3tg5 发布的帖子

THRESHOLD = (51, 100, 0, 21, 12, 33) #线路阈值
import sensor, image, time,lcd
from pyb import Servo
from pid import PID
rho_pid = PID(p=0.4, i=0) #截距
theta_pid = PID(p=0.001, i=0) #斜率

s1 = Servo(3) # P9
def run(_angle,_range,_sleep): #角度，幅度，间隔延时
s1.angle(_angle+_range) #角度，转到该角度的时间
time.sleep(_sleep)
s1.angle(_angle-_range)
time.sleep(_sleep)

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA) # 80x60 (4,800 pixels) - O(N^2) max = 2,3040,000.
#sensor.set_windowing([0,20,80,40])
sensor.skip_frames(time = 2000) # WARNING: If you use QQVGA it may take seconds
clock = time.clock() # to process a frame sometimes.

lcd.init()

while(True):
clock.tick()
#img = sensor.snapshot()
img = sensor.snapshot()
line = img.get_regression([(100,100,0,0,0,0)], robust = True)
if (line):
rho_err = abs(line.rho())-img.width()/2
if line.theta()>90:
theta_err = line.theta()-180
else:
theta_err = line.theta()
img.draw_line(line.line(), color = 127)
print(rho_err,line.magnitude(),theta_err)

    #lcd.display(sensor.snapshot())
    lcd.display(img.draw_line(line.line(),color=127))
    if line.magnitude()>0:
        #if -40<b_err<40 and -30<t_err<30:
        rho_output = rho_pid.get_pid(rho_err,1)
        theta_output = theta_pid.get_pid(theta_err,1)
        output = rho_output+theta_output
        #output=output*3
        if theta_err>70:        #限制摆动角度
            theta_err=70
        if theta_err<-70:
            theta_err=-70
        run(theta_err,15,180)     #角度，幅度，间隔延时
    pass![0_1572269044774_852B78E315A605550E330DB196766244.jpg](https://fcdn.singtown.com/0c8ae143-f07e-48e3-99e2-85338bb96b25.jpg)

lcd连接数据线的时候能正常显示，外接电源之后中间有一半白屏是怎么回事

单独使用LCD和单独使用舵机都能动，但是一起的时候舵机就动不了了，该怎么办呢？

THRESHOLD = (86, 100, -16, 8, -23, 23) #线路阈值
import sensor, image, time,lcd
from pyb import Servo
from pid import PID
rho_pid = PID(p=0.4, i=0)       #截距
theta_pid = PID(p=0.001, i=0)   #斜率

s1 = Servo(1) # P7
def run(_angle,_range,_sleep): #角度，幅度，间隔延时
        s1.angle(_angle+_range)  #角度，转到该角度的时间
        time.sleep(_sleep)
        s1.angle(_angle-_range)
        time.sleep(_sleep)

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA) # 80x60 (4,800 pixels) - O(N^2) max = 2,3040,000.
#sensor.set_windowing([0,20,80,40])
sensor.skip_frames(time = 2000)     # WARNING: If you use QQVGA it may take seconds
clock = time.clock()                # to process a frame sometimes.

lcd.init()

while(True):
    clock.tick()
    #img = sensor.snapshot()
    img = sensor.snapshot()
    line = img.get_regression([(100,100,0,0,0,0)], robust = True)
    if (line):
        rho_err = abs(line.rho())-img.width()/2
        if line.theta()>90:
            theta_err = line.theta()-180
        else:
            theta_err = line.theta()
        img.draw_line(line.line(), color = 127)
        print(rho_err,line.magnitude(),theta_err)
        
        #lcd.display(sensor.snapshot())
        lcd.display(img.draw_line(line.line(),color=127))
        if line.magnitude()>0:
            #if -40<b_err<40 and -30<t_err<30:
            rho_output = rho_pid.get_pid(rho_err,1)
            theta_output = theta_pid.get_pid(theta_err,1)
            output = rho_output+theta_output
            #output=output*3
            if theta_err>70:        #限制摆动角度
                theta_err=70
            if theta_err<-70:
                theta_err=-70
            run(theta_err,15,180)     #角度，幅度，间隔延时
        pass

import sensor, image, time
import pyb
pin0 = pyb.Pin('P0', pyb.Pin.OUT_PP) #蜂鸣器低电平端
pin1 = pyb.Pin('P1', pyb.Pin.OUT_PP) #蜂鸣器高电平端

thresholds = [(9, 41, -13, 39, -2, 31)]     #高水位试验阈值

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
clock = time.clock()
ROI=(0,0,320,130)
while(1) :
    clock.tick()
    img = sensor.snapshot()
    for blob in img.find_blobs([thresholds[0]],roi=ROI, pixels_threshold=200, area_threshold=200, merge=True):
        img.draw_rectangle(blob.rect())
        img.draw_cross(blob.cx(), blob.cy())
        img.draw_rectangle(ROI)
        blobs = img.find_blobs([thresholds[0]])
        if blobs:
            pin0.low()
            #pin1.low()
            #time.sleep(200)
            pin1.high()
            time.sleep(200)
            pin1.low()
            #time.sleep(2000)