星瞳实验室APP,快速收到回复
  • 我们只解决官方正版的OpenMV的问题(STM32),其他的分支有很多兼容问题,我们无法解决。
  • 如果有产品硬件故障问题,比如无法开机,论坛很难解决。可以直接找售后维修
  • 发帖子之前,请确认看过所有的视频教程,https://singtown.com/learn/ 和所有的上手教程http://book.openmv.cc/
  • 每一个新的提问,单独发一个新帖子
  • 帖子需要目的,你要做什么?
  • 如果涉及代码,需要报错提示全部代码文本,请注意不要贴代码图片
  • 必看:玩转星瞳论坛了解一下图片上传,代码格式等问题。
  • 有懂得老哥吗,小弟不知道怎么处理这个



    • 0_1616663005424_274ccd8e-cb62-435d-9219-db8b16202f8e-image.png ☹



    • #car.py
      from pyb import Pin, Timer
      inverse_left=False #change it to True to inverse left wheel
      inverse_right=False #change it to True to inverse right wheel

      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))


    • #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')


    • #tracking.py
      THRESHOLD = (0,100) # 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)

      BINARY_VISIBLE = True # 首先执行二进制操作,以便您可以看到正在运行的线性回归...虽然可能会降低FPS。

      import sensor, image, time

      sensor.reset()
      sensor.set_pixformat(sensor.GRAYSCALE)
      sensor.set_framesize(sensor.QQVGA)
      sensor.skip_frames(time = 2000)
      clock = time.clock()
      # to process a frame sometimes.

      while(True):
      clock.tick()
      img = sensor.snapshot().binary([THRESHOLD])
      line = img.get_regression([(255,255) if BINARY_VISIBLE else THRESHOLD])
      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()>0:
      #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())



    • 改为:ch1.pulse_width_percent(int(abs(left_speed)))
      就是多一个int函数。