import sensor, image, time
from pid import PID
from pyb import Servo,Pin
pan_servo=Servo(3)
pan_servo.angle(0)
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)
else:
pan_servo.angle(0)
如何在这个代码中增加电机的控制信号