openmv程序运行卡，导致部分程序不执行

[kidswong999]

你需要提供可以复现问题的代码，我需要能够运行你的错误，才能知道是什么问题。

[2475887818]

@2475887818
def find_target(scan_threshold): #寻找目标物
global angle, c, ROI, flag0, flag2, flag4, flag6, turn, max_blob, second_blob
img = sensor.snapshot() # Take a picture and return the image.

blobs = img.find_blobs([scan_threshold], roi = ROI, x_stride = 10, y_stride = 8, pixels_threshold = 50)
flag4 = 0       #让镜头变化后的下一次数据有效
if blobs:
    #turn = 0
    max_blob = blobs[0]
    second_blob = blobs[0]
    target_blob = choose_target(blobs)
    #if (flag2 == 1) & (target_blob.cy() >= 60) :
    #    c = 'k'
    #    send(0x01, c)
    #print(target_blob.density())
    print(target_blob.pixels())
    #print(target_blob.cy())
    img.draw_rectangle(target_blob.rect())
    img.draw_cross(target_blob.cx(), target_blob.cy())
    img.draw_cross(second_blob.cx(), second_blob.cy())
    #print(max_blob.pixels())
    if target_blob.cy() < 5 :
        c = 'w'
        send(0x00, c)
        time.sleep(10)
    else :
        if (angle == 200) & (target_blob.cx() <= 95):
            c = 'a'
            send(0x00, c)
            #time.sleep(1000)
        elif (angle == 100) & (target_blob.cx() >= 145) :
            c = 'd'
            send(0x00, c)
            #time.sleep(1000)
        elif (angle >= 100) & (angle <= 200) :
            if (target_blob.cx() <= 95) :
                angle = angle + 1
                if angle > 200 :
                    angle = 200
                s1.pulse_width(500 + 10*angle)
                #print(angle)
            elif (target_blob.cx() >= 145) :
                angle = angle - 1
                if angle < 100 :
                    angle = 100
                s1.pulse_width(500 + 10*angle)
                #print(angle)
            elif (target_blob.cx() > 95) & (target_blob.cx() < 145) :
                if angle < 168 :
                    c = 'd'
                    send(0x00, c)
                elif angle > 174 :
                    c = 'a'
                    send(0x00, c)

                elif (angle >= 168) & (angle <= 174) :
                    c = 'c'
                    send(0x00, c)
                    time.sleep(10)
                    #ROI = (60, 0, 120, 160)
                    if (flag2 == 1) :
                        if (target_blob.cy() >= 115) :
                            c = 't'
                            send(0x00, c)
                            time.sleep(10)
                            c = 'k'
                            send(0x01, c)
                            flag2 = 0
                            flag4 = 1
                            time.sleep(1000)

                        elif target_blob.cy() < 115 :
                            c = 'w'
                            send(0x00, c)

                    elif (flag2 == 0) & (flag4 == 0) :
                        if target_blob.cy() < 105 :
                            c = 'w'
                            send(0x00, c)
                        elif target_blob.cy() > 115 :
                            c = 's'
                            send(0x00, c)

                        elif (target_blob.cy() >= 105) & (target_blob.cy() <= 115) :
                            c = 't'
                            send(0x00, c)
                            time.sleep(1000)

                            c = 'j'
                            send(0x01, c)
                            time.sleep(4000)

                            s1.pulse_width(790)
                            time.sleep(1000)

                            c = 'l'
                            send(0x01, c)
                            time.sleep(1000)

                            s1.pulse_width(2500)
                            time.sleep(2000)

                            c = 'k'
                            send(0x01, c)
                            time.sleep(1000)

                            flag0 = 0
                            flag1 = 0
                            flag2 = 0
                            flag3 = 1
                            flag4 = 0
                            turn = 0
                            angle = 200
                            #ROI = (0, 0, 240, 160)


else :
    #pass
    if turn >= 4 :
        flag6 = 1
    elif turn < 4 :
       c = 't'
       send(0x00, c)
       scan_target()

[kidswong999]

再说一遍，要可以运行，并且能够复现出你的错误的代码。

你的代码运行不了，连import都没有。

起码提问之前应该检查一下吧

[2475887818]

这是一个做电赛题目的程序，通过按键来决定做的题

import sensor, image, time, pyb, json, pyb
from pyb import Servo, Pin, LED, I2C, UART

##################### 定义变量 ##########################
i2c = I2C(2, I2C.MASTER) #定义I2C为主机

s1 = Servo(1) # P7 #定义舵机

p0_in = Pin('P0', Pin.IN, Pin.PULL_UP) #定义开关引脚
p1_in = Pin('P1', Pin.IN, Pin.PULL_UP)
p2_in = Pin('P2', Pin.IN, Pin.PULL_UP)

start = pyb.millis()

led1 = pyb.LED(1) #定义led
led2 = pyb.LED(2)
led3 = pyb.LED(3)

angle = 200 #初始化全局变量
flag0 = 0 #扫描时是否复位（0——未复位）
flag1 = 0 #扫描方向（0——向右，1——向左）
flag2 = 0 #扫描镜头高度（0——低镜头，1——高镜头）
flag3 = 1 #判断是否为开始第一个扫描循环（1——是开始第一个，不转向；0——不是开始第一个，完成后转向）
flag4 = 0 #镜头是否进行了由高变低动作（0——未进行，本次cy()值可用；1——应进行，本次cy()不可用）
flag5 = 0 #机械臂是否转到后方（0——未转到，1——已转到）
flag6 = 0 #是否完成夹取任务
flag7 = 0 #是否到达B位置（0——未到达，1——已到达）
flag8 = 0 #是否到达D位置（0——未到达，1——已到达）
flag9 = 0 #是否完成倒垃圾
flag10 = 0
turn = 0 #搜索目标物时的转动次数
#turn3 = 0 #搜索目标区域时的转动次数
c = 't' #要发送的I2C变量
r = 'z'
#k=3380 #测距常数
ROI = (0, 0, 240, 160)

yellow_threshold = (52, 83, 5, 47, 20, 59)
#yellow_threshold = (56, 77, 12, 43, 25, 67) #定义阈值
red_threshold = (44, 84, 27, 76, 16, 56)
black_threshold = (5, 51, -11, 24, -12, 19)
#black_threshold = (0, 0, 0, 0, 0, 0)
scan_threshold = ( 0, 0, 0, 0, 0, 0)

def choose_target(blobs): #选择目标物

global turn, max_blob, second_blob
max_size = 0
second_size = 0

for blob in blobs:
    if blob.pixels() > max_size:
        second_blob = max_blob
        second_size = max_size
        max_blob = blob
        max_size = blob.pixels()
    elif blob.pixels() > second_size :
        second_blob = blob
        second_size = blob.pixels()
    elif blob.pixels() < second_size :
        pass
    if flag6 == 0 :                           #如果进入搜索目标区域，则关闭对目标区域的排除
        not_goal_area()
    else :
        pass

return max_blob

def not_goal_area() : #排除目标区域
global max_blob, second_blob
if max_blob.pixels() >= 1350: #目标大于物块的最大面积，定为区域
max_blob = second_blob
elif max_blob.pixels() <= 100: #目标小于区域的最小面积，定为物块
pass
#elif max_blob.cy() > 40 :

elif flag2 == 0 :
    pass
elif flag2 == 1 :
    pass

def scan_target() : #扫描场地
global angle, flag0, flag1, flag2, flag3, turn

if flag2 == 0 :
    c = 'k'
    send(0x01, c)
elif flag2 == 1 :
    c = 'i'
    send(0x01, c)
if flag0 == 0 :
    angle = 200
    s1.pulse_width(500 + 10*angle)          #扫描前复位
    flag0 = 1
else :
    pass

if flag1 == 0 :                             #向右扫描
    angle = angle - 1
    if angle < 100 :
        flag1 = 1
        angle = 100

elif flag1 == 1 :                           #向左扫描
    angle = angle + 1
    if angle > 200 :
        angle = 200
        flag0 = 0
        flag1 = 0

        if flag2 == 0 :                     #变换高度扫描
            flag2 = 1
            if flag3 == 1 :
                flag3 = 0
        elif flag2 == 1 :
            flag2 = 0
            if flag3 == 0 :
                turn = turn + 1
                c = 'a'
                send(0x00, c)
                time.sleep(3000)

s1.pulse_width(500 + 10*angle)

def send(addr, char): #发送命令
try:
i2c.send(char, addr, timeout = 200) # write 3 bytes to slave with 7-bit address 42
except OSError as err:
pass
return r

def receive(addr, data): #发送命令
global r
try:
r = i2c.recv(data, addr, timeout = 200) # read 4 bytes from slave with 7-bit address 42
except OSError as err:
pass
return r

def find_target(scan_threshold): #寻找目标物
global angle, c, ROI, flag0, flag2, flag4, flag6, turn, max_blob, second_blob
img = sensor.snapshot() # Take a picture and return the image.

blobs = img.find_blobs([scan_threshold], roi = ROI, x_stride = 10, y_stride = 8, pixels_threshold = 50)
flag4 = 0       #让镜头变化后的下一次数据有效
if blobs:
    #turn = 0
    max_blob = blobs[0]
    second_blob = blobs[0]
    target_blob = choose_target(blobs)
    #if (flag2 == 1) & (target_blob.cy() >= 60) :
    #    c = 'k'
    #    send(0x01, c)
    #print(target_blob.density())
    print(target_blob.pixels())
    #print(target_blob.cy())
    img.draw_rectangle(target_blob.rect())
    img.draw_cross(target_blob.cx(), target_blob.cy())
    img.draw_cross(second_blob.cx(), second_blob.cy())
    #print(max_blob.pixels())
    if target_blob.cy() < 5 :
        c = 'w'
        send(0x00, c)
        time.sleep(10)
    else :
        if (angle == 200) & (target_blob.cx() <= 95):
            c = 'a'
            send(0x00, c)
            #time.sleep(1000)
        elif (angle == 100) & (target_blob.cx() >= 145) :
            c = 'd'
            send(0x00, c)
            #time.sleep(1000)
        elif (angle >= 100) & (angle <= 200) :
            if (target_blob.cx() <= 95) :
                angle = angle + 1
                if angle > 200 :
                    angle = 200
                s1.pulse_width(500 + 10*angle)
                #print(angle)
            elif (target_blob.cx() >= 145) :
                angle = angle - 1
                if angle < 100 :
                    angle = 100
                s1.pulse_width(500 + 10*angle)
                #print(angle)
            elif (target_blob.cx() > 95) & (target_blob.cx() < 145) :
                if angle < 168 :
                    c = 'd'
                    send(0x00, c)
                elif angle > 174 :
                    c = 'a'
                    send(0x00, c)

                elif (angle >= 168) & (angle <= 174) :
                    c = 'c'
                    send(0x00, c)
                    time.sleep(10)
                    #ROI = (60, 0, 120, 160)
                    if (flag2 == 1) :
                        if (target_blob.cy() >= 115) :
                            c = 't'
                            send(0x00, c)
                            time.sleep(10)
                            c = 'k'
                            send(0x01, c)
                            flag2 = 0
                            flag4 = 1
                            time.sleep(1000)

                        elif target_blob.cy() < 115 :
                            c = 'w'
                            send(0x00, c)

                    elif (flag2 == 0) & (flag4 == 0) :
                        if target_blob.cy() < 105 :
                            c = 'w'
                            send(0x00, c)
                        elif target_blob.cy() > 115 :
                            c = 's'
                            send(0x00, c)

                        elif (target_blob.cy() >= 105) & (target_blob.cy() <= 115) :
                            c = 't'
                            send(0x00, c)
                            time.sleep(1000)

                            c = 'j'
                            send(0x01, c)
                            time.sleep(4000)

                            s1.pulse_width(790)
                            time.sleep(1000)

                            c = 'l'
                            send(0x01, c)
                            time.sleep(1000)

                            s1.pulse_width(2500)
                            time.sleep(2000)

                            c = 'k'
                            send(0x01, c)
                            time.sleep(1000)

                            flag0 = 0
                            flag1 = 0
                            flag2 = 0
                            flag3 = 1
                            flag4 = 0
                            turn = 0
                            angle = 200
                            #ROI = (0, 0, 240, 160)


else :
    #pass
    if turn >= 4 :
        flag6 = 1
    elif turn < 4 :
       c = 't'
       send(0x00, c)
       scan_target()

def move_to_B(scan_threshold) :

global angle, c, flag0, flag2, flag4, flag7, turn, max_blob, second_blob
img = sensor.snapshot() # Take a picture and return the image.

blobs = img.find_blobs([scan_threshold], roi = ROI, x_stride = 10, y_stride = 8, pixels_threshold = 50)
#flag4 = 0
if blobs:
    max_blob = blobs[0]
    second_blob = blobs[0]
    target_blob = choose_target(blobs)
    #if (flag2 == 1) & (target_blob.cy() >= 60) :
    #    c = 'k'
    #    send(0x01, c)
    #print(target_blob.density())
    print(target_blob.pixels())
    #print(target_blob.cy())
    img.draw_rectangle(target_blob.rect())
    img.draw_cross(target_blob.cx(), target_blob.cy())
    #print(max_blob.pixels())
    if target_blob.cy() < 5 :
        c = 'w'
        send(0x00, c)
        time.sleep(10)
    else :
        if angle == 200 :
            if target_blob.cx() <= 90 :
                c = 'a'
                send(0x00, c)
                #time.sleep(1000)
        elif angle == 100 :
            if target_blob.cx() >= 150 :
                c = 'd'
                send(0x00, c)
                #time.sleep(1000)
        if (target_blob.cx() <= 90) :
            angle = angle + 1
            if angle > 200 :
                angle = 200
            s1.pulse_width(500 + 10*angle)
            #print(angle)
        elif (target_blob.cx() >= 150) :
            angle = angle - 1
            if angle < 100 :
                angle = 100
            s1.pulse_width(500 + 10*angle)
            #print(angle)
        elif (target_blob.cx() > 90) & (target_blob.cx() < 150) :
            if angle < 166 :
                c = 'd'
                send(0x00, c)
            elif angle > 176 :
                c = 'a'
                send(0x00, c)

            elif (angle >= 166) & (angle <= 176) :
                if target_blob.cy() < 120 :
                    c = 'w'
                    send(0x00, c)
                elif target_blob.cy() > 140 :
                    c = 's'
                    send(0x00, c)

                elif (target_blob.cy() >= 120) & (target_blob.cy() <= 140) :
                    c = 't'
                    send(0x00, c)
                    time.sleep(10)

                    flag0 = 0
                    flag1 = 0
                    flag2 = 0
                    flag3 = 1
                    flag4 = 0
                    flag7 = 1
                    #turn = 0


else :
    c = 'i'
    send(0x01, c)
    time.sleep(10)
    c = 'd'
    send(0x00, c)
    time.sleep(100)
    c = 't'
    send(0x00, c)

def move_to_D() :
global c, r, flag8
c = 'e'
send(0x00, c)
time.sleep(10)
if receive(0x00, 1) == b'x' :
flag0 = 0
flag1 = 0
flag2 = 0
flag3 = 1
flag4 = 0
flag8 = 1
print('@')
else :
pass

#def spotting(scan_threshold) : #测点定位

def find_goal_area(scan_threshold) :
global angle, c, flag0, flag2, flag4, flag5, flag9, max_blob, second_blob
if flag5 == 0 :
time.sleep(2000)
c = 't'
send(0x00, c)
time.sleep(1000)
c = 'm'
send(0x01, c)
time.sleep(1000)
s1.pulse_width(790)
time.sleep(1000)
c = 'n'
send(0x01, c)
time.sleep(500)
flag5 = 1
else :
pass

img = sensor.snapshot() # Take a picture and return the image.

blobs = img.find_blobs([scan_threshold], roi = ROI, x_stride = 10, y_stride = 8, pixels_threshold = 300)

#flag4 = 0

if blobs:
    max_blob = blobs[0]
    second_blob = blobs[0]
    target_blob = choose_target(blobs)

    print(target_blob.density())
    #print(target_blob.pixels())
    #print(target_blob.cy())
    img.draw_rectangle(target_blob.rect())
    img.draw_cross(target_blob.cx(), target_blob.cy())


    if target_blob.cx() <= 80 :
        c = 'a'
        send(0x00, c)
        time.sleep(200)

    elif target_blob.cx() >= 160 :
        c = 'd'
        send(0x00, c)
        time.sleep(200)

    elif (target_blob.cx() > 80) & (target_blob.cx() < 160) :

        if target_blob.cy() < 145 :
            c = 's'
            send(0x00, c)
        elif target_blob.cy() > 150 :
            c = 'w'
            send(0x00, c)

        elif (target_blob.cy() >= 145) & (target_blob.cy() <= 150) :
            c = 'c'
            send(0x00, c)

            c = 't'
            send(0x00, c)
            time.sleep(1000)

            c = 'm'
            send(0x01, c)
            time.sleep(1000)

            s1.pulse_width(2210)
            time.sleep(1000)

            c = 'o'
            send(0x01, c)
            time.sleep(2000)

            c = 's'
            send(0x00, c)
            time.sleep(2000)
            c = 't'
            send(0x00, c)
            time.sleep(1000)
            flag0 = 0
            flag1 = 0
            flag9 = 1
            #flag4 = 0

else :
    #pass
    c = 'd'
    send(0x00, c)
    time.sleep(1000)
    c = 't'
    send(0x00, c)

#def sport() :

################### 初始化 ###############################
sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.RGB565) # use RGB565.
sensor.set_framesize(sensor.HQVGA) # 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.

s1.pulse_width(2500)
c = 't'
send(0x00, c)
time.sleep(10)
c = 'k'
send(0x01, c)
time.sleep(1000)
flag10 = 0

while (True) :
#print(flag6)
#print(angle)
print(pyb.elapsed_millis(start))
print(turn)
if (p1_in.value() == 0) & (p0_in.value() == 0) :
led1.on()
if flag10 == 0 :
c = 'w'
send(0x00, c)
time.sleep(4000)
c = 's'
send(0x00, c)
time.sleep(3000)
c = 't'
send(0x00, c)
time.sleep(1000)
flag10 = 1
elif flag10 == 1 :
if (flag6 == 0) & (pyb.elapsed_millis(start) < 150000) :
find_target(black_threshold)
print('a')
else :
flag6 = 1
find_goal_area(black_threshold)
print('b')
elif (p1_in.value() == 0) & (p0_in.value() == 1) :
led2.on()
if (flag6 == 0) & (pyb.elapsed_millis(start) < 60000) :
find_target(black_threshold)
print('a')
else :
flag6 = 1
if flag7 == 0 :
move_to_B(black_threshold)
print('b')
elif flag7 == 1 :
if flag8 == 0 :
move_to_D()
print('c')
elif flag8 == 1 :
if flag9 == 0 :
find_goal_area(red_threshold)
print('d')
elif flag9 == 1 :
c = 't'
send(0x00, c)
time.sleep(100)
elif (p1_in.value() == 1) & (p0_in.value() == 0) :
led3.on()
if flag6 == 0 :
find_target(yellow_threshold)
print('a')
elif flag6 == 1 :
if flag7 == 0 :
move_to_B(black_threshold)
print('b')
elif flag7 == 1 :
if flag8 == 0 :
move_to_D()
print('c')
elif flag8 == 1 :
if flag9 == 0 :
find_goal_area(red_threshold)
print('d')
elif flag9 == 1 :
c = 't'
send(0x00, c)
time.sleep(100)

elif (p1_in.value() == 1) & (p0_in.value() == 1) :
    c = 't'
    send(0x00, c)

[kidswong999]

所以有什么问题？

• 想要的现象，想实现的功能
• 哪里有问题，有什么现象
• 自己尝试过什么解决办法

[2475887818]

现在不能正常的夹目标，find_target()里边的最后部分不能完整顺利的执行，有时候会越过一部分的动作，导致夹目标动作出现问题
就以下的这些动作出问题（延时是给机械臂执行动作的时间）：
c = 't'
send(0x00, c)
time.sleep(1000)

                        c = 'j'
                        send(0x01, c)
                        time.sleep(4000)

                        s1.pulse_width(790)
                        time.sleep(1000)

                        c = 'l'
                        send(0x01, c)
                        time.sleep(1000)

                        s1.pulse_width(2500)
                        time.sleep(2000)

                        c = 'k'
                        send(0x01, c)
                        time.sleep(1000)

[kidswong999]

是数据没有发出去？还是执行器有问题？

有没有用示波器看波形？

起码你应该print一下，看一下是否是逻辑的问题。

[2475887818]

@kidswong999 单个没问题，把各部分集成到一块就会出错，而且不一定出错，有时候会，有时候不会

[kidswong999]

还是我上面的话，你根本也没回答我的问题……

是数据没有发出去？还是执行器有问题？

有没有用示波器看波形？

起码你应该print一下，看一下是否是逻辑的问题。

[2475887818]

数据发送的时候有一部分会丢失，导致执行部分不能执行完整的动作，没有示波器，看不了波形，单个运行的时候都是正常的，说明这一部分的逻辑应该是没问题的。