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  • 要实现红绿灯规则 但是现在的问题是 不论是红灯还是绿灯小车都会动 我想实现 红灯停 大佬能不能 再把代码改一改?



    • # 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_1
      
      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...
      
      red_threshold   = (93, 10, 98, 22, -33, 91)
      green_threshold   = (72, 32, -12, -51, -1, 81)
      
      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])
          blobs1 = img.find_blobs([red_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)
      
              if blobs1:
      
                 car_1.run(0,0)
                 max_blob1 = find_max(blobs1)
      
                 x_error1 = max_blob1[5]-img.width()/2
      
                 h_error1 = max_blob1[2]*max_blob1[3]-size_threshold
                 car_1.run(0,0)
      
              '''
      
              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_blob1[0:4]) # rect
      
              img.draw_cross(max_blob1[5], max_blob1[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_1.run(-h_output-x_output,-h_output+x_output)
      
      
      
      


    • 代码肯定要你自己写。你可以问具体的问题。