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  • 代码运行了,但这个舵机就通电动一下,不能识别转向。



    • 
      # These pins control our direction while the other PWN pins
      # below control the speed. The direction for each motor
      # is set by an H-Bridge where A0/1 are the two sides of
      # one H-Bridge driver. B0/1 are another H-Bridge.
      pinADir0 = pyb.Pin('P3', pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
      pinADir1 = pyb.Pin('P2', pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
      pinBDir0 = pyb.Pin('P1', pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
      pinBDir1 = pyb.Pin('P0', pyb.Pin.OUT_PP, pyb.Pin.PULL_NONE)
      
      # Dir0/1 must be not equal to each other for forward or backwards
      # operation. If they are equal then that's a brake operation.
      # If they are not equal then the motor will spin one way other the
      # other depending on it's hookup and the value of dir 0.
      pinADir0.value(0)
      pinADir1.value(1)
      
      # Dir0/1 must be not equal to each other for forward or backwards
      # operation. If they are equal then that's a brake operation.
      # If they are not equal then the motor will spin one way other the
      # other depending on it's hookup and the value of dir 0.
      pinBDir0.value(0)
      pinBDir1.value(1)
      
      # Create a timer object running at 1KHz which which will power the
      # PWM output on our OpenMV Cam. Just needs to be created once.
      tim = pyb.Timer(4, freq=1000)
      
      # Use the timer object to create two PWM outputs on the OpenMV Cam.
      # These timers control the speed of the motors. You will be setting
      # the PWM percentage of these timers repeatedly in your loop.
      chA = tim.channel(1, pyb.Timer.PWM, pin=pyb.Pin("P7"))
      chB = tim.channel(2, pyb.Timer.PWM, pin=pyb.Pin("P8"))
      import sensor, image, time
      
      from pid import PID
      from pyb import Servo
      
      pan_servo=Servo(1)
      
      pan_servo.calibration(500,2500,500)
      
      red_threshold  = (20, 60, 78, -127, 57, 8)
      
      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
      #pan_pid = PID(p=0.1, i=0, imax=90)#在线调试使用这个PID
      
      sensor.reset() # Initialize the camera sensor.
      sensor.set_pixformat(sensor.RGB565) # use RGB565.
      sensor.set_framesize(sensor.QQVGA) # use QQVGA for speed.
      sensor.skip_frames(10) # Let new settings take affect.
      sensor.set_auto_whitebal(False) # turn this off.
      clock = time.clock() # Tracks 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
      while (True):
          chA.pulse_width_percent(80)
          chB.pulse_width_percent(80)
          clock.tick() # Track elapsed milliseconds between snapshots().
          img = sensor.snapshot() # Take a picture and return the image.
      
          blobs = img.find_blobs([red_threshold])
          if blobs:
              max_blob = find_max(blobs)
              pan_error = max_blob.cx()-img.width()/2
      
              print("pan_error: ", pan_error)
      
              img.draw_rectangle(max_blob.rect()) # rect
              img.draw_cross(max_blob.cx(), max_blob.cy()) # cx, cy
      
              pan_output=pan_pid.get_pid(pan_error,1)/2
              print("pan_output",pan_output)
              pan_servo.angle(pan_servo.angle()+pan_output)


    • https://book.openmv.cc/example/02-Board-Control/servo-control.html

      测试这个代码,舵机是否能动?



    • 我用了舵机扩展板,扩展板那个可以



    • 你代码有问题。

      chA ,chB和舵机引脚冲突了。