基于OpenMV与STM32的寻球小车

#2018.8.2 import sensor, image, time , pyb from pyb import UART from pyb import Timer from pyb import LED import json led = pyb.LED(3) # Red LED = 1, Green LED = 2, Blue LED = 3, IR LEDs = 4. thresholds = [(27, 67, 19, 91, 45, 76), # 红色 #(21, 75, 3, -38, 34, 68), # 绿色 (27, 90, -3, -28, 31, 125), (0, 30, 0, 64, -128, 0)] # generic_blue_thresholds threshold_index = 1 # 0 for red, 1 for gre9en, 2 for blue sensor.reset() sensor.set_pixformat(sensor.RGB565) sensor.set_framesize(sensor.QVGA) #320*240 sensor.skip_frames(time = 100) sensor.set_auto_gain(False) # must be turned off for color tracking sensor.set_auto_whitebal(False) # must be turned off for color tracking clock = time.clock() uart = UART(3, 115200) uart.init(115200, bits=8, parity=None, stop=1, timeout_char=1000) # 使用给定参数初始化 def tick(timer): # we will receive the timer object when being called global data if blobs: print("Find") print('you send:',output_str) uart.write(data) tim = Timer(4, freq=10) # create a timer object using timer 4 - trigger at 1Hz tim.callback(tick) # set the callback to our tick function def find_max(blobs): max_size=0 for blob in blobs: if blob[2]*blob[3] > max_size: max_blob=blob max_size = blob[2]*blob[3] return max_blob def Uart_Receive(): #UART接收 改变框小球的颜色阈值 global threshold_index if uart.any(): temp_data = uart.readchar() if temp_data==0: #红色 threshold_index=0 print(temp_data,threshold_index) elif temp_data==1: threshold_index=1 print(temp_data,threshold_index) while(True): clock.tick() img = sensor.snapshot() Uart_Receive() blobs = img.find_blobs([thresholds[threshold_index]]) if blobs: max_blob = find_max(blobs) b = max_blob[0] #方框元组 L = (max_blob[2]+max_blob[3])/2 l=int(1000/L) #x_error = max_blob[5]-img.width()/2 #求横向偏差 x_error = max_blob[5]-img.width()/2 img.draw_rectangle(max_blob[0:4]) # 画矩形 img.draw_cross(max_blob[5], max_blob[6]) # 画十字 #发送 小球的(x,y,l,n) #x为横坐标，y为纵坐标，l为粗略的距离，n为小球颜色(0：红 1：绿) output_str="%d,%d,%d,%d" % (max_blob.cx(),max_blob.cy(),l,threshold_index) #10进制字符包 checkout=0xAA+0x55+0x07+int(max_blob.cx()/2)+max_blob.cy()+l+threshold_index data = bytearray([0xAA,0x55,0x07,int(max_blob.cx()/2),max_blob.cy(),l,threshold_index,0x00,0x00,checkout])#转成16进制 #uart.write(data) time.sleep(1) led.on() else: print("NO FIND") data = bytearray([0xAA,0x55,0x07,0x00,0x00,0x00,0x00,0x00,0x00,0x06]) uart.write(data) led.off()