识别追踪程序中的2000是怎么计算出来的

还有PID代码里的self_t表示什么意思

好的，谢谢大佬啦

@kidswong999 还有这个

@kidswong999 就是这个程序

那里面的引脚定义和if语句的代码是正确的吗

想用一个按键控制识别的小球颜色，当按键按下时，识别黄色小球，自己改了程序，不知道定义的引脚格式和if语句用的对不对，求大佬指点！

import sensor, image, time
import car
from pid import 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.
Key=pyb.pin(”p5”,pyb.pin.IN)
Key.value()

green_threshold   = (76, 96, -110, -30, 8, 66)
yellow_threshold   = (65, 75, -60, -40, 30, 48)
size_threshold = 2000
x_pid = PID(p=0.5, i=1, imax=100)
h_pid = PID(p=0.05, i=0.1, imax=50)

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() 

If key.value()==0
    blobs = img.find_blobs([yellow_threshold])
else:
        blobs = img.find_blobs([green_threshold])

    if blobs:

        max_blob = find_max(blobs)

        x_error = max_blob[5]-img.width()/2

        h_error = max_blob[2]*max_blob[3]-size_threshold

        print("x error: ", x_error)

     

        img.draw_rectangle(max_blob[0:4]) # rect

        img.draw_cross(max_blob[5], max_blob[6]) # cx, cy

        x_output=x_pid.get_pid(x_error,1)

        h_output=h_pid.get_pid(h_error,1)

        print("h_output",h_output)

        car.run(-h_output-x_output,-h_output+x_output)

    else:

        car.run(18,-18)