,60], x_stride=2, y_stride=2, invert=True, pixels_threshold=1000, merge=True): img.draw_rectangle(blob.rect()) img.draw_cross(blob.cx(), blob.cy()) current_time = time.time() if (current_time - last_increase_time >= 10): circle += 1 last_increase_time = current_time if circle % 2 != 0: start_time = time.time() while True: current_time = time.time() elapsed_time = current_time - start_time car.run(30, 30) if elapsed_time >= 0.1: break start_time = time.time() while True: current_time = time.time() elapsed_time = current_time - start_time car.run(28 , 31 ) if elapsed_time >= 0.2: break else: start_time = time.time() while True: current_time = time.time() elapsed_time = current_time - start_time car.run(30, 30) if elapsed_time >= 0.4: break # time.sleep(0.1) line = img.get_regression([(100, 100)], robust=True) if (line): rho_err = abs(line.rho())-img.width()/2 if line.theta()>90: theta_err = line.theta()-180 else: theta_err = line.theta() img.draw_line(line.line(), color = 127) print(rho_err,line.magnitude(),rho_err) if line.magnitude()>8: #if -40<b_err<40 and -30<t_err<30: rho_output = rho_pid.get_pid(rho_err,1) theta_output = theta_pid.get_pid(theta_err,1) output = rho_output+theta_output car.run(30+output, 30-output) else: car.run(0,0) else: car.run(30,-30) pass #print(clock.fps()) print(circle)以下是我添加LCD后的程序：
THRESHOLD = (0, 34, -16, 4, -1, 15) # Grayscale threshold for dark things... import sensor, image, time,display from pyb import LED import car from pid import PID rho_pid = PID(p=0.5, i=0,d=0.015) theta_pid = PID(p=0.001, i=0,d=0.01) circle=0 LED(1).on() LED(2).on() LED(3).on() from machine import SPI, Pin from display import SPIDisplay lcd=display.SPIDisplay() #lcd = display.SPIDisplay() sensor.reset() sensor.set_vflip(False) sensor.set_hmirror(False) sensor.set_pixformat(sensor.RGB565) sensor.set_framesize(sensor.QQQVGA) # 80x60 (4,800 pixels) - O(N^2) max = 2,3040,000. #sensor.set_windowing([0,20,80,40]) sensor.skip_frames(time = 2000) # WARNING: If you use QQVGA it may take seconds clock = time.clock() # to process a frame sometimes. last_increase_time = time.time()-10 while True: clock.tick() img = sensor.snapshot().binary([THRESHOLD]) #lcd.write(img) for blob in img.find_blobs([THRESHOLD], roi=[0,0,80,60], x_stride=2, y_stride=2, invert=True, pixels_threshold=1000, merge=True): img.draw_rectangle(blob.rect()) img.draw_cross(blob.cx(), blob.cy()) current_time = time.time() if (current_time - last_increase_time >= 10): circle += 1 last_increase_time = current_time if circle % 2 != 0: start_time = time.time() while True: current_time = time.time() elapsed_time = current_time - start_time car.run(30, 30) if elapsed_time >= 0.1: break start_time = time.time() while True: current_time = time.time() elapsed_time = current_time - start_time car.run(28 , 31 ) if elapsed_time >= 0.2: break else: start_time = time.time() while True: current_time = time.time() elapsed_time = current_time - start_time car.run(30, 30) if elapsed_time >= 0.4: break # time.sleep(0.1) line = img.get_regression([(100, 100)], robust=True) if (line): rho_err = abs(line.rho())-img.width()/2 if line.theta()>90: theta_err = line.theta()-180 else: theta_err = line.theta() img.draw_line(line.line(), color = 127) print(rho_err,line.magnitude(),rho_err) if line.magnitude()>8: #if -40<b_err<40 and -30<t_err<30: rho_output = rho_pid.get_pid(rho_err,1) theta_output = theta_pid.get_pid(theta_err,1) output = rho_output+theta_output car.run(30+output, 30-output) else: car.run(0,0) else: car.run(30,-30) pass #print(clock.fps()) print(circle)car.py程序如下：
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)))pid.py的程序如下：
from pyb import millis
from math import pi, isnanclass 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')
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可能是引脚冲突了
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就是引脚冲突了，LCD不能和电机扩展板同时使用。