@kidswong999 只需要更改P吗
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xhau
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请问如何将追小球云台和测距代码放在一起使用
import sensor, image, time from pid import PID from pyb import Servo pan_servo=Servo(1)#下部舵机 tilt_servo=Servo(2)#上部舵机 pan_servo.calibration(500,2500,500) tilt_servo.calibration(500,2500,500) red_threshold = (16, 61, 22, 64, 25, 55) pan_pid = PID(p=0.08, 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=0.04, i=0, imax=90) #脱机运行或者禁用图像传输,使用这个PID sensor.reset() # Initialize the camera sensor. sensor.set_pixformat(sensor.RGB565) # use RGB565. sensor.set_framesize(sensor.QVGA) # 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) print("pan_servo.angle:",pan_servo.angle())
# Measure the distance # # This example shows off how to measure the distance through the size in imgage # This example in particular looks for yellow pingpong ball. import sensor, image, time # For color tracking to work really well you should ideally be in a very, very, # very, controlled enviroment where the lighting is constant... red_threshold = ( 16, 61, 22, 64, 25, 55) # You may need to tweak the above settings for tracking green things... # Select an area in the Framebuffer to copy the color settings. 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. K=550#the value should be measured 24*30 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 len(blobs) == 1: # Draw a rect around the blob. b = blobs[0] img.draw_rectangle(b[0:4]) # rect img.draw_cross(b[5], b[6]) # cx, cy Lm = (b[2]+b[3])/2 length = K/Lm print(length) #print(Lm) #print(clock.fps()) # Note: Your OpenMV Cam runs about half as fast while # connected to your computer. The FPS should increase once disconnected.