星瞳科技OpenMV視頻教程06-追小球的雲台

星瞳科技OpenMV官方代理視頻地址：點擊這裡！

嗶哩嗶哩地址：

星瞳科技OpenMV視頻教程06-追小球的雲台_野生技術協會_科技_bilibili_嗶哩嗶哩

資料下載

資料都在github上 https://github.com/SingTown/OpenMV-Pan-Tilt/tree/master/pan-tilt/src

材料

你需要以下東西：

• OpenMV
• 3D列印件 (在pantilt/stl下載)
• pcb固定板(pantilt/eagle下載)
• 2個微型舵機
• 一個鋰電池

連接

按照上圖連接。

代碼

有兩個文件，

• pid.py
• main.py

根據模塊的使用，將pid.py保存到OpenMV中。

main.py可以在IDE里打開,運行。

main.py代碼：

import sensor, image, timefrom pid import PIDfrom pyb import Servopan_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) #離線運行或者禁用圖像傳輸，使用這個PIDtilt_pid = PID(p=0.05, i=0, imax=90) #離線運行或者禁用圖像傳輸，使用這個PID#pan_pid = PID(p=0.1, i=0, imax=90)#在線調試使用這個PID#tilt_pid = PID(p=0.1, i=0, imax=90)#在線調試使用這個PIDsensor.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_blobwhile(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)

pid.py代碼：

from pyb import millisfrom math import pi, isnan class PID: _kp = _ki = _kd = _integrator = _imax = 0 _last_error = _last_derivative = _last_t = 0 _RC = 1/(2 * pi * 20) def __init__(self, p=0, i=0, d=0, imax=0): self._kp = float(p) self._ki = float(i) self._kd = float(d) self._imax = abs(imax) self._last_derivative = float(nan) def get_pid(self, error, scaler): tnow = millis() dt = tnow - self._last_t output = 0 if self._last_t == 0 or dt > 1000: dt = 0 self.reset_I() self._last_t = tnow delta_time = float(dt) / float(1000) output += error * self._kp if abs(self._kd) > 0 and dt > 0: if isnan(self._last_derivative): derivative = 0 self._last_derivative = 0 else: derivative = (error - self._last_error) / delta_time derivative = self._last_derivative + ((delta_time / (self._RC + delta_time)) * (derivative - self._last_derivative)) self._last_error = error self._last_derivative = derivative output += self._kd * derivative output *= scaler if abs(self._ki) > 0 and dt > 0: self._integrator += (error * self._ki) * scaler * delta_time if self._integrator < -self._imax: self._integrator = -self._imax elif self._integrator > self._imax: self._integrator = self._imax output += self._integrator return output def reset_I(self): self._integrator = 0 self._last_derivative = float(nan)

歡迎大家點贊！！！

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