[樹藝AI]時尚兔開車用AI找農作物

 

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m4Speed = 0 m1Speed = 0 lastError = 0 motorSpeed = 0 error = 0 BASE_SPEED = 60 Kp = 0.05 Kd = 0.06 CutebotPro.pwm_cruise_control(0, 0) PlanetX_AILens.init_module() PlanetX_AILens.switchfunc(PlanetX_AILens.FuncList.CARD) radio.set_group(88) def on_forever(): PlanetX_AILens.camera_image() if PlanetX_AILens.other_card(PlanetX_AILens.otherCards.GRAPE): basic.show_string("G") radio.send_string("Grape") elif PlanetX_AILens.other_card(PlanetX_AILens.otherCards.APPLE): basic.show_string("A") radio.send_string("Apple") elif PlanetX_AILens.other_card(PlanetX_AILens.otherCards.PEAR): basic.show_string("P") radio.send_string("Pear") basic.pause(200) basic.forever(on_forever) def on_forever2(): global error, motorSpeed, lastError, m1Speed, m4Speed error = CutebotPro.get_offset() motorSpeed = Kp * error + Kd * (error - lastError) lastError = error m1Speed = BASE_SPEED + motorSpeed m4Speed = BASE_SPEED - motorSpeed if m1Speed < 10: m1Speed = 0 elif m1Speed < 30: m1Speed = 10 elif m1Speed > 40: m1Speed = 40 elif m1Speed > 60: m1Speed = 60 if m4Speed < 10: m4Speed = 0 elif m4Speed < 30: m4Speed = 10 elif m4Speed > 40: m4Speed = 40 elif m4Speed > 60: m4Speed = 60 CutebotPro.pwm_cruise_control(m1Speed, m4Speed) basic.forever(on_forever2)