原来代码在2024年1月时能正常使用，目前升级到4.5以后就不能用的了，有报错，麻烦帮忙看看错在什么地方，如何修改？
import sensor, image, time
from pid import PID
from pyb import Servo
from pyb import Pin
s1=Servo(1)
s2=Servo(2)
#pan_servo.calibration(500,2500,500)
#tilt_servo.calibration(500,2500,500)
pin_0 = Pin('P0', Pin.IN, Pin.PULL_UP)
pin_1 = Pin('P1', Pin.IN, Pin.PULL_UP)
pin_2 = Pin('P2', Pin.IN, Pin.PULL_UP)
#pin_2 = Pin('P2', Pin.OUT_PP, Pin.PULL_NONE)
pin_3 = Pin('P3', Pin.OUT_PP, Pin.PULL_NONE)
#red_threshold = (30, 100, 15, 127, -40, 127)(70, 0, 49, 127, -128, 127)
red_threshold =(75, 0, 127, 25, -128, 127) #红色光点阈值(50, 6, 74, 15, 67, -5)(100, 30, 42, 10, 20, -2)(15, 75, 18, 90, 0, 60)
green_threshold = (46, 92, -35, 87, -12, 11)#[(25, 100, -65, -15, -15, 40)](54, 41, -128, -11, -128, 127)
#pan_pid = PID(p=0.06, 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=0.08, i=0, imax=90)#在线调试使用这个PID
#tilt_pid = PID(p=0.09, 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.VGA) # use QQVGA for speed.
sensor.skip_frames(10) # Let new settings take affect.
#sensor.set_auto_whitebal(False) # turn this off.
sensor.set_auto_exposure (False, exposure_us=54000)
sensor.set_windowing((440, 440)) # Set 240x240 window.
#sensor.set_brightness(-2) #设置亮度
#sensor.set_contrast(3) #对比度
#sensor.set_vflip(True)
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
s1.angle(0)#-14----12 原点2,4
s2.angle(0)#270°舵机要乘以0.66666 +13----- -13
pin_2.value(0)
time.sleep_ms(1000)
def find_red():
x_error=0
y_error=0
x_red=0
y_red=0
Total_y=0
Total_x=0
x_red_last=0
y_red_last=0
x_green_last=0
y_green_last=0
x_green=0
y_green=0
Px=0.006
Py=0.006
Ix=0
Iy=0
Dx=0 #Dx=0.00007#
Dy=0
Total_x=0
Total_y=0
Px_num=0
Ix_num=0
Dx_num=0
Py_num=0
Iy_num=0
Dy_num=0
last1_error_x=0
last1_error_y=0
last2_error_x=0
last2_error_y=0
dt=1/13
while(True):
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot() # Take a picture and return the image.
value0 = pin_0.value() # get value, 0 or 1#读入p_in引脚的值
#if value0==0 :
#time.sleep_ms(1000)
#while(True) :
#s1.angle(Total_y)
#s2.angle(Total_x)
#value0 = pin_0.value() # get value, 0 or 1#读入p_in引脚的值
#value1 = pin_1.value() # get value, 0 or 1#读入p_in引脚的值
#pin_2.value(0)
#pin_3.value(0)
#if value0==0 or value1==0 :
#time.sleep_ms(200)
#break
blobs = img.find_blobs([red_threshold]) #红色！！！！！！！！！！！！
if blobs:
max_blob = find_max(blobs)
x_red = max_blob.cx()
y_red = max_blob.cy()
x_red=x_red*0.6+x_red_last*0.4
x_red_last=x_red
y_red=y_red*0.6+y_red_last*0.4
y_red_last=y_red
print("RED")
# print(pan_error,tilt_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)
# print("pan_output",pan_output)
# pan_servo.angle(pan_servo.angle()+pan_output)
# tilt_servo.angle(tilt_servo.angle()-tilt_output)
blobs = img.find_blobs([green_threshold])#飞机
if blobs:
max_blob = find_max(blobs)
x_green = max_blob.cx()
y_green = max_blob.cy()
x_green= x_green*0.6+x_green_last*0.4
x_green_last=x_green
y_green= y_green*0.6+y_green_last*0.4
y_green_last=y_green
print("fjfjfjfjfj")
# print("GREEN",x_green,y_green)
img.draw_rectangle(max_blob.rect()) # rect
img.draw_cross(max_blob.cx(), max_blob.cy()) # cx, cy
x_error=x_green-x_red
y_error=y_green-y_red#计算误差
Px_num=x_error-last1_error_x
Ix_num=x_error*dt
if Ix_num >20:
Ix_num=20
if Ix_num <-20:
Ix_num=-20
Dx_num=x_error-last1_error_x*last1_error_x+last2_error_x
Total_x=x_error*Px+Ix_num*Ix+Dx_num*Dx+Total_x
if Total_x>20 :
Total_x=20
if Total_x<-20 :
Total_x=-20
Py_num=Py*y_error
Iy_num=y_error*dt
if Iy_num >5:
Iy_num=5
if Iy_num <-5:
Iy_num=-5
Dy_num=y_error-last1_error_y*last1_error_y+last2_error_y
Total_y=Py*y_error+Iy_num*Iy+Dy_num*Dy+Total_y
print(Total_x,Total_y)
if Total_y>20 :
Total_y=20
if Total_y<-20 :
Total_y=-20
value1 = pin_1.value() # get value, 0 or 1#读入p_in引脚的值
if value1==0 :
break
value2 = pin_2.value() # get value, 0 or 1#读入p_in引脚的值
if value2==0 :
time.sleep_ms(1000)
while(True):
value2 = pin_2.value() # get value, 0 or 1#读入p_in引脚的值
if value2==0 :
break
#s1.angle(Total_y)
s2.angle(Total_x)
# print(Total_x,x_error)
last2_error_x=last1_error_x
last2_error_y=last1_error_y
last1_error_x=x_error
last1_error_y=y_error
dt=1/clock.fps()
# print(dt)
# print(clock.fps())
# print("pan_output",pan_output)
# pan_output=pan_pid.get_pid(pan_error,1)/2
# tilt_output=tilt_pid.get_pid(tilt_error,1)
# print("pan_output",pan_output)
# pan_servo.angle(pan_servo.angle()+pan_output)
# tilt_servo.angle(tilt_servo.angle()-tilt_output)
while(True):
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot() # Take a picture and return the image.
value0 = pin_0.value() # get value, 0 or 1#读入p_in引脚的值
value1 = pin_1.value() # get value, 0 or 1#读入p_in引脚的值
value2 = pin_2.value() # get value, 0 or 1#读入p_in引脚的值
#pin_2.value(0)
#pin_3.value(0)
print(value0,value1,value2)
s1.angle(0)#-14----12 原点2,4
s2.angle(0)#270°舵机要乘以0.66666 +13----- -13
if value0==0 :
find_red()