2023年电子设计大赛E题基于openmv与stm32的追踪云台

import sensor, image, time,math,pyb from pyb import UART,LED import json import ustruct sensor.reset() sensor.set_pixformat(sensor.RGB565) sensor.set_framesize(sensor.QVGA) sensor.skip_frames(time = 2000) sensor.set_windowing((240, 240)) sensor.set_auto_gain(False) # must be turned off for color tracking sensor.set_auto_whitebal(False) # must be turned off for color tracking red_threshold_01=(10, 100, 127, 32, -43, 67) #red_threshold_01=(86, 64, -128, -17, -128, 127) clock = time.clock() uart = UART(3,115200) #定义串口3变量 uart.init(115200, bits=8, parity=None, stop=1) # init with given parameters def find_max(blobs): #定义寻找色块面积最大的函数 max_size=0 for blob in blobs: if blob.pixels() > max_size: max_blob=blob max_size = blob.pixels() return max_blob def sending_data(cx,cy,cw,ch): global uart; data = ustruct.pack("<bbhhhhb", #格式为俩个字符俩个短整型(2字节) 0x2C, #帧头1 int(cx), # up sample by 4 #数据1 int(cy), # up sample by 4 #数据2 0x5B) uart.write(data); #必须要传入一个字节数组 while(True): clock.tick() img = sensor.snapshot() blobs = img.find_blobs([red_threshold_01]) max_b = find_max(blobs) cx=0;cy=0; img.draw_cross(120, 120, size = 5, color = (255, 255, 255)) if blobs: #如果找到了目标颜色 cx=max_b[5] cy=max_b[6] img.draw_rectangle(max_b[0:4]) # rect img.draw_cross(max_b[5], max_b[6]) # cx, cy FH = bytearray([0x2C,cx,cy,0x5B]) uart.write(FH) print(cx,cy)