颜色追踪与运动自动转动通过按键控制程序的进行的问题
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请教各位大佬帮忙看看是哪里出了问题，我的程序是由舵机云台的红色追踪与舵机云台的自动转动，单独使用都可以运行，但是我加了一个按键（有上拉电阻）后，将两个程序合在一块就没有成功了，所以请教各位大佬帮忙看看问题合在？？？
import sensor, image, time from pid import PID from pyb import Servo pan_servo=Servo(1) tilt_servo=Servo(2) Key=pyb.pin("p5",pyb.pin.IN) Key.value() red_threshold = (47, 62, 22, 79, 22, 62) pan_pid = PID(p=0.0435, i=0, imax=90) #脱机运行或者禁用图像传输，使用这个PID tilt_pid = PID(p=0.03, i=0, imax=90) #脱机运行或者禁用图像传输，使用这个PID #pan_pid = PID(p=0.1, i=0, imax=90)#在线调试使用这个PID #tilt_pid = PID(p=0.1, i=0, imax=90)#在线调试使用这个PID 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. 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().lens_corr(strength = 1.0, zoom = 1.0) if Key.value()==0： 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 img.draw_cross(max_blob.cx(), max_blob.cy()) # cx, cy pan_output=pan_pid.get_pid(pan_error,1)/2 tilt_output=tilt_pid.get_pid(tilt_error,1) print("pan_output",pan_output) pan_servo.angle(pan_servo.angle()+pan_output) tilt_servo.angle(tilt_servo.angle()-tilt_output) else： for i in range(30): s1.angle(-30+i) t = s1.angle() print("angle=",t) time.sleep(10) for i in range(31): s1.angle(31-i) t = s1.angle() print("angle=",t) time.sleep(10)
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