Q
如果可以 改怎么实现呢 已经买了LCD和舵机的扩展板 但是写程序的时候
import sensor, image, time,lcd
from pid import PID
from pyb import Servo
###1
pan_servo=Servo(1)
tilt_servo=Servo(2)
###2
lcd.init()
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_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.
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_blobs([red_threshold])
if blobs:
max_blob = find_max(blobs)
pan_error = max_blob.cx()-img.width()/2
tilt_error = max_blob.cy()-img.height()/2
print("pan_error: ", pan_error)
img.draw_rectangle(max_blob.rect()) # rect
img.draw_cross(max_blob.cx(), max_blob.cy()) # 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)
lcd.display(img)
###1和###2的函数好像是冲突 lcd.init在后的话LCD屏可正常显示 servo在后就云台可以正常运行