import?sensor?image?time

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）?#脫機運行或者禁用圖像傳輸，使用這個PID
tilt_pid?=?PID（p=0.05?i=0?imax=90）?#脫機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.

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_error1）/2
????????tilt_output=tilt_pid.get_pid（tilt_error1）
????????print（“pan_output“pan_output）
????????pan_servo.angle（pan_servo.angle（）+pan_output）
????????tilt_servo.angle（tilt_servo.angle（）-tilt_output）

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2020-05-09?10:24??MV云臺\
?????文件?????1736934??2019-08-06?14:30??MV云臺\OpenMV-Pan-Tilt-master.zip
?????目錄???????????0??2020-05-09?10:24??MV云臺\OpenMV-Pan-Tilt-master\
?????文件????????1065??2018-04-16?22:45??MV云臺\OpenMV-Pan-Tilt-master\LICENSE
?????目錄???????????0??2020-05-09?10:24??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\
?????目錄???????????0??2020-05-09?10:24??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\eagle\
?????文件???????10417??2018-04-16?22:45??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\eagle\gerber.zip
?????文件???????40886??2018-04-16?22:45??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\eagle\servo.brd
?????文件?????????841??2018-04-16?22:45??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\eagle\servo.dri
?????文件???????11055??2018-04-16?22:45??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\eagle\servo.GBL
?????文件????????2638??2018-04-16?22:45??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\eagle\servo.GBO
?????文件?????????756??2018-04-16?22:45??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\eagle\servo.GBS
?????文件????????1036??2018-04-16?22:45??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\eagle\servo.gpi
?????文件???????12117??2018-04-16?22:45??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\eagle\servo.GTL
?????文件???????11274??2018-04-16?22:45??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\eagle\servo.GTO
?????文件?????????105??2018-04-16?22:45??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\eagle\servo.GTP
?????文件?????????756??2018-04-16?22:45??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\eagle\servo.GTS
?????文件???????39534??2018-04-16?22:45??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\eagle\servo.sch
?????文件?????????451??2018-04-16?22:45??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\eagle\servo.TXT
?????目錄???????????0??2020-05-09?10:24??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\img\
?????文件??????286618??2018-04-16?22:45??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\img\1.jpg
?????文件??????333728??2018-04-16?22:45??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\img\2.jpg
?????文件??????310308??2018-04-16?22:45??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\img\3.jpg
?????目錄???????????0??2020-05-09?10:24??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\solidworks\
?????文件??????155381??2018-04-16?22:45??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\solidworks\base.SLDPRT
?????文件??????114552??2018-04-16?22:45??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\solidworks\head.SLDPRT
?????文件??????105327??2018-04-16?22:45??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\solidworks\left.SLDPRT
?????文件??????158623??2018-04-16?22:45??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\solidworks\pan_tilt.SLDASM
?????文件??????126853??2018-04-16?22:45??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\solidworks\right.SLDPRT
?????文件??????139213??2018-04-16?22:45??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\solidworks\rotate.SLDPRT
?????目錄???????????0??2020-05-09?10:24??MV云臺\OpenMV-Pan-Tilt-master\pan-tilt\src\
............此處省略228個文件信息