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  • Warning: I2C(-1, ...) is deprecated



    • 0_1649658162968_捕获.PNG

      
      

      import sensor, image, time,math,pyb
      from pid import PID
      from pyb import Servo
      from pyb import millis
      from math import pi, isnan
      from pyb import Pin, Timer
      import mlx90614
      #import time
      from machine import Pin,I2C
      #import sensor, image, time,math,pyb
      from pyb import UART,LED
      #import json
      import ustruct
      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')
      pan_servo=Servo(1)
      tilt_servo=Servo(2)
      pan_servo.calibration(500,2500,500)
      tilt_servo.calibration(500,2500,500)
      pan_pid = PID(p=0.05, i=0, imax=10)
      tilt_pid = PID(p=0.05, i=0, imax=10)
      #light = Timer(2, freq=50000).channel(1, Timer.PWM, pin=Pin("P6"))
      #light.pulse_width_percent(8)
      #light = Timer(2, freq=50000).channel(1, Timer.PWM, pin=Pin("P6"))
      #light.pulse_width_percent(10)
      sensor.reset()
      sensor.set_contrast(3)
      sensor.set_gainceiling(32)
      sensor.set_pixformat(sensor.RGB565)
      sensor.set_framesize(sensor.VGA)
      sensor.set_vflip(True)
      sensor.skip_frames(10)
      sensor.set_auto_whitebal(True)
      sensor.set_auto_exposure(True)
      sensor.set_auto_gain(True)
      clock = time.clock()
      uart = UART(1, 115200)
      uart.init(115200, bits=8, parity=None, stop=1)
      i2c = I2C(sda=Pin('P5'), scl=Pin('P4'),freq=100000)
      temp = mlx90614.MLX90614(i2c)
      data=bytearray([0xfd,0x00,0x0e,0x01,0x01,0xCE,0xC2,0xB6,0xC8,0xB8,0xDF,0xC7,0xEB,0xD7,0xA2,0xD2,0xE2])
      face_cascade = image.HaarCascade("frontalface", stages=25)
      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_features(face_cascade, threshold=0.2, scale=1.1)
      if blobs:
      max_blob = find_max(blobs)
      pan_error = max_blob[0]+max_blob[2]/2-img.width()/2
      tilt_error = max_blob[1]+max_blob[3]/2-img.height()/2
      print("pan_error: ", pan_error)
      img.draw_rectangle(max_blob,[255,0,0],thickness=5)
      img.draw_cross(int(max_blob[0]+max_blob[2]/2),int(max_blob[1]+max_blob[3]/4),[255,0,0])
      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)
      print('ObjTemp:'+str('%.2f'%temp.ObjectTemp())+'C')
      print('AmbTemp:'+str('%.2f'%temp.AmbientTemp())+'C')
      if temp.ObjectTemp() >= 34.5:
      print("temp");
      uart.write(data)
      time.sleep_ms(1450)0_1649658202601_捕获.PNG

      
      


    • 没看到有错误。你有什么问题?



    • 图片最后一行,是不是提示i2c被占用了?



    • 最后一行是warning,不是错误。不是提示i2c被占用。