云台输出的角度是什么意思

xsi2


print("pan_output",pan_output)
        pan_servo.angle(pan_servo.angle()+pan_output)
        tilt_servo.angle(tilt_servo.angle()-tilt_output)

kidswong999

https://docs.singtown.com/micropython/zh/latest/openmvcam/library/pyb.Servo.html#id2

xsi2

@kidwong999 你好，我们想知道的是后面打印的
pan_output"这个输出的这个是什么意思

kidswong999

是pid的输出。
OpenMV视觉算出来一个误差，也就是pan_err，作为反馈，输入到pid，得到pan_output，然后用pan_output控制舵机。

xsi2

@kidswong999 可以控制云台360度旋转吗

kidswong999

星瞳科技的云台，舵机是180度

xsi2

 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
        tilt_output=tilt_pid.get_pid(tilt_error,1)

我们想利用串口输出 pan_output，请问怎样才能实现

kidswong999

https://forum.singtown.com/topic/221/关于openmv与arduino通讯的问题

xsi2

@kidswong999

import sensor, image, time, pyb

from pid import PID
from pyb import Servo,UART

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

red_threshold  = (13, 49, 18, 61, 6, 47)

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
#pan_pid = PID(p=0.1, i=0, imax=90)#在线调试使用这个PID
#tilt_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_exposure(False, 100)#这里设置曝光时间
sensor.set_auto_whitebal(False) # turn this off.
sensor.set_hmirror(True) #水平方向翻转
sensor.set_vflip(True) #垂直方向翻转
clock = time.clock() # Tracks FPS.
pan_servo.angle(0)
tilt_servo.angle(-20)

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([red_threshold])
    #pan_servo.angle(0)
    #tilt_servo.angle(0)

    for i in range(-90,90):
      img = sensor.snapshot()
     # pan_servo.angle(i,50)
      if blobs:
        pan_servo.speed(0,0)
        tilt_servo.speed(0,0)
        max_blob = find_max(blobs)
        pan_error = max_blob.cx()-img.width()/2
        tilt_error = max_blob.cy()-img.height()/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
        tilt_output=tilt_pid.get_pid(tilt_error,1)

        =float_dumps(set(pan_output))
        uart_writefloat(pan_out +'\n')
        print("pan_output",pan_output)
        pan_servo.angle(pan_servo.angle()+pan_output)
        tilt_servo.angle(tilt_servo.angle()-tilt_output)
      pan_servo.angle(i,100)

麻烦帮忙看下，怎样才能利用串口uart输出pan_output的坐标

kidswong999

看我上面的回复