我修改了一部分星瞳官方控制云台的代码，我是直接把舵机连在openmv4的舵机1口和2口上，只连接单个舵机的时候，舵机转动角度没问题。，但是两个同时控制的时候转动角度有问题，下面是我的代码

import sensor, image, time

from pid import PID
from pyb import Servo

pan_servo=Servo(1)
tilt_servo=Servo(2)

red_threshold  = (81, 15, 41, 119, 114, -62)

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 = (img.width()/2)-max_blob.cx()
        tilt_error = (img.height()/2)-max_blob.cy()



        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)/1.2
        tilt_output=tilt_pid.get_pid(tilt_error,1)

        pan_servo.angle(pan_servo.angle()-pan_output)
        tilt_servo.angle(tilt_servo.angle()-tilt_output)