• 安装星瞳实验室APP,快速收到回复。扫描二维码或者点击 https://singtown.com/app/
  • 必看:玩转星瞳论坛了解一下图片上传,代码格式等问题。
  • 一个提问,一个帖子,标题为问题的介绍
  • 请贴出具体的代码,与报错提示。
  • 代码一定要让别人可以运行的文本,不要贴图片
  • OpenMV 模块与自己的电机驱动相连,一通电模块上白灯一直闪。



    • 模块上面引脚连接好电机驱动口后,电机一动一停

      car.py
      from pyb import Pin, Timer
      inverse_left=False  #change it to True to inverse left wheel
      inverse_right=False #change it to True to inverse right wheel
      
      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(abs(left_speed))
      
          if right_speed < 0:
              bin1.low()
              bin2.high()
          else:
              bin1.high()
              bin2.low()
          ch2.pulse_width_percent(abs(right_speed))
      
      
      

      pid.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')
      

      '''

      Blob Detection Example

      This example shows off how to use the find_blobs function to find color

      blobs in the image. This example in particular looks for dark green objects.

      import sensor, image, time
      import car
      from pid import PID

      You may need to tweak the above settings for tracking green things...

      Select an area in the Framebuffer to copy the color settings.

      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.

      For color tracking to work really well you should ideally be in a very, very,

      very, controlled enviroment where the lighting is constant...

      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=0.05, 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() # Track elapsed milliseconds between snapshots().
      img = sensor.snapshot() # Take a picture and return the image.

      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]) # rect
          img.draw_cross(max_blob[5], max_blob[6]) # cx, cy
          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)


    • 0_1535895756769_QQ图片20180902213457_副本.jpg



    • 我们只能保证我们的程序,和我们的教程里的结构是匹配的。

      首先,电机驱动和连线要是一样的,tb6612。

      小车的连线方式,教程里也有说。

      其他结构的小车,每个人的都不一样,我们没办法手把手的给每个小车,都写一遍代码。



    • 0_1535965611058_亚博智能TB6612.png 0_1535965622198_星瞳所用TB6612.png 两种电机驱动一模一样,电平也是一致的,接口也都接对了。
      为什么还是会一闪一闪的重启模块呢?



    • 我估计你的电源接的,不对。

      如果电源接错了,OpenMV很容易损坏。

      tb6612的VM引脚,应该接OpenMV的VIN引脚。千万不能接OpenMV的3.3V引脚。