电机和舵机是否能同时驱动？

[3ksq]

THRESHOLD = (40, 100, -128, 127, -128, 127) # Grayscale threshold for dark things...
import sensor, image, time
from pyb import LED, Servo
from tb6612 import Motor

servo3 = Servo(3)
servo3.angle(0)
m1 = Motor(1) # motor 1: A0 and A1
#m2 = Motor(2) # motor 2: B0 and B1

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()
    m1.set_speed(10) # Forward
    #m2.set_speed(10) # Forward
    img = sensor.snapshot().binary([THRESHOLD])
    line = img.get_regression([(100,100)], 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(),theta_err)
        if line.magnitude()>8:
            servo3.angle(0+theta_err)

[kidswong999]

不能同时使用，引脚冲突。

[3ksq]

舵机用p9 电机用p7 p8也不行吗？

[kidswong999]

那可以，但是电机的pwm定时器要改，不能用4

[3ksq]

比如说？ 我改了好像有报错，只需要实现驱动一个功能

[kidswong999]

你用的什么OpenMV硬件？

[3ksq]

@kidswong999 openmv4 h7

[kidswong999]

https://github.com/openmv/openmv/blob/master/scripts/libraries/tb6612.py

得把这里面的time4都改成其他的，然后把tb6612.py放到sd卡里。