import?time
import?cv2
import?serial
import?asyncio
import?threading

class?PID:
????def?__init__（self?kP=0.1?kI=0.0?kD=0.0）:
????????#?initialize?gains
????????self.kP?=?kP
????????self.kI?=?kI
????????self.kD?=?kD

????def?initialize（self）:
????????#?intialize?the?current?and?previous?time
????????#?self.currTime?=?time.time（）
????????#?self.prevTime?=?self.currTime

????????#?initialize?the?previous?error
????????self.prevError?=?0

????????#?initialize?the?term?result?variables
????????self.cP?=?0
????????self.cI?=?0
????????self.cD?=?0

????def?update（self?errordeltaTime）:
????????#?grab?the?current?time?and?calculate?delta?time
????????self.currTime?=?time.time（）

????????#?delta?error
????????deltaError?=?error?-?self.prevError

????????#?proportional?term
????????self.cP?=?error

????????#?integral?term
????????self.cI?+=?error?*?deltaTime

????????#?derivative?term?and?prevent?divide?by?zero
????????self.cD?=?（deltaError?/?deltaTime）?if?deltaTime?>?0?else?0
????????#?#?save?previous?time?and?error?for?the?next?update
????????self.prevError?=?error

????????#?sum?the?terms?and?return
????????return?sum（[
????????????self.kP?*?self.cP
????????????self.kI?*?self.cI
????????????self.kD?*?self.cD]）


def?conter（）:
????if?cap.isOpened（）:
????????res?img?=?cap.read（）
????????（hw）?=?img.shape[:2]
????????return?h//2w//2

def?inrange（nummin=0max=180）:
????return?（num?>?min?and?num?
async?def?face_capture（）:
????global?center_x?#人臉中心的坐標
????global?center_y
????global?deltatime
????global?Scan
????global?flag
????while?cap.isOpened（）:
????????pretime?=?time.time（）
????????res?img?=?cap.read（）
????????gray?=?cv2.cvtColor（img?cv2.COLOR_BGR2GRAY）
????????Scan?=?face.detectMultiScale（grayscaleFactor=1.3minNeighbors=3）
????????#?print（type（Scan））
????????for?（x?y?w?h）?in?Scan:
????????????cv2.rectangle（img?（x?y）?（x?+?w?y?+?h）?（255?0?0）?2）??#?依靠對角線來定矩形
????????????center_x?=?int（x?+?w/2）
????????????center_y?=?int（y?+?h?/?2）

????????cv2.imshow（“CaptureFace“img）
????????deltatime?=?time.time（）-pretime
????????#?print（deltatime）
????????await??asyncio.sleep（0.01）
????????key?=?cv2.waitKey（50）?&?0xff
????????if?key?==?27:??#?ESC的ASCALL碼是27
????????????flag?=?1
????????????break
????cap.release（）
????cv2.destroyAllWindows（）

async?def?caculatePID（）:

????print（“Start“）
????global?pan_angle
????global?tilt_angle
????p1i1d1?=?0.0200.0550.00031
????#?p1i1d1?=?000
????#?p2i2d2?=?000
????p2i2d2?=?0.0220.00210.00038
????pid_pan?=?PID（p1?i1?d1）
????pid_tilt?=?PID（p2?i2?d2）
????while?flag?==?0:
????????pid_pan.initialize（）
????????pid_tilt.initialize（）
????????if?isinstance（Scan?tuple）?==?False:
????????????head_pan?=?pid_pan.update（cx-center_xdeltaTime=deltatime）
????????????head_tilt?=?pid_tilt.update（cy-center_ydeltaTime=deltatime）
????????else:
????????????head_pan?=?head_tilt?=?0
????????if?inrange

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2020-05-24?12:45??Face-tracking\
?????文件????????3933??2020-05-22?13:11??Face-tracking\FaceTracking_PID.py
?????文件??????930127??2020-03-16?11:20??Face-tracking\haarcascade_frontalface_default.xml
?????文件??????140975??2020-03-17?17:47??Face-tracking\haarcascade_frontalface_default.zip
?????文件?????????694??2020-05-09?21:10??Face-tracking\pan-tilt.ino