pm1f 发布的帖子

老哥请问你搞出来了吗？能分享一下源码吗？感谢！

为什么在网页上训练的好好的，然后在mv上面就识别很鸡肋！！心态崩了

那请问在edge impulse网站上测试的很好，但是一用到plus上就识别不准确，该咋弄呢？

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')

请问这个PID是增量式PID调节吗？还有就是请问这是串级PID调节吗？想知道用python如何写串级PID（做板球系统）

请问我想在mv上接一个按键，可以随便接一个io口吗？怎么定义这个io用于按键操作并按下执行相关功能？接线是不是一端接io口一端接gnd就行了呢？，感谢回答

uart.write（）怎么才
能发送小数，例如uart.write（13.468946）可以吗

import sensor, image, time
from machine import I2C
from vl53l1x import VL53L1X
from pyb import LED
from pyb import UART, Timer
from pyb import Servo
from pid import PID

uart = UART(1,115200)
i2c = I2C(2)
distance = VL53L1X(i2c)

test_state = 1
L = 0
chang = 0
#cir.r = 300

pan_pid=PID(p=0.05, i=0.01, d=0, imax=90) #在线调试PID
tilt_pid=PID(p=0.05, i=0.012,d=0, imax=90)

#pan_pid=PID(p=0.06, i=0.1, d=0.02, imax=100) #脱机运行PID
#tilt_pid=PID(P=0.05, i=0.05, d=0, imax=90)

'''
rect_threshold=(20, 47, 29, 70, 12, 58) #(24, 45, 32, 70, 12, 58)
circle_threshold=(61, 23, 31, 81, 5, 59)
'''

all_thresholds = [(30, 100, 15, 127, 15, 127), # _red_thresholds
                  (30, 100, -64, -8, -32, 32), # _green_thresholds
                  (0, 15, 0, 40, -80, -20)] # _blue_thresholds

sensor.reset()
sensor.set_pixformat(sensor.RGB565) # 灰度更快(160x120 max on OpenMV-M7)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
clock = time.clock()



def uart_singal():
    buff = 0
    buff = uart.any()
    if buff > 0:
        _data_receive(readchar())
    else:
        pass

def _data_receive(data):

    if data == 65:
        test_state = 1
    elif data == 66:
        test_state = 2
    else:
        print('error!!!')


def test1_2():
    for r in img.find_rects(threshold = 20000):
        area_rectangle = (r.rect()) #是为了在检测矩形的基础上检测有颜色的矩形
        for blob in img.find_blobs(all_thresholds, pixels_threshold=100, area_threshold=100, merge=True, margin=10,roi = area_rectangle):
            img.draw_rectangle(area_rectangle, color = (0, 255, 0))
            LED(1).toggle()
    for c in img.find_circles(threshold = 2200):
        area_circle = (c.x()-c.r(), c.y()-c.r(), 2*c.r(), 2*c.r())#是为了在检测有圆的基础上检测有颜色的圆
        draw_cir = (c.x(), c.y(), c.r())#画圆的轮廓
        for blob in img.find_blobs(all_thresholds, pixels_threshold=100, area_threshold=100, merge=True, margin=10, roi = area_circle):
            img.draw_circle(draw_cir,  thickness=1, color = (0,255,0),  fill=False)
            LED(3).toggle()
            L = distance.read()-50
            print(L)
            chang = L
            uart.write(chang)
def test3_4():
    pass

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()
    if(test_state == 1):
        test1_2()
    elif(test_state == 2):
        test3_4()
    else:
        pass
    uart_singal()

我想问问为啥我用串口1发送openmv测距模块得到的距离值他会报错，测距模块不是占用的串口3吗？

@yuan 请问Apriltag咋测距的？这个视频已经看不到了，感谢！