hxcb

hxcb

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() # Tracks FPS.
green_threshold   = (76, 96, -110, -30, 8, 66)  
size_threshold = 2000  
x_pid = PID(p=0.5, i=1, imax=100)   
h_pid = PID(p=0.005, i=0.1, imax=50) 

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()
    img = sensor.snapshot()
    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])
        img.draw_cross(max_blob[5], max_blob[6])
        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,-10)

这是main.py

from pyb import Pin, Timer
inverse_left=False
inverse_right=False
ain1 =  Pin('P0', Pin.OUT_PP)
ain2 =  Pin('P1', Pin.OUT_PP)
bin1 =  Pin('P2', Pin.OUT_PP)
bin2 =  Pin('P3', Pin.OUT_PP)
ain1.low()
ain2.low()
bin1.low()
bin2.low()
pwma = Pin('P7')
pwmb = Pin('P8')
tim = Timer(4, freq=1000)
ch1 = tim.channel(1, Timer.PWM, pin=pwma)
ch2 = tim.channel(2, Timer.PWM, pin=pwmb)
ch1.pulse_width_percent(0)
ch2.pulse_width_percent(0)
def run(left_speed, right_speed):
    #if inverse_left==True:
    #	left_speed=(-left_speed)
    #if inverse_right==True:
    #	right_speed=(-right_speed)
    if left_speed < 0:
        ain1.low()
        ain2.high()
    else:
        ain1.high()
        ain2.low()
    ch1.pulse_width_percent(int(abs(left_speed)))
    if right_speed < 0:
        bin1.low()
        bin2.high()
    else:
        bin1.high()
        bin2.low()
    ch2.pulse_width_percent(int(abs(right_speed)))

这是car.py

from pyb import millis
from math import pi, isnan

class PID:
    _kp = _ki = _kd = _integrator = _imax = 0
    _last_error = _last_derivative = _last_t = 0
    _RC = 1/(2 * pi * 20)
    def __init__(self, p=0, i=0, d=0, imax=0):
        self._kp = float(p)
        self._ki = float(i)
        self._kd = float(d)
        self._imax = abs(imax)
        self._last_derivative = float('nan')

    def get_pid(self, error, scaler):
        tnow = millis()
        dt = tnow - self._last_t
        output = 0
        if self._last_t == 0 or dt > 1000:
            dt = 0
            self.reset_I()
        self._last_t = tnow
        delta_time = float(dt) / float(1000)
        output += error * self._kp
        if abs(self._kd) > 0 and dt > 0:
            if isnan(self._last_derivative):
                derivative = 0
                self._last_derivative = 0
            else:
                derivative = (error - self._last_error) / delta_time
            derivative = self._last_derivative + \
                                     ((delta_time / (self._RC + delta_time)) * \
                                        (derivative - self._last_derivative))
            self._last_error = error
            self._last_derivative = derivative
            output += self._kd * derivative
        output *= scaler
        if abs(self._ki) > 0 and dt > 0:
            self._integrator += (error * self._ki) * scaler * delta_time
            if self._integrator < -self._imax: self._integrator = -self._imax
            elif self._integrator > self._imax: self._integrator = self._imax
            output += self._integrator
        return output
    def reset_I(self):
        self._integrator = 0
        self._last_derivative = float('nan')

这是pid.py

感觉都是用的原来的不知道为啥，前进还有原地旋转都没有问题就是这个左右反了小球在左边向右转，小球在右边向左转

hxcb

@kidswong999 在追小球小车关于识别问题中说：

左轮子转，右轮子不转。

对的呀老师这些都是对的

hxcb

老师我想请问一下为啥我按照历程上传程序，追小球的时候，小球在左边它向右转呢左右方向相反咋回事，但是如果换了电机接线的话那就前后相反了

hxcb

因为说到电机驱动板智能控制两个电机，能否把电机并联给驱动板，也就是两个电机接受一个信号会不会i有什么影响

hxcb

@kidswong999 两个板子是共地的，摄像头也检测到了

hxcb

@kidswong999

#include <SoftwareSerial.h>
SoftwareSerial softSerial(10, 11); // RX, TX
void setup() 
{
  softSerial.begin(9600);
  Serial.begin(9600);
}
void Openmv(String s)
{
    if(s[1]=='0')
     {
     Serial.print('0');
     Serial.print('\n');
     }
    if(s[1]=='1')
     {    
     Serial.print('1');
     Serial.print('\n');
     }
    if(s[1]=='2')
     {     
     Serial.print('2');
     Serial.print('\n');
     }
}
void loop() 
{
  if(softSerial.available())
 {
    String s = detectString();
     Openmv(s);
  }
}
String detectString()
{
  while(softSerial.read() != '{');
  return(softSerial.readStringUntil('}'));
}

这个是arduino的

import sensor, image, time
import json
from pyb import UART
blue_threshold   = (22, 67, 9, 127, -128, -54)
red_threshold   = (41, 61, 42, 127, -128, 127)
yellow_threshold   = ( 60 ,10,-15,20,30,80)
sensor.set_hmirror(True)
sensor.set_vflip(True)
sensor.reset() 
sensor.set_pixformat(sensor.RGB565) 
sensor.set_framesize(sensor.QQVGA) 
sensor.skip_frames(10) 
sensor.set_auto_whitebal(False) 
clock = time.clock()
uart = UART(3, 9600)
def find_max(blobs):
    max_size=0
    for blob in blobs:
       if blob.pixels() > max_size:
            max_blob=blob
            max_size = blob.pixels()
    return max_blob 
while(True):
    clock.tick() 
    img = sensor.snapshot() 
    blobs0 = img.find_blobs([blue_threshold])
    blobs1 = img.find_blobs([red_threshold])
    blobs2 = img.find_blobs([yellow_threshold])
    if blobs0:
     max_blob=find_max(blobs0)
     img.draw_rectangle(max_blob.rect())
     img.draw_cross(max_blob.cx(), max_blob.cy())
     data="0"
     data_out = json.dumps(set(data))
     uart.write(data_out +'\n')
     print('you send:',data_out)
    elif blobs1:
     max_blob=find_max(blobs1)
     img.draw_rectangle(max_blob.rect())
     img.draw_cross(max_blob.cx(), max_blob.cy())
     data="1"
     data_out = json.dumps(set(data))
     uart.write(data_out +'\n')
     print('you send:',data_out)
    elif blobs2:
     max_blob=find_max(blobs2)
     img.draw_rectangle(max_blob.rect())
     img.draw_cross(max_blob.cx(), max_blob.cy())
     data="2"
     data_out = json.dumps(set(data))
     uart.write(data_out +'\n')
     print('you send:',data_out)
    else:
        print('not found')

这个是openmv的

这两个程序更直观点，但是就是没有数据，用程序看openmv应该是发送成功了，但是arduino接收不到，串口监视器一个数据没有

hxcb

@kidswong999 我就是引用官方的例程.寻找黄色色块，openmv发现以后arduino的串口还是一个数据都没有

#include <SoftwareSerial.h>

SoftwareSerial softSerial(10, 11); // RX, TX
typedef struct
{
  int data[50][2] = {{0,0}};
  int len = 0;
}List;
List list;

void setup() {
  // put your setup code here, to run once:
  softSerial.begin(115200);
  Serial.begin(115200);
}

void loop() {
  if(softSerial.available())
  {
    getList();
    for (int i=0; i<list.len; i++)
    {
      Serial.print(list.data[i][0]);
      Serial.print('\t');
      Serial.println(list.data[i][1]);
    }
    Serial.println("============");
    clearList();
  }

}


String detectString()
{
  while(softSerial.read() != '{');
  return(softSerial.readStringUntil('}'));
}
void clearList()
{
  memset(list.data, sizeof(list.data),0);
  list.len = 0;
}
void getList()
{
  String s = detectString();
  String numStr = "";
  for(int i = 0; i<s.length(); i++)
  {
    if(s[i]=='('){
      numStr = "";
    }
    else if(s[i] == ','){
      list.data[list.len][0] = numStr.toInt();
      numStr = "";
    }
    else if(s[i]==')'){
      list.data[list.len][1] = numStr.toInt();
      numStr = "";
      list.len++;
    }
    else{
      numStr += s[i];
    }
  }
}

import sensor, image, time
import json
from machine import UART
yellow_threshold   = ( 46,  100,  -68,   72,   58,   92)
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_whitebal(False) # turn this off.
clock = time.clock() # Tracks FPS.
uart = UART(3, 115200)  
while(True):
    clock.tick() # Track elapsed milliseconds between snapshots().
    img = sensor.snapshot() # Take a picture and return the image.
    blobs = img.find_blobs([yellow_threshold])
    if blobs:
        #print('sum : %d'% len(blobs))
        data=[]
        for b in blobs:
            # Draw a rect around the blob.
            img.draw_rectangle(b.rect()) # rect
            img.draw_cross(b.cx(), b.cy()) # cx, cy
            data.append((b.cx(),b.cy()))

        #{(1,22),(-3,33),(22222,0),(9999,12),(0,0)}
        data_out = json.dumps(set(data))
        uart.write(data_out +'\n')
        print('you send:',data_out)
    else:
        print("not found!")

hxcb

就是arduino的串口监视器一直输出-1不知道咋回事，也用了Serial.readString（）也没用

hxcb

char str;
void setup(){
  Serial.begin(9600);
}
 
void loop(){
    if(Serial.available()>0)
    {
      str=Serial.read();
      Serial.println(str);
    }
    delay(1000);
}

import time, pyb
from machine import UART
led = pyb.LED(3)
#from pyb import UART
uart = UART(3, 9600)   

while(True):
    uart.write("1")
    time.sleep_ms(5000)
    led.on()

openmv显示灯亮了应该发送成功了可是arduino串口没接收到是怎么回事老师

hxcb

@hxcb

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