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。
  • 将lcd显示程序嵌套进追小球云台后虽然可以识别但是云台不转动了是怎么回事呢



    • import sensor,time,image,math, pyb,lcd
      from pid import PID
      from pyb import Servo

      pan_servo=Servo(1)
      tilt_servo=Servo(2)

      pan_servo.calibration(500,2500,500)
      tilt_servo.calibration(500,2500,500)

      redthresholds = (20, 67, 40, 105, -28, 60) # grayscale thresholds设置阈值
      greenthresholds =(55, 71, -110, -13, -128, 127)#L亮度;a的正数代表红色,负端代表绿色;b的正数代表黄色,负端代表兰色
      bluethresholds = (57, 75, -34, -7, -79, 32)
      red_code = 1
      green_code = 2
      blue_code = 3

      pan_pid = PID(p=0.07, 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=0.05, i=0, imax=90) #脱机运行或者禁用图像传输,使用这个PID
      sensor.reset() # 初始化 sensor.
      sensor.set_pixformat(sensor.RGB565) # or sensor.RGB565
      sensor.set_framesize(sensor.QQVGA) # or sensor.QVGA (or others)(QQVGA160120)
      sensor.skip_frames(10) # 让新的设置生效
      sensor.set_auto_whitebal(False) # turn this off.
      #sensor.set_auto_gain(False) # 关闭自动自动增益。默认开启的。
      lcd.init()#LCD的分辨率为128
      160
      clock = time.clock() # 追踪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#定义最大色块未W乘以h

      while(True):
      clock.tick() # Track elapsed milliseconds between snapshots().
      image = sensor.snapshot().lens_corr(1.8)# Take a picture and return the image.
      blobs = image.find_blobs([redthresholds, greenthresholds], area_threshold=2000)
      if blobs:
      print(blobs)
      for blob in blobs:
      x = blob[0]
      y = blob[1]
      width = blob[2] # 色块矩形的宽度
      height = blob[3] # 色块矩形的高度
      center_x = blob[5] # 色块中心点x值
      center_y = blob[6] # 色块中心点y值
      color_code = blob[8]

              if color_code == red_code:
                  max_blob = find_max(blobs)
                  pan_error = max_blob.cx()-image.width()/2
                  tilt_error = max_blob.cy()-image.height()/2
      
                  print("pan_error: ", pan_error)
      
                  image.draw_string(20,0,"rect",color=(0,0,0))
                  image.draw_rectangle(max_blob.rect())
                  image.draw_cross(center_x, center_y)
      
                  image.draw_string(20,10,"w",color=(0,0,0))
                  image.draw_string(20,20,"h",color=(0,0,0))
                  image.draw_string(30,10,str(blob[2]),color=(0,0,0))
                  image.draw_string(30,20,str(blob[3]),color=(0,0,0))
                  lcd.display(image)#识别到矩形时才能显示,否则屏幕画面停留在之前的界面
                  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)