追踪小车里,让小车固定一定范围寻找目标,加入pyb.delay之后相机也延迟了怎么解决
-
# Blob Detection Example # # This example shows off how to use the find_blobs function to find color # blobs in the image. This example in particular looks for dark green objects. import sensor, image, time, pyb import car from pid import PID # You may need to tweak the above settings for tracking green things... # Select an area in the Framebuffer to copy the color settings. led = pyb.LED(3) led.on() time.sleep_ms(150) led.off() time.sleep_ms(100) led.on() time.sleep_ms(150) led.off() time.sleep_ms(100) led.on() time.sleep_ms(150) led.off() 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(50) # Let new settings take affect. sensor.set_auto_whitebal(False) # turn this off. clock = time.clock() # Tracks FPS. # For color tracking to work really well you should ideally be in a very, very, # very, controlled enviroment where the lighting is constant... green_threshold = (22, 85, -66, -28, -29, 65) #green_threshold = (0, 16, 12, 33, -1, 24) size_threshold = 2000 x_pid = PID(p=0.5, i=1, imax=0) h_pid = PID(p=0.03, i=0.1, imax=0) 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() # Track elapsed milliseconds between snapshots(). img = sensor.snapshot() # Take a picture and return the image. 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) ''' for b in blobs: # Draw a rect around the blob. img.draw_rectangle(b[0:4]) # rect img.draw_cross(b[5], b[6]) # cx, cy ''' img.draw_rectangle(max_blob[0:4]) # rect img.draw_cross(max_blob[5], max_blob[6]) # cx, cya 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(10,0) pyb.delay(1500) car.run(-10,0) pyb.delay(1500)
-
解决办法：再死循环里，使用pyb.millis()查询运行的时间，然后判断，而不使用delay。
-
还是一样的
# Blob Detection Example # # This example shows off how to use the find_blobs function to find color # blobs in the image. This example in particular looks for dark green objects. import sensor, image, time, pyb import car from pid import PID # You may need to tweak the above settings for tracking green things... # Select an area in the Framebuffer to copy the color settings. led = pyb.LED(3) led.on() time.sleep_ms(150) led.off() time.sleep_ms(100) led.on() time.sleep_ms(150) led.off() time.sleep_ms(100) led.on() time.sleep_ms(150) led.off() 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(50) # Let new settings take affect. sensor.set_auto_whitebal(False) # turn this off. clock = time.clock() # Tracks FPS. # For color tracking to work really well you should ideally be in a very, very, # very, controlled enviroment where the lighting is constant... green_threshold = (22, 85, -66, -28, -29, 65) #green_threshold = (0, 16, 12, 33, -1, 24) size_threshold = 2000 x_pid = PID(p=0.5, i=1, imax=0) h_pid = PID(p=0.03, i=0.1, imax=0) 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() # Track elapsed milliseconds between snapshots(). img = sensor.snapshot() # Take a picture and return the image. 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) ''' for b in blobs: # Draw a rect around the blob. img.draw_rectangle(b[0:4]) # rect img.draw_cross(b[5], b[6]) # cx, cy ''' img.draw_rectangle(max_blob[0:4]) # rect img.draw_cross(max_blob[5], max_blob[6]) # cx, cya 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: #pyb.delay(1500) #car.run(-10,0) #pyb.delay(1500) start = pyb.millis() #while pyb.elapsed_millis(start) > 10: #car.run(-10,0) ##start = pyb.millis() ##else: ##car.run(-10,0) while pyb.elapsed_millis(start) < 2000: car.run(10,0) ##start = pyb.millis() while pyb.elapsed_millis(start) < 4000: car.run(-10,0)
-
@kidswong999 也是一样
# Blob Detection Example # # This example shows off how to use the find_blobs function to find color # blobs in the image. This example in particular looks for dark green objects. import sensor, image, time, pyb import car from pid import PID # You may need to tweak the above settings for tracking green things... # Select an area in the Framebuffer to copy the color settings. led = pyb.LED(3) led.on() time.sleep_ms(150) led.off() time.sleep_ms(100) led.on() time.sleep_ms(150) led.off() time.sleep_ms(100) led.on() time.sleep_ms(150) led.off() 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(50) # Let new settings take affect. sensor.set_auto_whitebal(False) # turn this off. clock = time.clock() # Tracks FPS. # For color tracking to work really well you should ideally be in a very, very, # very, controlled enviroment where the lighting is constant... green_threshold = (22, 85, -66, -28, -29, 65) #green_threshold = (0, 16, 12, 33, -1, 24) size_threshold = 2000 x_pid = PID(p=0.5, i=1, imax=0) h_pid = PID(p=0.03, i=0.1, imax=0) 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() # Track elapsed milliseconds between snapshots(). img = sensor.snapshot() # Take a picture and return the image. 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) ''' for b in blobs: # Draw a rect around the blob. img.draw_rectangle(b[0:4]) # rect img.draw_cross(b[5], b[6]) # cx, cy ''' img.draw_rectangle(max_blob[0:4]) # rect img.draw_cross(max_blob[5], max_blob[6]) # cx, cya 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: #pyb.delay(1500) #car.run(-10,0) #pyb.delay(1500) start = pyb.millis() #while pyb.elapsed_millis(start) > 10: #car.run(-10,0) ##start = pyb.millis() ##else: ##car.run(-10,0) while pyb.elapsed_millis(start) < 2000: car.run(10,0) ##start = pyb.millis() while pyb.elapsed_millis(start) < 4000: car.run(-10,0)
-
# Blob Detection Example # # This example shows off how to use the find_blobs function to find color # blobs in the image. This example in particular looks for dark green objects. import sensor, image, time, pyb import car from pid import PID # You may need to tweak the above settings for tracking green things... # Select an area in the Framebuffer to copy the color settings. led = pyb.LED(3) led.on() time.sleep_ms(150) led.off() time.sleep_ms(100) led.on() time.sleep_ms(150) led.off() time.sleep_ms(100) led.on() time.sleep_ms(150) led.off() 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(50) # Let new settings take affect. sensor.set_auto_whitebal(False) # turn this off. clock = time.clock() # Tracks FPS. # For color tracking to work really well you should ideally be in a very, very, # very, controlled enviroment where the lighting is constant... green_threshold = (22, 85, -66, -28, -29, 65) #green_threshold = (0, 16, 12, 33, -1, 24) size_threshold = 2000 x_pid = PID(p=0.5, i=1, imax=0) h_pid = PID(p=0.03, i=0.1, imax=0) 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() # Track elapsed milliseconds between snapshots(). img = sensor.snapshot() # Take a picture and return the image. blobs = img.find_blobs([green_threshold]) if blobs: last_time = pyb.millis() 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) ''' for b in blobs: # Draw a rect around the blob. img.draw_rectangle(b[0:4]) # rect img.draw_cross(b[5], b[6]) # cx, cy ''' img.draw_rectangle(max_blob[0:4]) # rect img.draw_cross(max_blob[5], max_blob[6]) # cx, cya 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: if pyb.elapsed_millis(last_time) % 2000 > 1000: car.run(10,0) else car.run(-10,0)思路就是不用while 用if，然后每次找到色块后更新时间。