在巡线小车教程里复制粘贴之后的代码，不知道为什么运行出来的结果和预想的不一样

[osyq]

我运行时显示的图像结果是这样：

按照教程来看，结果应该是这样：

结果应该是所巡的路线成白色，而且图像中间画有条线，但是我运行出的结果是图像中间没有画有线，请问大佬们这是为什么。

请在这里粘贴代码
<main.py>
THRESHOLD = (33, 62, 0, 79, 60, -6) # 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)

    print(rho_err,line.magnitude(),rho_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())

请在这里粘贴代码
<pid.py>
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')

请在这里粘贴代码
<car.py>
from pyb import Pin, Timer
inverse_left=False
inverse_right=False
ain1 = Pin('P0', Pin.OUT_PP)
ain2 = Pin('P1', Pin.OUT_PP)
bin1 = Pin('P2', Pin.OUT_PP)
bin2 = Pin('P3', Pin.OUT_PP)
ain1.low()
ain2.low()
bin1.low()
bin2.low()
pwma = Pin('P7')
pwmb = Pin('P8')
tim = Timer(4, freq=1000)
ch1 = tim.channel(1, Timer.PWM, pin=pwma)
ch2 = tim.channel(2, Timer.PWM, pin=pwmb)
ch1.pulse_width_percent(0)
ch2.pulse_width_percent(0)
def run(left_speed, right_speed):
if inverse_left==True:
left_speed=(-left_speed)
if inverse_right==True:
right_speed=(-right_speed)
if left_speed < 0:
ain1.low()
ain2.high()
else:
ain1.high()
ain2.low()
ch1.pulse_width_percent(abs(left_speed))
if right_speed < 0:
bin1.low()
bin2.high()
else:
bin1.high()
bin2.low()
ch2.pulse_width_percent(abs(right_speed))

[kidswong999]

安装最新的IDE，更新到最新的固件。