基于STM32蓝牙小车的毕业设计源码.zip

import sensor, image, time from pyb import Pin from pyb import LED import pyb sensor.reset() # 初始化摄像头 sensor.set_pixformat(sensor.GRAYSCALE) # 格式为 RGB565. sensor.set_framesize(sensor.QVGA) sensor.skip_frames(10) # 跳过10帧，使新设置生效 sensor.set_auto_whitebal(False) led1 = pyb.LED(1) led2 = pyb.LED(2) led3 = pyb.LED(3) i=0 start = pyb.micros() while(True): p_out1 = Pin('P1', Pin.OUT_PP)#设置p_out为输出引脚 p_out2 = Pin('P2', Pin.OUT_PP)#设置p_out为输出引脚 p_out3 = Pin('P3', Pin.OUT_PP) THRESHOLD = (0, 100) # Grayscale threshold for dark things... ROI1=(0,80,320,40) ROI2=(0,0,60,20) ROI3=(100,0,220,20) ROI4=(0,0,160,20) img = sensor.snapshot().binary([THRESHOLD])#线设置为白色，其他为黑色 statistics1=img.get_statistics(roi=ROI1) statistics2=img.get_statistics(roi=ROI2) statistics3=img.get_statistics(roi=ROI3) statistics4=img.get_statistics(roi=ROI4) if(statistics1.mean()>55): p_out1.high() p_out2.low() p_out3.low() led1.on() elif(statistics2.mean()>80 and statistics3.mean()>15 ): p_out1.low() p_out2.high() p_out3.low() led3.on() else: p_out1.low() p_out2.low() p_out3.low() led1.off() led2.off() led3.off() #画方框标识识别区域 img.draw_rectangle(ROI1) img.draw_rectangle(ROI2) img.draw_rectangle(ROI3) # 计算运行时间 x=pyb.elapsed_micros(start)//100000/7.9 i=i+1 if(x>30): p_out3.high() print('ok') else: p_out3.low() print('nook') print(statistics2.mean())