We decide to not run demo automatically, and so you can try it yourself to run the face tracking demo in few lines of coding.

It is an rushed demo, architecture is not consider well, and we are moving to freeRTOS version SDK, this demo is almost last version of standalone SDK.

We will redesign the architecture in freeRTOS version, it will be more easy to use.

If you are interested in maixpy development and experienced in micropython, you can send email to support@sipeed.com, and we will send MAIX board to you for FREE~

This firmware can be download at here: https://drive.google.com/open?id=1uhoff ... JwlGwcMTAn

1. Stick PT on desk, Connect usb to board, and Install CH340 driver(http://www.wch.cn/download/CH341SER_ZIP.html).

2. Open any terminal software like XShell, set baudrate to 115200, and open corresponding serial port, press some ‘Enter’ key, and you can see ‘>>>’ come out.

3. You need to define a PT(PAN/TILT) object. use code as follow

Code: Select all

```
import PT
PT_test=PT.PT()
```

Code: Select all

`PT_test = PT.PT(P_x = xx,P_y = xx)`

Code: Select all

`PT_test.run()`

if yo want to stop it ,you can press ctrl+C with keyboard

after you stop the PT_test,you can use the code to modify the P value of PID controler

Code: Select all

`PT_test.set_P(P_x = xx,P_y = xx)`

Code: Select all

`PT_test.run()`

The demo design to track one face, more than one face will case shake.

Servo have limited angle, if tracking too upside, it maybe reboot.

you can watch video on: https://www.youtube.com/watch?v=7bpNVzFbGa0

we will upload this face tracking PT to indiegogo perk soon: https://www.indiegogo.com/projects/sipe ... 19744832#/

The PT.py code(you can use " app.vi('/PT.py')" to edit it on board， or use machine.rz() to rcv file from PC):

Code: Select all

```
import machine
from fpioa_manager import *
global fm
class PT:
def __init__(self,P_x = -0.07,P_y = -0.05,x_init_ang = 90,y_init_ang = 9
global fm
if x_init_ang > 160 or x_init_ang<30:
print("x_init_ang value error")
return None
if y_init_ang > 160 or y_init_ang<30:
print("y_init_ang value error")
return None
if P_x > 0 :
print("x axis P_value(P_x) must <0")
return None
if P_y > 0 :
print("y axis P_value(P_y) must <0")
return None
self.Px = P_x
self.Py = P_y
self.x_angle = x_init_ang
self.y_angle = y_init_ang
self.print_en = pr_en
self.limite_value = limited_val
self.cam=machine.ov2640();
self.lcd=machine.st7789();
self.demo=machine.demo_face_detect();
self.demo.init();
self.cam.init();
self.lcd.init();
fm.registered(34,fm.fpioa.TIMER1_TOGGLE1);
fm.registered(35,fm.fpioa.TIMER1_TOGGLE2);
self.y_axis=machine.pwm(machine.pwm.TIMER1,machine.pwm.CHANEEL0,
self.x_axis=machine.pwm(machine.pwm.TIMER1,machine.pwm.CHANEEL1,
self.x_axis.duty(7.5)
self.y_axis.duty(7.5)
def set_P(self,P_x = 0,P_y = 0):
if P_y >= 0 :
print("y axis P_value(P_y) must <0")
return False
if P_x >= 0 :
print("x axis P_value(P_x) must <0")
return False
self.Px = P_x
self.Py = P_y
def run(self):
ex = 0.0
ey = 0.0
ux_angle = 0.0
uy_angle = 0.0
x = 0.0
y = 0.0
x1 = 0
x2 = 0
y1 = 0
y2 = 0
image = bytearray(320*240*2);
while(1):
self.cam.get_image(image);
data = self.demo.process_image(image);
self.lcd.draw_picture_default(image);
x1=data[0];
x2=data[1];
y1=data[2];
y2=data[3];
if x1 > 320 or x2 > 320 or y1 > 240 or y2 > 240 :
continue
x =(x2 - x1)/2+x1;
y =(y2 - y1)/2+y1;
ex = (160 - x);
ey = (120 - y);
ux_angle = ex * self.Px
if abs(ex) < 5 : ux_angle = 0
if ux_angle >= 15 : ux_angle = 15
if ux_angle <= -15 : ux_angle = -15
uy_angle = ey * self.Py
if abs(ey) < 5 : ux_angle = 0
if uy_angle >= self.limite_value : uy_angle = self.limit
if uy_angle <= -self.limite_value : uy_angle = -self.lim
self.x_angle = ux_angle + self.x_angle
self.y_angle = uy_angle + self.y_angle
if self.x_angle * 0.055 >= 9.8 :
self.x_angle = 180
ux_angle = 0
if self.x_angle * 0.055 <= 0.5 :
self.x_angle = 0
ux_angle = 0
x_angle_duty = (self.x_angle) * 0.055
y_angle_duty = (self.y_angle) * 0.055
if self.print_en == 1 :
print("x = ",x)
print("y = ",y)
print("ux_angle = ",ux_angle)
print("uy_angle = ",uy_angle)
print("x_angle = ",self.x_angle)
print("y_angle = ",self.y_angle)
self.x_axis.duty(2.5+x_angle_duty)
self.y_axis.duty(2.5+y_angle_duty)
```