evan-wu / mycar Goto Github PK

前提：我用的小车配置与博客中基本相同，唯一区别是没加摄像头。第3节网页控制程序可以正常运行并且控制，有些不足的地方是控制不太灵敏。
问题：1.在正常运行第4节程序时报错
`jetbot@jetson-4-3:~/mycar$ bin/run.sh config/joystick_drive.yml 120
2020-10-21 15:03:31,330.330.89566230773926:root:548221059088:INFO:9089:Parsing config file to add car components...
2020-10-21 15:03:31,342.342.91887283325195:root:548221059088:INFO:9089:Added car component - ZmqCAN
2020-10-21 15:03:41,592.592.5478935241699:root:548221059088:INFO:9089:Added car component - PWMSteering
2020-10-21 15:03:41,593.593.2631492614746:root:548221059088:INFO:9089:Added car component - PWMThrottle
2020-10-21 15:03:42,922.922.0921993255615:root:548221059088:INFO:9089:Added car component - Camera
2020-10-21 15:03:42,933.933.1676959991455:VideoRecorder:548221059088:INFO:9089:VideoRecorder will save video to ./capture.avi
2020-10-21 15:03:42,935.935.2767467498779:root:548221059088:INFO:9089:Added car component - VideoRecorder
2020-10-21 15:03:42,961.961.125373840332:root:548221059088:INFO:9089:Added car component - JoystickController
2020-10-21 15:03:42,966.966.6993618011475:root:548221059088:INFO:9089:ZMQ (client) CAN started.
2020-10-21 15:03:42,972.972.08571434021:root:548221059088:INFO:9089:ZMQ (client) CAN started.
2020-10-21 15:03:42,987.987.9539012908936:root:548221059088:INFO:9089:ZMQ (client) CAN started.
2020-10-21 15:03:43,003.3.809213638305664:root:548221059088:INFO:9089:ZMQ (client) CAN started.
2020-10-21 15:03:43,035.35.81809997558594:root:548221059088:INFO:9089:ZMQ (client) CAN started.
2020-10-21 15:03:43,059.59.82518196105957:root:548221059088:INFO:9089:ZMQ (client) CAN started.
2020-10-21 15:03:43,072.72.06273078918457:root:548221059088:INFO:9089:ZMQ (server) CAN started.
2020-10-21 15:03:43,079.79.30326461791992:root:548221059088:INFO:9089:PWM Steering started.
2020-10-21 15:03:43,079.79.73003387451172:root:548221059088:INFO:9089:PWM Throttle started.
2020-10-21 15:03:47,051.51.26953125:root:548221059088:INFO:9089:Camera started.

Traceback (most recent call last):
File "src/car.py", line 155, in
main()
File "src/car.py", line 147, in main
car.start()
File "src/car.py", line 125, in start
self._start_component(comp_instance)
File "src/car.py", line 112, in _start_component
long_running = comp_instance.start()
File "/home/jetbot/mycar/src/components/component.py", line 20, in start
raise TypeError("{} - 'start' method not implemented!".format(self))
TypeError: <components.video_recorder.VideoRecorder object at 0x7fa3581a90> - 'start' method not implemented!
Exiting...
Cleaning up pins`

2.网页控制小车反应不灵敏 是都会存在的问题还是我个人遇到的问题呢
3.求解答！谢谢大哥

无论是ServoKit单独控制电机还是通过手柄，倒车命令好像都不太好使。
1.ServoKit单独控制
`from adafruit_servokit import ServoKit
import time
servokit = ServoKit(channels=16, address=0x40)

servokit.continuous_servo[1].throttle = 0.2 # 速度的范围是 -1 ~ 1，大于0表示向前移动，如果输入负数代表后退，注意从前进切换到后退要输入两次同样的负数
time.sleep(2)
servokit.continuous_servo[1].throttle = -0.2
servokit.continuous_servo[1].throttle = -0.2
`
使用上述指令，小车可以前进，但不能后退（偶尔能够后退，但大多数情况都会失败）

2.手柄控制也无法后退