@kidswong999 是代码的问题,应该怎么修改?
O
oa52 发布的帖子
-
舵机转到一端就卡死了,摄像头自己修正不来,为什么?
import sensor, image, time from pid import PID from pyb import Servo pan_servo=Servo(1) red_threshold = (13, 49, 18, 61, 6, 47) pan_pid = PID(p=0.07, i=0, imax=90) sensor.reset() sensor.set_pixformat(sensor.RGB565) sensor.set_framesize(sensor.QQVGA) sensor.skip_frames(10) sensor.set_auto_whitebal(False) clock = time.clock() 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([red_threshold]) if blobs: max_blob = find_max(blobs) pan_error = max_blob.cx()-img.width()/2 print("pan_error: ", pan_error) img.draw_rectangle(max_blob.rect()) img.draw_cross(max_blob.cx(), max_blob.cy()) pan_output=pan_pid.get_pid(pan_error,1)/2 print("pan_output",pan_output) pan_servo.angle(pan_servo.angle()+pan_output)