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  • NameError:local variable referenced before assignment



    • import sensor,image, time
      from servo import Servos
      from pid import PID
      from machine import I2C, Pin
      
      i2c = I2C(sda=Pin('P5'), scl=Pin('P4'))
      tilt_servo = Servos(i2c, address=0x40, freq=50, min_us=500, max_us=2500, degrees=180) #通道1
      pan_servo = Servos(i2c, address=0x40, freq=50, min_us=500, max_us=2500, degrees=180)  #通道2
      
      
      red_threshold  = (46, 57, 46, 72, 9, 51)
      
      #pan_pid = PID(p=0.02, i=0, imax=90,d=0.001) #脱机运行或者禁用图像传输,使用这个PID
      #tilt_pid = PID(p=0.019, i=0, imax=90,d=0.001) #脱机运行或者禁用图像传输,使用这个PID
      pan_pid = PID (p=0.018, i=0, imax=90,d=0)#在线调试使用这个PID
      tilt_pid = PID(p=0.018, i=0, imax=90,d=0)#在线调试使用这个PID
      pan=50#X初角度  70
      tilt=50#Y初角度 50
      pan_servo.position(1, pan)
      tilt_servo.position(0,tilt)
      sensor.reset() # Initialize the camera sensor.
      sensor.set_pixformat(sensor.RGB565) # use RGB565.
      sensor.set_hmirror(True)
      sensor.set_vflip(True)
      sensor.set_framesize(sensor.QVGA) # 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.
      
      # blob[2]=blob.width
      # blob[3]=blob.height
      def find_max(blobs):
          max_size=0
          for blob in blobs:
              ratio = blob[2] / blob[3]
              if (ratio >= 0.7) and (ratio <= 1.3):
                  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=返回一个矩形元组(x, y, w, h)
              img.draw_cross(max_blob.cx(), max_blob.cy()) # cx, cy 画一个十字
      
              pan_output=pan_pid.get_pid(pan_error,1)
              tilt_output=tilt_pid.get_pid(tilt_error,1)
              print("pan_output",pan_output)
              pan_servo.position(1, pan-pan_output)
              tilt_servo.position(0,tilt+tilt_output)
              pan=pan-pan_output
              tilt=tilt+tilt_output
              print(clock.fps())
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      
      


    • 如果你的blobs是空的就会出现,写一个if判断一下。