openmv读取引脚状态来进行接下来的if判断等，但是外部电平发生改变时，openmv没有反应？
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import sensor, image, time import car from pid import PID sensor.reset() sensor.set_pixformat(sensor.RGB565) sensor.set_framesize(sensor.QQVGA) sensor.skip_frames(10) sensor.set_auto_whitebal(False) clock = time.clock() green_threshold = (76, 96, -110, -30, 8, 66) #size_threshold = 2000 x_pid = PID(p=0.25, i=1, imax=10) #h_pid = PID(p=0.05, i=0.1, imax=50) pwmm1=0 pwmm2=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]) p_in = Pin('P0', Pin.IN, Pin.PULL_UP)#设置p_in为输入引脚，并开启上拉电阻 value0 = p_in.value() # get value, 0 or 1#读入p_in引脚的值 stoPf p60 p_in = Pin('P1', Pin.IN, Pin.PULL_UP)#设置p_in为输入引脚，并开启上拉电阻 value1 = p_in.value() # get value, 0 or 1#读入p_in引脚的值 unstop p61 p_in = Pin('P2', Pin.IN, Pin.PULL_UP)#设置p_in为输入引脚，并开启上拉电阻 value2 = p_in.value() # get value, 0 or 1#读入p_in引脚的值 hand p62 p_in = Pin('P3', Pin.IN, Pin.PULL_UP)#设置p_in为输入引脚，并开启上拉电阻 value3 = p_in.value() # get value, 0 or 1#读入p_in引脚的值 zidong p63 p_in = Pin('P4', Pin.IN, Pin.PULL_UP)#设置p_in为输入引脚，并开启上拉电阻 value4 = p_in.value() # get value, 0 or 1#读入p_in引脚的值 front p66 p_in = Pin('P5', Pin.IN, Pin.PULL_UP)#设置p_in为输入引脚，并开启上拉电阻 value5 = p_in.value() # get value, 0 or 1#读入p_in引脚的值 left p67 p_in = Pin('P6', Pin.IN, Pin.PULL_UP)#设置p_in为输入引脚，并开启上拉电阻 value6 = p_in.value() # get value, 0 or 1#读入p_in引脚的值 turn p65 if value1==1#不停止标志位 if value3==1#自动标志位 if blobs: max_blob = find_max(blobs) x_error = max_blob[5]-img.width()/2 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, cy x_output=x_pid.get_pid(x_error,1) #print("h_output",h_output) pwmm1=11-x_output pwmm2=11+x_output if (pwmm1)<8: pwmm1=8 elif (pwmm1)>11: pwmm1=11 else: pwmm1=pwmm1 if pwmm2<8: pwmm2=8 elif pwmm2>11: pwmm2=11 else: pwmm2=pwmm2 else car.run(pwmm1,pwmm2) if value2==1#手动标志位 if value4==1:#前进标志位 car.run(8,8) if value5==1: #左转标志位 car.run(8,0) if value6==1:#右转标志位 car.run(0,8) if value0==1#停止标志位 car.run(0,0)
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运行这个代码进行测试，注意代码开启了内部上拉电阻，所以一直是１，把引脚连到GND会是０.
from pyb import Pin import time p0 = Pin('P0', Pin.IN, Pin.PULL_UP)#设置p_in为输入引脚，并开启上拉电阻 p1 = Pin('P1', Pin.IN, Pin.PULL_UP)#设置p_in为输入引脚，并开启上拉电阻 p2 = Pin('P2', Pin.IN, Pin.PULL_UP)#设置p_in为输入引脚，并开启上拉电阻 p3 = Pin('P3', Pin.IN, Pin.PULL_UP)#设置p_in为输入引脚，并开启上拉电阻 p4 = Pin('P4', Pin.IN, Pin.PULL_UP)#设置p_in为输入引脚，并开启上拉电阻 p5 = Pin('P5', Pin.IN, Pin.PULL_UP)#设置p_in为输入引脚，并开启上拉电阻 p6 = Pin('P6', Pin.IN, Pin.PULL_UP)#设置p_in为输入引脚，并开启上拉电阻 while(True): print(p0.value(), p1.value(), p2.value(), p3.value(), p4.value(), p5.value(), p6.value()) time.sleep_ms(100)