摄像头和电机驱动程序测试

main/camera.py

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+import cv2
+import numpy as np
+
+cap = cv2.VideoCapture(0)
+
+cap.set(3, 320)
+cap.set(4, 240)
+cap.set(cv2.CAP_PROP_BUFFERSIZE, 1)
+
+ret, prev_frame = cap.read()
+prev_gray = cv2.cvtColor(prev_frame, cv2.COLOR_BGR2GRAY)
+prev_gray = cv2.GaussianBlur(prev_gray, (5,5), 0)
+
+while True:
+    ret, frame = cap.read()
+    if not ret:
+        break
+
+    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+    gray = cv2.GaussianBlur(gray, (5,5), 0)
+
+    # 帧差
+    diff = cv2.absdiff(prev_gray, gray)
+    diff = cv2.convertScaleAbs(diff, alpha=2.5)
+
+    _, thresh = cv2.threshold(diff, 20, 255, cv2.THRESH_BINARY)
+
+    contours, _ = cv2.findContours(thresh, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+
+    # ===== 核心：选最大目标 =====
+    target = None
+    max_area = 0
+
+    for cnt in contours:
+        area = cv2.contourArea(cnt)
+
+        if area < 300:  # 过滤噪声
+            continue
+
+        if area > max_area:
+            max_area = area
+            target = cnt
+
+    # ===== 只处理一个目标 =====
+    if target is not None:
+        x, y, w, h = cv2.boundingRect(target)
+        cx = x + w // 2
+        cy = y + h // 2
+
+        cv2.rectangle(frame, (x, y), (x+w, y+h), (0, 255, 0), 2)
+        cv2.circle(frame, (cx, cy), 5, (0, 0, 255), -1)
+
+        print("唯一目标:", cx, cy, "area:", max_area)
+
+    cv2.imshow("tracking", frame)
+
+    prev_gray = gray.copy()
+
+    if cv2.waitKey(1) & 0xFF == 27:
+        break
+
+cap.release()
+cv2.destroyAllWindows()

main/motor.py

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+from smbus2 import SMBus
+import time
+
+bus = SMBus(1)
+addr = 0x60
+
+# ======================
+# PCA9685 初始化
+# ======================
+bus.write_byte_data(addr, 0x00, 0x00)
+bus.write_byte_data(addr, 0xFE, 60)
+
+# ======================
+# PWM输出（0~4095）
+# ======================
+def set_pwm(ch, val):
+    val = max(0, min(4095, val))
+    base = 0x06 + 4 * ch
+    bus.write_byte_data(addr, base, 0)
+    bus.write_byte_data(addr, base+1, 0)
+    bus.write_byte_data(addr, base+2, val & 0xFF)
+    bus.write_byte_data(addr, base+3, val >> 8)
+
+# ======================
+# ⭐ 你的真实映射（8通道版本）
+# ======================
+MOTORS = {
+    "M1": {"in1": 0, "in2": 1},
+    "M2": {"in1": 2, "in2": 3},
+    "M3": {"in1": 4, "in2": 5},
+    "M4": {"in1": 6, "in2": 7},
+}
+
+# ======================
+# 电机控制（重点）
+# ======================
+def motor(name, speed=0, direction="stop"):
+    m = MOTORS[name]
+
+    # 速度限制
+    speed = max(0, min(4095, speed))
+
+    if direction == "f":
+        set_pwm(m["in1"], speed)
+        set_pwm(m["in2"], 0)
+
+    elif direction == "b":
+        set_pwm(m["in1"], 0)
+        set_pwm(m["in2"], speed)
+
+    else:
+        set_pwm(m["in1"], 0)
+        set_pwm(m["in2"], 0)
+
+# ======================
+# 四轮控制
+# ======================
+def all_motors(speed, direction):
+    for m in MOTORS:
+        motor(m, speed, direction)
+
+def forward(speed=3500):
+    all_motors(speed, "f")
+
+def backward(speed=3500):
+    all_motors(speed, "b")
+
+def stop():
+    all_motors(0, "stop")
+
+# ======================
+# 转向（差速）
+# ======================
+def turn_left(speed=3500):
+    motor("M1", speed, "b")
+    motor("M3", speed, "b")
+    motor("M2", speed, "f")
+    motor("M4", speed, "f")
+
+def turn_right(speed=3500):
+    motor("M1", speed, "f")
+    motor("M3", speed, "f")
+    motor("M2", speed, "b")
+    motor("M4", speed, "b")
+
+# ======================
+# 测试
+# ======================
+if __name__ == "__main__":
+
+    print("前进")
+    forward(3500)
+    time.sleep(3)
+
+    print("停止")
+    stop()
+    time.sleep(1)
+
+    print("后退")
+    backward(3500)
+    time.sleep(3)
+
+    print("停止")
+    stop()