请问一下在哪儿看lcd需要用到那些引脚呢？

Untitled - By: xiongM - 周日 7月 23 2023

如下，这段代码中，如果我同时使用了这些io和pwm和lcd，那么运行时帧率就为0，如果我把io和pwm去了或者把屏幕刷新去了那么就能正常工作了!!

THRESHOLD = (2, 100, -29, 17, -14, 38) # Grayscale threshold for dark things...
GRAY = (0, 16)

import sensor, image, time, lcd
from pyb import LED
from pyb import Pin, Timer
from pid import PID
#import car

sensor.reset()
sensor.set_vflip(True)
sensor.set_hmirror(True)
sensor.set_pixformat(sensor.RGB565) #这里色彩模式可以设置为RGB565或者GRAYSCALE
sensor.set_framesize(sensor.QQQVGA) #如果下面robust = True那么这里的分辨率越小越好，大了花费时间较多
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
sensor.skip_frames(time = 2000)     # WARNING: If you use QQVGA it may take seconds
clock = time.clock()                # to process a frame sometimes.
lcd.init()


inverse_left=True  #change it to True to inverse left wheel
inverse_right=True #change it to True to inverse right wheel

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)  #实例化定时器4，并初始化频率为1000hz
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)

current_left_speed  = 0
current_right_speed = 0

def run(left_speed, right_speed):
    if abs(left_speed) >= 30 or abs(right_speed) >= 30:
        return

    #print(left_speed, right_speed)

    global current_left_speed
    global current_right_speed

    current_left_speed  = left_speed
    current_right_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)))

def stop():
    speed_left = current_left_speed
    speed_right = current_right_speed
    run(speed_left * 0.5, speed_right * 0.5)
    time.sleep_ms(100)
    run(speed_left * 0.5, speed_right * 0.5)
    time.sleep_ms(100)
    run(speed_left * 0.5, speed_right * 0.5)
    time.sleep_ms(100)
    run(speed_left * 0.5, speed_right * 0.5)
    time.sleep_ms(100)
    run(0,0)
    ain1.low()
    ain2.low()
    bin1.low()
    bin2.low()

def car_test():
    run(50, 50)
    time.sleep_ms(1000)
    stop()

#run(10,10)

rho_pid = PID(p=0.4, i=0)
theta_pid = PID(p=0.001, i=0)

while(True):
    img = sensor.snapshot().binary([THRESHOLD], invert=True)
    img.erode(1)
    line = img.get_regression([(100,100)], robust = True)

    if(line):

        img.draw_line(line.line(), color = 127)
        if line.theta()>90:
            theta_err = line.theta()-180
        else:
            theta_err = line.theta()
        rho_err = abs(line.rho())-img.width()/2

        #print(theta_err, line.magnitude(), line.rho())

        if line.magnitude()>8:  #这里理解为回归置信度，数字越大越好
            rho_output = rho_pid.get_pid(rho_err, 1)
            theta_output = theta_pid.get_pid(theta_err, 1)

            output = rho_output+theta_output
            run(20+output, 20-output)
            #print(output)

        else:
            #car.run(0,0)
            pass
    lcd.display(img)

二值化后的get_regression的的阈值一项应该放二值化过后图像的灰度阈值？这样理解对么？

# Untitled - By: xiongM - 周日 7月 23 2023
THRESHOLD = (17, 83, -17, 8, -11, 11) # Grayscale threshold for dark things...
GRAY = (44, 255)

import sensor, image, time, lcd
from pyb import LED

sensor.reset()
sensor.set_vflip(True)
sensor.set_hmirror(True)
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQQVGA) # 80x60 (4,800 pixels) - O(N^2) max = 2,3040,000.
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
#sensor.set_windowing([80,60])
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):
    
    img = sensor.snapshot().binary([THRESHOLD], invert=True)
#如果这儿是上面的THRESHOLD ，line就为空，如果是下面的100，100就能成功拟合
    line = img.get_regression([(100,100)], robust = True)
     
    if(line):
        img.draw_line(line.line(), color = 127)
        if line.theta()>90:
            theta_err = line.theta()-180
        else:
            theta_err = line.theta()        
        print(theta_err, line.magnitude(), line.rho())