using servo giving error

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Md
Md 2022-10-26
回答： Amit Dhakite 2023-6-5
Hello, I am using the code below to track red object using servomotor and arduino.
clear all;
a=arduino("/dev/cu.usbmodem101","Uno","Libraries","Servo");
s = servo(a,'D4','MinPulseDuration',5.44e-04,'MaxPulseDuration',2.40e-03);
cam=webcam();
for i = 1:300
RGB = snapshot(cam);
size(RGB)
% defining redness of image
r = RGB(:, :,1); g = RGB(:, : ,2); b = RGB(:, :, 3);
% create a binary image (heuristic)
red = (r > 2*g) & (r > 2*b) & (r > 30);
% imshow(red);
% group all red object within 5 pixels of each other as one object
se = strel('disk',5);
red = imclose(red,se);
% delete all objects smaller than 35 pixels in area
red = bwareaopen(red,35);
red = bwareafilt(red, 1);
% getting the centroid & creating bounding box
stats = regionprops(bwlabel(red),'BoundingBox','centroid');
S = vertcat(stats.Centroid);
figure
imshow(RGB) % show original image
hold on
for object = 1:length(stats)
bb = stats(object).BoundingBox;
bc = stats(object).Centroid;
rectangle('Position', bb, 'EdgeColor', 'r', 'LineWidth', 2) % draw bounding box
plot(bc(1), bc(2), '-m+') % mark centroid (x, y) with '+'
a=text(bc(1)+15,bc(2), strcat('X: ', num2str(round(bc(1))), ' Y: ', num2str(round(bc(2)))));
set(a, 'FontName', 'Arial', 'FontWeight', 'bold', 'FontSize', 12, 'Color', 'yellow');
error = bc(1)-320;
x_dist = error*0.06718;
deg = atan(x_dist/30);
deg_map = (deg+0.6)*(1-0)/(0.6+0.6) + 0;
fprintf('DEG %.2f \n', deg_map)
writePosition(s,deg_map)
end
hold off
end
The issue is, whenever the degree is more than 1, it gives an error saying, "Invalid position value. The value must be between 0 and 1." For example:
What can I do to solve this? Thank you!

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回答（1 个）

Amit Dhakite
Amit Dhakite 2023-6-5
Hi Md,
As per my understanding, you are using "writePosition()" in order to track a red object using a servo motor, but encountering an error.
I would like to draw your attention to the fact that the second parameter in the "writePosition()" is the position of servo motor shaft specified as a number representing the angle from 0 to 1, where 0 represents the minimum angle of rotation and 1 represents the maximum angle of rotation of the servo motor. In your code, it looks like this parameter "deg_map" is out of this specified range.
Try to find out the range of "deg". Let's say it is between "deg_min" and "deg_max", then its mapping would be:
deg_map = (deg - deg_min) / (deg_max - deg_min);
This should help bring the "deg_map" parameter within the specified range of 0 and 1.
To know more about “writePosition()”, kindly refer to the following link: https://www.mathworks.com/help/supportpkg/arduinoio/ref/writeposition.html

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