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    iuby 发布的帖子

    • 为什么运行这段代码控制上下的舵机无法正常运动
      import sensor, image, time
      from pid import PID
      from servo1 import Servos
      from machine import I2C, Pin
      i2c = I2C(sda=Pin('P5'), scl=Pin('P4'))
      servo = Servos(i2c, address=0x40, freq=50, min_us=500, max_us=2500, degrees=180)
      red_threshold  = (13, 49, 18, 61, 6, 47)
      pan_pid = PID(p=0.07, i=0, imax=180)
      tilt_pid = PID(p=0.07, i=0, imax=180)
      pan_current = 0
      tilt_current = 0
      sensor.reset()
      sensor.set_contrast(1)
      sensor.set_gainceiling(16)
      sensor.set_pixformat(sensor.GRAYSCALE)
      sensor.set_vflip(True)
      sensor.set_framesize(sensor.QQVGA)
      sensor.skip_frames(10)
      sensor.set_auto_whitebal(False)
      clock = time.clock()
      face_cascade = image.HaarCascade("frontalface", stages=25)
      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_features(face_cascade, threshold=0.75, scale=1.35)
      	if blobs:
      		max_blob = find_max(blobs)
      		pan_error = max_blob[0]+max_blob[2]-img.width()/2
      		tilt_error =max_blob[1]+max_blob[3]-img.height()/2
      		print("pan_error: ", pan_error)
      		img.draw_rectangle(max_blob)
      		img.draw_cross(int(max_blob[0]+max_blob[2]), int(max_blob[1]+max_blob[3]))
      		pan_output=pan_pid.get_pid(pan_error,1)/2
      		tilt_output=tilt_pid.get_pid(tilt_error,1)
      		print("pan_output",pan_output)
      		print("tilt_output",pan_output)
      		servo.position(0, pan_current + pan_output)
      		pan_current = servo.get_angle()
      		servo.position(1, tilt_current - tilt_output)
      		tilt_current = servo.get_angle()
      
      发布在 OpenMV Cam
      I
      iuby
    • RE: 使用官网的人脸追踪代码和官网的云台,为什么舵机两个舵机都只能转动一个方向?框选到人脸后为什么摄像头会弹开。

      我也是这样,感觉就是这官方的舵机控制上下那一个装反了

      发布在 OpenMV Cam
      I
      iuby
    • 用云台人脸追踪时舵机只会向上移动不会向下并且向右移动比向左移动灵敏是怎么回事
      import sensor, image, time
      from pid import PID
      from pyb import Servo
      pan_servo=Servo(1)
      tilt_servo=Servo(2)
      pan_servo.calibration(500,2500,500)
      tilt_servo.calibration(500,2500,500)
      red_threshold  = (13, 49, 18, 61, 6, 47)
      pan_pid = PID(p=0.07, i=0, imax=90)
      tilt_pid = PID(p=0.05, i=0, imax=90)
      sensor.reset()
      sensor.set_contrast(1)
      sensor.set_gainceiling(16)
      sensor.set_pixformat(sensor.GRAYSCALE)
      sensor.set_framesize(sensor.QQVGA)
      sensor.set_vflip(True)
      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')
      

      import sensor, image, time

      from pid import PID
      from pyb import Servo

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

      pan_servo.calibration(500,2500,500)
      tilt_servo.calibration(500,2500,500)

      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_contrast(1)
      sensor.set_gainceiling(16)
      sensor.set_pixformat(sensor.GRAYSCALE) # use RGB565.
      sensor.set_framesize(sensor.QQVGA) # use QQVGA for speed.
      sensor.set_vflip(True)
      sensor.skip_frames(10) # Let new settings take affect.
      sensor.set_auto_whitebal(False) # turn this off.
      clock = time.clock() # Tracks FPS.

      face_cascade = image.HaarCascade("frontalface", stages=25)

      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_features(face_cascade, threshold=0.75, scale=1.35)
      if blobs:
          max_blob = find_max(blobs)
          pan_error = max_blob[0]+max_blob[2]/2-img.width()/2
          tilt_error = max_blob[1]+max_blob[3]/2-img.height()/2
      
          print("pan_error: ", pan_error)
      
          img.draw_rectangle(max_blob) # rect
          img.draw_cross(int(max_blob[0]+max_blob[2]/2), max_blob[1]+int(max_blob[3]/2-img.height()/2)) # 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)
      发布在 OpenMV Cam
      I
      iuby