ADEEPT PiCar-Pro Manual page 170

3. Place the car on the prepared patrol track.
4. Click "STEADY CAMERA", PiCarPro has the camera stabilization function.
5. When you want to terminate the camera stabilization function, you can click
"STEADY CAMERA" again.
13.2.2 Main code program
For the complete code, please refer to the file steady.py.
Import dependencies and initialize.
from import
1. mpu6050
2. import Adafruit_PCA9685
3. import time
4.
5. sensor = mpu6050(0x68)
6. pwm = Adafruit_PCA9685.PCA9685()
7.
8. servoPort = 2
9. servoPos = 200
10.
P = 1 #PID P value setting, proportional control parameter, the higher the faster
Main logic code
1. def pwmGenOut(angleInput):
2. '''''
3. Convert the angle to PWM
4. '''
return
5. int(round(23/9*angleInput))
6.
while
7. 1:
8. print('steadyProcessing')
9. xyzGet = sensor.get_accel_data()
10.
11. sGet = xyzGet['x']*10
12. #sGet = xyzGet['y']*10
13. #sGet = xyzGet['z']*10
14. pwm.set_pwm(2, 0, servoPos+pwmGenOut(sGet*P))
15.
16. time.sleep(0.05)
mpu6050
#The port number of the servo need to be controlled
#Control the reference position of the servo
#Get XYZ reading information from the sensor
#Get the X-axis angle information from the angle information
#Get the Y-axis angle information from the angle information
#Get the angle information of the Z-axis from the angle information
#Control the movement of the servo
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