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  • 买的追踪绿色小车套件,代码没动,但是现在屏幕中出现绿色就报错,这是怎么回事?



    • 0_1617969801578_QQ截图20210409200220.png



    • import sensor, image, time
      import car
      from pid import PID
      sensor.reset()
      sensor.set_pixformat(sensor.RGB565)
      sensor.set_framesize(sensor.QQVGA)
      sensor.skip_frames(10)
      sensor.set_auto_whitebal(False)
      clock = time.clock()
      green_threshold   = (76, 96, -110, -30, 8, 66)
      size_threshold = 2000
      x_pid = PID(p=0.5, i=1, imax=100)
      h_pid = PID(p=0.05, i=0.1, imax=50)
      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()
      	img = sensor.snapshot()
      	blobs = img.find_blobs([green_threshold])
      	if blobs:
      		max_blob = find_max(blobs)
      		x_error = max_blob[5]-img.width()/2
      		h_error = max_blob[2]*max_blob[3]-size_threshold
      		print("x error: ", x_error)
      		img.draw_rectangle(max_blob[0:4])
      		img.draw_cross(max_blob[5], max_blob[6])
      		x_output=x_pid.get_pid(x_error,1)
      		h_output=h_pid.get_pid(h_error,1)
      		print("h_output",h_output)
      		car.run(-h_output-x_output,-h_output+x_output)
      	else:
      		car.run(18,-18)
      


    • 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))
      


    • 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')
      


    • 更新一下代码:

      https://book.openmv.cc/project/zhui-xiao-qiu-de-xiao-8f665d28-project-pan-tilt-md.html

      car.py改成网页里的就行。