xr1w 发布的帖子

xr1w

@kidswong999 您看看这是个什么错误

xr1w

'int' object isn't subscriptable是什么问题

import sensor, image, time
from image import SEARCH_EX, SEARCH_DS

from pid import PID
from pyb import Servo

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

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_contrast(1)
sensor.set_gainceiling(16)
sensor.set_pixformat(sensor.GRAYSCALE)
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.

template = image.Image("/2.pgm")

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_template(template, 0.70, step=4, search=SEARCH_EX) #, roi=(10, 0, 60, 60))
    if blobs:
        max_blob = find_max(blobs)
        pan_error = max_blob[0]+max_blob[2]/2-img.width()/2
        tilt_error = max_blob[1]+max_blob[3]/2-img.height()/2

        print("pan_error: ", pan_error)

        img.draw_rectangle(r)(max_blob)

        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)

xr1w

运行几分钟他就出问题了

xr1w

这个可以测试

import sensor, image, mjpeg, pyb, network, usocket, sys
import time


SSID ='OPENMV_AP'    # Network SSID
KEY  ='1234567890'   # wifi密码(必须为10字符)
HOST = ''           # 使用第一个可用的端口
PORT = 8080         # 任意非特权端口


from pid import PID
from pyb import Servo
from pyb import Pin
pan_servo=Servo(1)
tilt_servo=Servo(2)
red_threshold  = (13, 49, 18, 61, 6, 47)
pan_pid = PID(p=0.07, i=0, imax=90)
tilt_pid = PID(p=0.05, i=0, imax=90)
sensor.reset()

# 设置传感器设置
sensor.set_contrast(1)
sensor.set_brightness(1)
sensor.set_saturation(1)
sensor.set_gainceiling(16)

sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.set_vflip(True)#将镜头倒转过来
sensor.skip_frames(10)
sensor.set_auto_whitebal(False)
clock = time.clock()
p_out = Pin('P9', Pin.OUT_PP)
p_4 = Pin('P4', Pin.IN, Pin.PULL_UP)#设置p_1为输入引脚，并开启上拉电阻
p_5 = Pin('P5', Pin.IN, Pin.PULL_UP)#设置p_2为输入引脚，并开启上拉电阻

def find_max(blobs):
    max_size=0
    for blob in blobs:
        if blob[2]*blob[2] > max_size:
            max_blob=blob
            max_size = blob[2]*blob[2]
    return max_blob

# 在AP模式下启动wlan模块。

#您可以阻止等待客户端连接
#print(wlan.wait_for_sta(10000))


def start_streaming(s):
    print ('Waiting for connections..')
    client, addr = s.accept()
    # 将客户端套接字超时设置为2秒
    client.settimeout(2.0)
    print ('Connected to ' + addr[0] + ':' + str(addr[1]))

    # 从客户端读取请求
    data = client.recv(1024)
    # 应该在这里解析客户端请求

    # 发送多部分head
    client.send("HTTP/1.1 200 OK\r\n" \
                "Server: OpenMV\r\n" \
                "Content-Type: multipart/x-mixed-replace;boundary=openmv\r\n" \
                "Cache-Control: no-cache\r\n" \
                "Pragma: no-cache\r\n\r\n")

    # FPS clock
    clock = time.clock()

    # 开始流媒体图像
    #注：禁用IDE预览以增加流式FPS。
    while (True):
        if p_4.value()==0:
            b = 0
        clock.tick() # 跟踪snapshots()之间经过的毫秒数。
        img = sensor.snapshot().lens_corr(1.8)
        blobs = img.find_circles(threshold = 1500, x_margin = 10, y_margin = 10, r_margin = 10,
        r_min = 2, r_max = 100, r_step = 2)
        if blobs:
            p_out.high()
            print("输出信号1")
            max_blob = find_max(blobs)
            img.draw_circle(max_blob.x(), max_blob.y(), max_blob.r(), color = (255, 0, 0))
            img.draw_cross(int(max_blob[0]), int(max_blob[1]))
        else:
            p_out.low()
            print("输出信号0")
        frame = sensor.snapshot()
        cframe = frame.compressed(quality=35)
        header = "\r\n--openmv\r\n" \
                 "Content-Type: image/jpeg\r\n"\
                 "Content-Length:"+str(cframe.size())+"\r\n\r\n"
        client.send(header)
        client.send(cframe)
        print(clock.fps())

while(1):
    #if p_4.value() >= 1:            #追踪
    print(p_4.value())
    a = 1
    img_writer = image.ImageWriter("/stream.bin")
    while(a == 1):
        clock.tick()
        img = sensor.snapshot().lens_corr(1.8)
        img_writer.add_frame(img)#写入图片
        blobs = img.find_circles(threshold = 1500, x_margin = 10, y_margin = 10, r_margin = 10,
        r_min = 2, r_max = 100, r_step = 2)
        if blobs:
            p_out.high()
            max_blob = find_max(blobs)
            pan_error = max_blob[0]-img.width()/2
            tilt_error = max_blob[1]-img.height()/2
            print("pan_error: ", pan_error)
            img.draw_circle(max_blob.x(), max_blob.y(), max_blob.r(), color = (255, 0, 0))
            img.draw_cross(int(max_blob[0]), int(max_blob[1]))
            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(a)
            
        else:
                
            p_out.low()
        if p_4.value() == 0:
            a=a+1
            print(a)
    

    '''elif p_5.value() == 0:               #图传
        b = 1
        wlan = network.WINC(mode=network.WINC.MODE_AP)
        wlan.start_ap(SSID, key=KEY, security=wlan.WEP, channel=2)

        while (b==1):
            # Create server socket
            s = usocket.socket(usocket.AF_INET, usocket.SOCK_STREAM)
            try:
                # Bind and listen
                s.bind([HOST, PORT])
                s.listen(5)

                # Set server socket timeout
                # NOTE: Due to a WINC FW bug, the server socket must be closed and reopened if
                # the client disconnects. Use a timeout here to close and re-create the socket.
                s.settimeout(3)
                start_streaming(s)
            except OSError as e:
                s.close()
                print("socket error: ", e)
                #sys.print_exception(e)

img_writer.close()'''

xr1w

IDE为啥会一直中断，怎么解决

xr1w

用了一个WIFI拓展版，和云台，由arduino给出控制信号，两个不同时使用，固件是3.6.7

import sensor, image, mjpeg, pyb, network, usocket, sys
import time


SSID ='OPENMV_AP'    # Network SSID
KEY  ='1234567890'   # wifi密码(必须为10字符)
HOST = ''           # 使用第一个可用的端口
PORT = 8080         # 任意非特权端口


from pid import PID
from pyb import Servo
from pyb import Pin
pan_servo=Servo(1)
tilt_servo=Servo(2)
red_threshold  = (13, 49, 18, 61, 6, 47)
pan_pid = PID(p=0.07, i=0, imax=90)
tilt_pid = PID(p=0.05, i=0, imax=90)
sensor.reset()

# 设置传感器设置
sensor.set_contrast(1)
sensor.set_brightness(1)
sensor.set_saturation(1)
sensor.set_gainceiling(16)

sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.set_vflip(True)#将镜头倒转过来
sensor.skip_frames(10)
sensor.set_auto_whitebal(False)
clock = time.clock()
p_out = Pin('P9', Pin.OUT_PP)
p_4 = Pin('P4', Pin.IN, Pin.PULL_UP)#设置p_1为输入引脚，并开启上拉电阻
p_5 = Pin('P5', Pin.IN, Pin.PULL_UP)#设置p_2为输入引脚，并开启上拉电阻

def find_max(blobs):
    max_size=0
    for blob in blobs:
        if blob[2]*blob[2] > max_size:
            max_blob=blob
            max_size = blob[2]*blob[2]
    return max_blob

# 在AP模式下启动wlan模块。

#您可以阻止等待客户端连接
#print(wlan.wait_for_sta(10000))


def start_streaming(s):
    print ('Waiting for connections..')
    client, addr = s.accept()
    # 将客户端套接字超时设置为2秒
    client.settimeout(2.0)
    print ('Connected to ' + addr[0] + ':' + str(addr[1]))

    # 从客户端读取请求
    data = client.recv(1024)
    # 应该在这里解析客户端请求

    # 发送多部分head
    client.send("HTTP/1.1 200 OK\r\n" \
                "Server: OpenMV\r\n" \
                "Content-Type: multipart/x-mixed-replace;boundary=openmv\r\n" \
                "Cache-Control: no-cache\r\n" \
                "Pragma: no-cache\r\n\r\n")

    # FPS clock
    clock = time.clock()

    # 开始流媒体图像
    #注：禁用IDE预览以增加流式FPS。
    while (True):
        if p_4.value()==0:
            b = 0
        clock.tick() # 跟踪snapshots()之间经过的毫秒数。
        img = sensor.snapshot().lens_corr(1.8)
        blobs = img.find_circles(threshold = 1500, x_margin = 10, y_margin = 10, r_margin = 10,
        r_min = 2, r_max = 100, r_step = 2)
        if blobs:
            p_out.high()
            print("输出信号1")
            max_blob = find_max(blobs)
            img.draw_circle(max_blob.x(), max_blob.y(), max_blob.r(), color = (255, 0, 0))
            img.draw_cross(int(max_blob[0]), int(max_blob[1]))
        else:
            p_out.low()
            print("输出信号0")
        frame = sensor.snapshot()
        cframe = frame.compressed(quality=35)
        header = "\r\n--openmv\r\n" \
                 "Content-Type: image/jpeg\r\n"\
                 "Content-Length:"+str(cframe.size())+"\r\n\r\n"
        client.send(header)
        client.send(cframe)
        print(clock.fps())

while(1):
    if p_4.value() == 0:            #追踪
        a = 1
        img_writer = image.ImageWriter("/stream.bin")
        while(a == 1):
            clock.tick()
            img = sensor.snapshot().lens_corr(1.8)
            img_writer.add_frame(img)#写入图片
            blobs = img.find_circles(threshold = 1500, x_margin = 10, y_margin = 10, r_margin = 10,
            r_min = 2, r_max = 100, r_step = 2)
            if blobs:
                p_out.high()
                max_blob = find_max(blobs)
                pan_error = max_blob[0]-img.width()/2
                tilt_error = max_blob[1]-img.height()/2
                print("pan_error: ", pan_error)
                img.draw_circle(max_blob.x(), max_blob.y(), max_blob.r(), color = (255, 0, 0))
                img.draw_cross(int(max_blob[0]), int(max_blob[1]))
                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(a)
            
            else:
                p_out.low()
            if p_5.value() == 0:
                a = 0
                print(a)


    elif p_5.value() == 0:               #图传
        b = 1
        wlan = network.WINC(mode=network.WINC.MODE_AP)
        wlan.start_ap(SSID, key=KEY, security=wlan.WEP, channel=2)

        while (b==1):
            # Create server socket
            s = usocket.socket(usocket.AF_INET, usocket.SOCK_STREAM)
            try:
                # Bind and listen
                s.bind([HOST, PORT])
                s.listen(5)

                # Set server socket timeout
                # NOTE: Due to a WINC FW bug, the server socket must be closed and reopened if
                # the client disconnects. Use a timeout here to close and re-create the socket.
                s.settimeout(3)
                start_streaming(s)
            except OSError as e:
                s.close()
                print("socket error: ", e)
                #sys.print_exception(e)

img_writer.close()

xr1w

什么原因会导致IDE interrupt

xr1w

0_1597045798845_QQ截图20200810154927.png

xr1w

import sensor, image, mjpeg, pyb, network, usocket, sys
import time

SSID ='OPENMV_AP' # Network SSID
KEY ='1234567890' # wifi密码(必须为10字符)
HOST = '' # 使用第一个可用的端口
PORT = 8080 # 任意非特权端口

from pid import PID
from pyb import Servo
from pyb import Pin
pan_servo=Servo(1)
tilt_servo=Servo(2)
red_threshold = (13, 49, 18, 61, 6, 47)
pan_pid = PID(p=0.07, i=0, imax=90)
tilt_pid = PID(p=0.05, i=0, imax=90)
sensor.reset()

设置传感器设置

sensor.set_contrast(1)
sensor.set_brightness(1)
sensor.set_saturation(1)
sensor.set_gainceiling(16)

sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.set_vflip(True)#将镜头倒转过来
sensor.skip_frames(10)
sensor.set_auto_whitebal(False)
clock = time.clock()
p_out = Pin('P0', Pin.OUT_PP)
p_1 = Pin('P1', Pin.IN, Pin.PULL_UP)#设置p_1为输入引脚，并开启上拉电阻
p_2 = Pin('P2', Pin.IN, Pin.PULL_UP)#设置p_2为输入引脚，并开启上拉电阻
p_3 = Pin('P3', Pin.IN, Pin.PULL_UP)#设置p_3为输入引脚，并开启上拉电阻
def find_max(blobs):
max_size=0
for blob in blobs:
if blob[2]*blob[2] > max_size:
max_blob=blob
max_size = blob[2]*blob[2]
return max_blob

在AP模式下启动wlan模块。

#您可以阻止等待客户端连接
#print(wlan.wait_for_sta(10000))

def start_streaming(s):
print ('Waiting for connections..')
client, addr = s.accept()
# 将客户端套接字超时设置为2秒
client.settimeout(2.0)
print ('Connected to ' + addr[0] + ':' + str(addr[1]))

# 从客户端读取请求
data = client.recv(1024)
# 应该在这里解析客户端请求

# 发送多部分head
client.send("HTTP/1.1 200 OK\r\n" \
            "Server: OpenMV\r\n" \
            "Content-Type: multipart/x-mixed-replace;boundary=openmv\r\n" \
            "Cache-Control: no-cache\r\n" \
            "Pragma: no-cache\r\n\r\n")

# FPS clock
clock = time.clock()

# 开始流媒体图像
#注：禁用IDE预览以增加流式FPS。
while (True):
    clock.tick() # 跟踪snapshots()之间经过的毫秒数。
    img = sensor.snapshot().lens_corr(1.8)
    blobs = img.find_circles(threshold = 1500, x_margin = 10, y_margin = 10, r_margin = 10,
    r_min = 2, r_max = 100, r_step = 2)
    if blobs:
        p_out.high()
        print("输出信号1")
        max_blob = find_max(blobs)
        img.draw_circle(max_blob.x(), max_blob.y(), max_blob.r(), color = (255, 0, 0))
        img.draw_cross(int(max_blob[0]), int(max_blob[1]))
    else:
        p_out.low()
        print("输出信号0")
    frame = sensor.snapshot()
    cframe = frame.compressed(quality=35)
    header = "\r\n--openmv\r\n" \
             "Content-Type: image/jpeg\r\n"\
             "Content-Length:"+str(cframe.size())+"\r\n\r\n"
    client.send(header)
    client.send(cframe)
    print(clock.fps())

while(1):
if p_1.value() == 0: #追踪
img_writer = image.ImageWriter("/stream.bin")
while(True):
clock.tick()
img = sensor.snapshot().lens_corr(1.8)
img_writer.add_frame(img)#写入图片
blobs = img.find_circles(threshold = 1500, x_margin = 10, y_margin = 10, r_margin = 10,
r_min = 2, r_max = 100, r_step = 2)
if blobs:
p_out.high()
max_blob = find_max(blobs)
pan_error = max_blob[0]-img.width()/2
tilt_error = max_blob[1]-img.height()/2
print("pan_error: ", pan_error)
img.draw_circle(max_blob.x(), max_blob.y(), max_blob.r(), color = (255, 0, 0))
img.draw_cross(int(max_blob[0]), int(max_blob[1]))
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)
else:
p_out.low()
if p_3.value() == 0:
img_writer.close()

elif p_2.value() == 0:               #图传
    wlan = network.WINC(mode=network.WINC.MODE_AP)
    wlan.start_ap(SSID, key=KEY, security=wlan.WEP, channel=2)

    while (True):
        # Create server socket
        s = usocket.socket(usocket.AF_INET, usocket.SOCK_STREAM)
        try:
            # Bind and listen
            s.bind([HOST, PORT])
            s.listen(5)

            # Set server socket timeout
            # NOTE: Due to a WINC FW bug, the server socket must be closed and reopened if
            # the client disconnects. Use a timeout here to close and re-create the socket.
            s.settimeout(3)
            start_streaming(s)
        except OSError as e:
            s.close()
            print("socket error: ", e)
            #sys.print_exception(e)