Python通过串口到Arduino，无法移动伺服器

Question

我目前正在尝试将摄像机安装在由两个微型伺服器组成的云台上以跟踪面部。我的python代码一直在工作并且已经成功识别了人脸，但是当Arduino不断闪烁时，好像我正在从Python代码接收输入一样，我的任何伺服器都没有移动。我无法让伺服器按照我的python代码移动，但是我在侧面做了简单的代码以确保伺服器连接良好，并且它们可以正常工作。我不确定是怎么回事...

Python代码

import numpy as np6
import serial
import time
import sys
import cv2

arduino = serial.Serial('COM3', 9600)
time.sleep(2)
print("Connection to arduino...")


face_cascade = cv2.CascadeClassifier('haarcascade_frontalface_default.xml')

cap = cv2.VideoCapture(0)

while 1:
    ret, img = cap.read()
    cv2.resizeWindow('img', 500,500)
    cv2.line(img,(500,250),(0,250),(0,255,0),1)
    cv2.line(img,(250,0),(250,500),(0,255,0),1)
    cv2.circle(img, (250, 250), 5, (255, 255, 255), -1)
    gray  = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
    faces = face_cascade.detectMultiScale(gray, 1.3)

    for (x,y,w,h) in faces:
        cv2.rectangle(img,(x,y),(x+w,y+h),(0,255,0),5)
        roi_gray  = gray[y:y+h, x:x+w]
        roi_color = img[y:y+h, x:x+w]

        arr = {y:y+h, x:x+w}
        print (arr)

        print ('X :' +str(x))
        print ('Y :'+str(y))
        print ('x+w :' +str(x+w))
        print ('y+h :' +str(y+h))

        xx = int(x+(x+h))/2
        yy = int(y+(y+w))/2

        print (xx)
        print (yy)

        center = (xx,yy)

        print("Center of Rectangle is :", center)
        data =(“X {0: f} Y {1: f} Z” .format (xx, yy))
        print ("output = '" +data+ "'")
        arduino.write(data.encode())


    cv2.imshow('img',img)

    k = cv2.waitKey(30) & 0xff
    if k == 27:
        break

Arduino代码

#include<Servo.h>

Servo servoVer; //Vertical Servo
Servo servoHor; //Horizontal Servo

int x;
int y;

int prevX;
int prevY;

void setup()
{
  Serial.begin(9600);
  servoVer.attach(5); //Vertical Servo to Pin 5
  servoHor.attach(6); //Horizontal Servo to Pin 6
  servoVer.write(90);
  servoHor.write(90);
}

void Pos()
{
  if(prevX != x || prevY != y)
  {
    int servoX = map(x, 600, 0, 70, 179); 
    int servoY = map(y, 450, 0, 179, 95); 

    servoX = min(servoX, 179);
    servoX = max(servoX, 70);
    servoY = min(servoY, 179);
    servoY = max(servoY, 95);

    servoHor.write(servoX);
    servoVer.write(servoY);
  }
}

void loop()
{
  if(Serial.available() > 0)
  {
    if(Serial.read() == 'X')
    {
      x = Serial.parseInt();

      if(Serial.read() == 'Y')
      {
        y = Serial.parseInt();
       Pos();
      }
    }
    while(Serial.available() > 0)
    {
      Serial.read();
    }
  }
}

Answer 1