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  • 源代码执行出问题



    • 0_1535876943692_CMHWA8CG9VRJ.jpg

      import sensor, image, time
      
      from pid import PID
      from pyb import Servo
      
      pan_servo=Servo(1)
      tilt_servo=Servo(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)
      

      这是怎磨回事



    • 我运行这个代码,没有出现报错。

      首先你确定把pid.py正确的复制到OpenMV里面了?



    • 复制到了 我看了都



    • 不仅仅是复制,你要保证复制的是正确的pid.py。请把你u盘里复制进去的pid.py截图并提供源码。



    • ![0_1535974560144_N71TEMYH4R%_$45MS$XSAG.png](正在上传 58%)

      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')
      


    • @yuan 0_153597494939FF.png

      这是神魔问题



    • 你的图片没有上传成功



    • 请直接格式化OpenMV 的磁盘,然后重新操作



    • @yuan ![0_1535978232783_L`5N]4@MY2)N)$N8TAWAFF.png

      这是怎回事啊



    • 请直接格式化OpenMV 的磁盘,然后重新操作



    • @yuan 0_1535979025938_ng

      文件系统选哪一个



    • FAT32就可以