5.27 1h

Hi

1. What does 2>&1 mean and when is it typically used when added to end of a unix command line ?

&1

# ls -l /mydir >/tmp/out 2>&1


2. Write a shell script which will take a command-line parameter(number) perform a right bit

  shift and print the output on standard output.

Or add 1 to the input number in place of right shift.

>>

i=$((i>>1)) For bit shift

i=$((i+1)) for adding one



3. Write a Makefile to compile myprog.c using standard native C compiler and install/copy the output binary(myprog) under /usr/bin.


myprog: myprog.o

gcc -o myprog -g myprog.o

myprog.o: myprog.c

gcc -g -c -Wall myprog.c

install -o myprog /uer/bin


./myprog >


4. What is/are the difference(s) between malloc, calloc, realloc, vmalloc and kmalloc ?



5. Write a structure definition in C, with following members:

account number              13 characters

social security number      10 characters

name                        64 characters

address                     128 characters

Age                         3 characters


   Feel free to choose your own data type, for each member. For example Age of a person could

   be represented by 1 byte.


stuct obj {

int account_number;

int ssn;

char* name;

char* address;

int age;

} obj;


char name[128] or char *name;


Write a program to calculate factorial of an integer.

n!

#include <stdio>

long long fac(int num) {

if (num<0) return 0;

long long res=1;

int i=1;

for (; i<=num; i++) {

res *=i;

}

return res;

}

int main() {

int num=10;

long long res=fac(num);

printf(“%ld”, res);

return 0;

}


What do the functions atoi() and itoa() do, give an example?

char* name = (char*)malloc(128*sizeof(char));

if(!name) strcpy(name, “123”);

int num=atoi(name);


In C functions, what is the easiest way to pass arrays as arguments ?

void f(int* array);

int main() {

int *array;

f(array);

}


What are register variables? What are advantages of using register variables?


Which is better between insertion, heap sort, and bucket sort, why ?

heap sort O(nlogn)

insertion for array: O(n^2), for list O(n)


姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.24 = 0.01 PID杈撳嚭: u = -2.42 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-1.00 = -0.05 PID杈撳嚭: u = 4.95 璁$畻鏂颁綅缃? H=462.24, V=381.32 [鑸垫満璁剧疆] 鍘熷鐩爣: H=462.24, V=381.32 浣嶇疆闄愬埗鐢熸晥: H=462, V=381 璁剧疆鑸垫満浣嶇疆: H=462, V=381, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,239), 杞撮暱(5.07,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=33, 骞冲潎鍊?(312.55,271.36), 鏍囧噯宸?(19.52,85.01) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=462, V=381 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.20 = 0.01 PID杈撳嚭: u = -2.42 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.80 = -0.04 PID杈撳嚭: u = 4.96 璁$畻鏂颁綅缃? H=461.24, V=379.31 [鑸垫満璁剧疆] 鍘熷鐩爣: H=461.24, V=379.31 浣嶇疆闄愬埗鐢熸晥: H=461, V=379 璁剧疆鑸垫満浣嶇疆: H=461, V=379, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=34, 骞冲潎鍊?(312.76,270.44), 鏍囧噯宸?(19.27,83.92) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=461, V=379 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.16 = 0.01 PID杈撳嚭: u = -2.42 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.64 = -0.03 PID杈撳嚭: u = 4.97 璁$畻鏂颁綅缃? H=460.24, V=377.31 [鑸垫満璁剧疆] 鍘熷鐩爣: H=460.24, V=377.31 浣嶇疆闄愬埗鐢熸晥: H=460, V=377 璁剧疆鑸垫満浣嶇疆: H=460, V=377, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=35, 骞冲潎鍊?(312.97,269.57), 鏍囧噯宸?(19.03,82.86) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=460, V=377 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.13 = 0.01 PID杈撳嚭: u = -2.42 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.51 = -0.03 PID杈撳嚭: u = 4.97 璁$畻鏂颁綅缃? H=459.24, V=375.31 [鑸垫満璁剧疆] 鍘熷鐩爣: H=459.24, V=375.31 浣嶇疆闄愬埗鐢熸晥: H=459, V=375 璁剧疆鑸垫満浣嶇疆: H=459, V=375, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=36, 骞冲潎鍊?(313.17,268.75), 鏍囧噯宸?(18.80,81.85) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=459, V=375 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.10 = 0.01 PID杈撳嚭: u = -2.42 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.41 = -0.02 PID杈撳嚭: u = 4.98 璁$畻鏂颁綅缃? H=458.24, V=373.31 [鑸垫満璁剧疆] 鍘熷鐩爣: H=458.24, V=373.31 浣嶇疆闄愬埗鐢熸晥: H=458, V=373 璁剧疆鑸垫満浣嶇疆: H=458, V=373, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(319,239), 杞撮暱(5.27,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=37, 骞冲潎鍊?(313.32,267.95), 鏍囧噯宸?(18.57,80.88) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=458, V=373 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.08 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.33 = -0.02 PID杈撳嚭: u = 4.98 璁$畻鏂颁綅缃? H=457.24, V=371.31 [鑸垫満璁剧疆] 鍘熷鐩爣: H=457.24, V=371.31 浣嶇疆闄愬埗鐢熸晥: H=457, V=371 璁剧疆鑸垫満浣嶇疆: H=457, V=371, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.03,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=38, 骞冲潎鍊?(313.50,267.21), 鏍囧噯宸?(18.35,79.93) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=457, V=371 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.06 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.26 = -0.01 PID杈撳嚭: u = 4.99 璁$畻鏂颁綅缃? H=456.24, V=369.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=456.24, V=369.30 浣嶇疆闄愬埗鐢熸晥: H=456, V=369 璁剧疆鑸垫満浣嶇疆: H=456, V=369, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(319,239), 杞撮暱(5.33,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=39, 骞冲潎鍊?(313.64,266.49), 鏍囧噯宸?(18.14,79.03) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=456, V=369 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.05 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.21 = -0.01 PID杈撳嚭: u = 4.99 璁$畻鏂颁綅缃? H=455.24, V=367.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=455.24, V=367.30 浣嶇疆闄愬埗鐢熸晥: H=455, V=367 璁剧疆鑸垫満浣嶇疆: H=455, V=367, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=40, 骞冲潎鍊?(313.80,265.82), 鏍囧噯宸?(17.94,78.14) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=455, V=367 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.04 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.17 = -0.01 PID杈撳嚭: u = 4.99 璁$畻鏂颁綅缃? H=454.24, V=365.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=454.24, V=365.30 浣嶇疆闄愬埗鐢熸晥: H=454, V=365 璁剧疆鑸垫満浣嶇疆: H=454, V=365, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=41, 骞冲潎鍊?(313.95,265.20), 鏍囧噯宸?(17.74,77.29) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=454, V=365 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.03 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.13 = -0.01 PID杈撳嚭: u = 4.99 璁$畻鏂颁綅缃? H=453.24, V=363.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=453.24, V=363.30 浣嶇疆闄愬埗鐢熸晥: H=453, V=363 璁剧疆鑸垫満浣嶇疆: H=453, V=363, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=42, 骞冲潎鍊?(314.10,264.60), 鏍囧噯宸?(17.56,76.46) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=453, V=363 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.03 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.11 = -0.01 PID杈撳嚭: u = 4.99 璁$畻鏂颁綅缃? H=452.24, V=361.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=452.24, V=361.30 浣嶇疆闄愬埗鐢熸晥: H=452, V=361 璁剧疆鑸垫満浣嶇疆: H=452, V=361, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.11,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=43, 骞冲潎鍊?(314.23,264.02), 鏍囧噯宸?(17.37,75.65) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=452, V=361 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.02 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.09 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=451.24, V=359.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=451.24, V=359.30 浣嶇疆闄愬埗鐢熸晥: H=451, V=359 璁剧疆鑸垫満浣嶇疆: H=451, V=359, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.06,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=44, 骞冲潎鍊?(314.36,263.48), 鏍囧噯宸?(17.20,74.88) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=451, V=359 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.02 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.07 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=450.24, V=357.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=450.24, V=357.30 浣嶇疆闄愬埗鐢熸晥: H=450, V=357 璁剧疆鑸垫満浣嶇疆: H=450, V=357, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=45, 骞冲潎鍊?(314.49,262.96), 鏍囧噯宸?(17.02,74.12) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=450, V=357 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.01 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.06 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=449.24, V=355.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=449.24, V=355.30 浣嶇疆闄愬埗鐢熸晥: H=449, V=355 璁剧疆鑸垫満浣嶇疆: H=449, V=355, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(319,239), 杞撮暱(5.27,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=46, 骞冲潎鍊?(314.59,262.43), 鏍囧噯宸?(16.85,73.39) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=449, V=355 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.01 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.04 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=448.24, V=353.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=448.24, V=353.30 浣嶇疆闄愬埗鐢熸晥: H=448, V=353 璁剧疆鑸垫満浣嶇疆: H=448, V=353, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.06,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=47, 骞冲潎鍊?(314.70,261.96), 鏍囧噯宸?(16.69,72.68) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=448, V=353 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.01 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.04 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=447.24, V=351.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=447.24, V=351.30 浣嶇疆闄愬埗鐢熸晥: H=447, V=351 璁剧疆鑸垫満浣嶇疆: H=447, V=351, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.08,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=48, 骞冲潎鍊?(314.81,261.50), 鏍囧噯宸?(16.53,71.99) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=447, V=351 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.01 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.03 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=446.24, V=349.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=446.24, V=349.30 浣嶇疆闄愬埗鐢熸晥: H=446, V=349 璁剧疆鑸垫満浣嶇疆: H=446, V=349, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.06,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=49, 骞冲潎鍊?(314.92,261.06), 鏍囧噯宸?(16.38,71.31) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=446, V=349 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.01 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.02 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=445.24, V=347.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=445.24, V=347.30 浣嶇疆闄愬埗鐢熸晥: H=445, V=347 璁剧疆鑸垫満浣嶇疆: H=445, V=347, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=50, 骞冲潎鍊?(315.02,260.64), 鏍囧噯宸?(16.23,70.66) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=445, V=347 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.02 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=444.24, V=345.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=444.24, V=345.30 浣嶇疆闄愬埗鐢熸晥: H=444, V=345 璁剧疆鑸垫満浣嶇疆: H=444, V=345, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 2 涓き鍦?妞渾 1: 涓績(260,501), 杞撮暱(72.48,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 妞渾 2: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=52, 骞冲潎鍊?(314.06,264.87), 鏍囧噯宸?(17.64,76.82) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=444, V=345 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.01 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=443.24, V=343.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=443.24, V=343.30 浣嶇疆闄愬埗鐢熸晥: H=443, V=343 璁剧疆鑸垫満浣嶇疆: H=443, V=343, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=53, 骞冲潎鍊?(314.17,264.40), 鏍囧噯宸?(17.49,76.17) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=443, V=343 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.01 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=442.24, V=341.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=442.24, V=341.30 浣嶇疆闄愬埗鐢熸晥: H=442, V=341 璁剧疆鑸垫満浣嶇疆: H=442, V=341, 绉诲姩鏃堕棿=0.50绉?褰撳墠甯х巼: 30.0 FPS 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.06,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=54, 骞冲潎鍊?(314.28,263.94), 鏍囧噯宸?(17.34,75.53) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=442, V=341 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.01 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=441.24, V=339.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=441.24, V=339.30 浣嶇疆闄愬埗鐢熸晥: H=441, V=339 璁剧疆鑸垫満浣嶇疆: H=441, V=339, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=55, 骞冲潎鍊?(314.38,263.51), 鏍囧噯宸?(17.20,74.91) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=441, V=339 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.01 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=440.24, V=337.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=440.24, V=337.30 浣嶇疆闄愬埗鐢熸晥: H=440, V=337 璁剧疆鑸垫満浣嶇疆: H=440, V=337, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=56, 骞冲潎鍊?(314.48,263.09), 鏍囧噯宸?(17.06,74.31) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=440, V=337 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.01 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=439.24, V=335.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=439.24, V=335.30 浣嶇疆闄愬埗鐢熸晥: H=439, V=335 璁剧疆鑸垫満浣嶇疆: H=439, V=335, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.06,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=57, 骞冲潎鍊?(314.58,262.68), 鏍囧噯宸?(16.93,73.71) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=439, V=335 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=438.24, V=333.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=438.24, V=333.30 浣嶇疆闄愬埗鐢熸晥: H=438, V=333 璁剧疆鑸垫満浣嶇疆: H=438, V=333, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=58, 骞冲潎鍊?(314.67,262.29), 鏍囧噯宸?(16.80,73.13) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=438, V=333 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=437.24, V=331.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=437.24, V=331.30 浣嶇疆闄愬埗鐢熸晥: H=437, V=331 璁剧疆鑸垫満浣嶇疆: H=437, V=331, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.15,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=59, 骞冲潎鍊?(314.76,261.92), 鏍囧噯宸?(16.67,72.57) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=437, V=331 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=436.24, V=329.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=436.24, V=329.30 浣嶇疆闄愬埗鐢熸晥: H=436, V=329 璁剧疆鑸垫満浣嶇疆: H=436, V=329, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=60, 骞冲潎鍊?(314.85,261.55), 鏍囧噯宸?(16.54,72.02) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=436, V=329 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=435.24, V=327.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=435.24, V=327.30 浣嶇疆闄愬埗鐢熸晥: H=435, V=327 璁剧疆鑸垫満浣嶇疆: H=435, V=327, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.03,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=61, 骞冲潎鍊?(314.93,261.20), 鏍囧噯宸?(16.42,71.48) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=435, V=327 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=434.24, V=325.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=434.24, V=325.30 浣嶇疆闄愬埗鐢熸晥: H=434, V=325 璁剧疆鑸垫満浣嶇疆: H=434, V=325, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.09,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=62, 骞冲潎鍊?(315.02,260.85), 鏍囧噯宸?(16.30,70.95) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=434, V=325 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=433.24, V=323.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=433.24, V=323.30 浣嶇疆闄愬埗鐢熸晥: H=433, V=323 璁剧疆鑸垫満浣嶇疆: H=433, V=323, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,239), 杞撮暱(5.06,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=63, 骞冲潎鍊?(315.10,260.51), 鏍囧噯宸?(16.18,70.44) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=433, V=323 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=432.24, V=321.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=432.24, V=321.30 浣嶇疆闄愬埗鐢熸晥: H=432, V=321 璁剧疆鑸垫満浣嶇疆: H=432, V=321, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.06,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=64, 骞冲潎鍊?(315.17,260.19), 鏍囧噯宸?(16.06,69.93) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=432, V=321 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=431.24, V=319.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=431.24, V=319.30 浣嶇疆闄愬埗鐢熸晥: H=431, V=319 璁剧疆鑸垫満浣嶇疆: H=431, V=319, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(5.15,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=65, 骞冲潎鍊?(315.25,259.88), 鏍囧噯宸?(15.95,69.43) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=431, V=319 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=430.24, V=317.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=430.24, V=317.30 浣嶇疆闄愬埗鐢熸晥: H=430, V=317 璁剧疆鑸垫満浣嶇疆: H=430, V=317, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(320,240), 杞撮暱(4.99,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=66, 骞冲潎鍊?(315.32,259.58), 鏍囧噯宸?(15.84,68.95) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=430, V=317 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=429.24, V=315.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=429.24, V=315.30 浣嶇疆闄愬埗鐢熸晥: H=429, V=315 璁剧疆鑸垫満浣嶇疆: H=429, V=315, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(319,239), 杞撮暱(5.03,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=67, 骞冲潎鍊?(315.37,259.27), 鏍囧噯宸?(15.73,68.48) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=429, V=315 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=428.24, V=313.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=428.24, V=313.30 浣嶇疆闄愬埗鐢熸晥: H=428, V=313 璁剧疆鑸垫満浣嶇疆: H=428, V=313, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(319,239), 杞撮暱(5.27,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=68, 骞冲潎鍊?(315.43,258.97), 鏍囧噯宸?(15.62,68.02) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=428, V=313 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=427.24, V=311.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=427.24, V=311.30 浣嶇疆闄愬埗鐢熸晥: H=427, V=311 璁剧疆鑸垫満浣嶇疆: H=427, V=311, 绉诲姩鏃堕棿=0.50绉? 鍦嗗績闃熷垪: 鏁伴噺=68, 骞冲潎鍊?(315.43,258.97), 鏍囧噯宸?(15.62,68.02) 鍦嗗績鍋忓樊: dx=-1, dy=-1 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(319,239), 杞撮暱(4.94,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=69, 骞冲潎鍊?(315.48,258.68), 鏍囧噯宸?(15.51,67.56) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=427, V=311 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=426.24, V=309.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=426.24, V=309.30 浣嶇疆闄愬埗鐢熸晥: H=426, V=309 璁剧疆鑸垫満浣嶇疆: H=426, V=309, 绉诲姩鏃堕棿=0.50绉? 妫€娴嬪埌 1 涓き鍦?妞渾 1: 涓績(319,239), 杞撮暱(4.91,0.00), 瑙掑害=0.00掳, 鍦嗗害=1.0000 鍦嗗績闃熷垪: 鏁伴噺=70, 骞冲潎鍊?(315.53,258.40), 鏍囧噯宸?(15.41,67.12) 鍦嗗績鍋忓樊: dx=-1, dy=-1 褰撳墠鑸垫満浣嶇疆: H=426, V=309 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*-243.00 = -2.43 寰垎椤? Kd*derivative = 0.05*0.00 = 0.00 PID杈撳嚭: u = -2.43 [PID璁$畻] 娴嬮噺鍊?-1.00, 璇樊=-1.00 姝诲尯鐢熸晥: |-1.00| < 5, 璇樊褰掗浂 姣斾緥椤? Kp*error = 0.2*0.00 = 0.00 绉垎椤? Ki*integral = 0.01*500.00 = 5.00 寰垎椤? Kd*derivative = 0.05*-0.00 = -0.00 PID杈撳嚭: u = 5.00 璁$畻鏂颁綅缃? H=425.24, V=307.30 [鑸垫満璁剧疆] 鍘熷鐩爣: H=425.24, V=307.30 浣嶇疆闄愬埗鐢熸晥: H=425, V=307 璁剧疆鑸垫満浣嶇疆: H=425, V=307, 绉诲姩鏃堕棿=0.50绉? 鍦嗗績闃熷垪: 鏁伴噺=70, 骞冲潎鍊?(315.53,258.40), 鏍囧噯宸?(15.41,67.12) 鍦嗗績鍋忓樊: dx=-1, dy=-1 Traceback (most recent call last): File "/home/pi/yuan4.py", line 363, in <module> main() File "/home/pi/yuan4.py", line 213, in main rectangle = detect_black_rectangle(frame) File "/home/pi/yuan4.py", line 135, in detect_black_rectangle box = np.int0(box) File "/home/pi/openvino_env/lib/python3.9/site-packages/numpy/__init__.py", line 410, in __getattr__ raise AttributeError("module {!r} has no attribute " AttributeError: module 'numpy' has no attribute 'int0'
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08-01
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