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  • 亲,我只想询问一下代码方面的问题,小车巡线的功能实现不了,能否帮帮忙?小车一直在原地打转,直线拟合需要亲你的帮助?



    • 请在这里粘贴代码
      

      THRESHOLD = (56, 100, -24, 126, -103, 97) # Grayscale threshold for dark things...
      import sensor, image, time
      from pyb import LED
      import car
      from pid import PID
      rho_pid = PID(p=0.4, i=0)
      theta_pid = PID(p=9, i=8)

      #LED(1).on()
      #LED(2).on()
      #LED(3).on()

      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(),theta_err)
      if line.magnitude()>8:
      #if -40<b_err<40 and -30<t_err<30:
      rho_output = rho_pid.get_pid(rho_err,1)
      theta_output = theta_pid.get_pid(theta_err,1)
      output = rho_output+theta_output
      car.run(50+output, 50-output)
      else:
      car.run(0,0)
      else:
      car.run(50,-50)
      pass
      #print(clock.fps())



    • 你的OpenMV IDE里面画面是什么样的?



    • @kidswong999
      你好,用例程代码让小车寻线,我把阈值改成黑色的了小车也是原地转,看函数的使用方法是不是不能让小车寻黑色的线昂?想寻黑色的线应该怎么改代码呢?求教一下…
      IDE里面的图是这样的…
      感谢🙏0_1564900858567_IMG_20190804_143950.jpg

      THRESHOLD = (5, 70, -23, 15, -57, 0) # Grayscale threshold for dark things...
      import sensor, image, time
      from pyb import LED
      import car
      from pid import PID
      rho_pid = PID(p=0.4, i=0)
      theta_pid = PID(p=0.001, i=0)
      
      LED(1).on()
      LED(2).on()
      LED(3).on()
      
      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)
       
      


    • 你这个阈值需要重新调



    • 0_1564993107845_2019-08-05_16.18.16.jpg

      这个状态对吗?



    • 阈值仍然不好。😂