• 星瞳AI VISION软件内测!可以离线标注,训练,并生成OpenMV的模型。可以替代edge impulse https://forum.singtown.com/topic/8206
  • 我们只解决官方正版的OpenMV的问题(STM32),其他的分支有很多兼容问题,我们无法解决。
  • 如果有产品硬件故障问题,比如无法开机,论坛很难解决。可以直接找售后维修
  • 发帖子之前,请确认看过所有的视频教程,https://singtown.com/learn/ 和所有的上手教程http://book.openmv.cc/
  • 每一个新的提问,单独发一个新帖子
  • 帖子需要目的,你要做什么?
  • 如果涉及代码,需要报错提示全部代码文本,请注意不要贴代码图片
  • 必看:玩转星瞳论坛了解一下图片上传,代码格式等问题。
  • 巡线小车程序,在没有检测到线的时候,模块直接停止运行了,怎么避免??



    • pid.py程序0_1541402968747_微信图片_20181105152914.jpg
      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')
      

      main.py程序
      THRESHOLD = (60, 80, -10, 10, -10, 20) # Grayscale threshold for dark things...
      import sensor, image, time
      from pyb import LED
      from pid import PID
      rho_pid = PID(p=0.4, i=0)
      theta_pid = PID(p=0.001, i=0)

      sensor.reset()
      sensor.set_vflip(True)
      sensor.set_hmirror(True)
      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.

      while(True):
      clock.tick()
      img = sensor.snapshot().binary([THRESHOLD])
      line = img.get_regression([(100,100,0,0,0,0)], 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)



    • 逻辑有问题,最后那里,应该加缩进



    • 好的,谢谢大神帮忙!!!!