openmv第一次除錯

2018-09-19  20:14:51

import

sensor, image, time
import
carimport
json
import
time
from pyb import
uart
from pid import
pidsensor.reset() 
#initialize the camera sensor.
sensor.set_pixformat(sensor.rgb565) #
use rgb565.
sensor.set_framesize(sensor.qqvga) #
use qqvga for speed.
sensor.skip_frames(30) #
let new settings take affect.
sensor.set_auto_whitebal(false) #
追蹤顏色需要關閉白平衡
sensor.set_auto_gain(false)#
掃碼需要關閉自動增益
clock = time.clock() #
tracks fps.
red_threshold = (13, 49, 18, 61, 6, 47) #
紅色閾值
size_threshold = 2000x_pid = pid(p=0.5, i=1, imax=100)
h_pid = pid(p=0.05, i=0.1, imax=50)
uart = uart(3, 115200)
ma_flag =0
ma =
'''#串列埠通訊：
測試json資料 
data=
data_out = json.dumps(set(data))
uart.write(data_out +'\n')
uart.write("hello world!\r")
'''#
#####################
'''#掃碼反饋資訊
img.lens_corr(1.8) # 縮小視野
for code in img.find_qrcodes():
print(code)
'''def
find_ma():
global
ma_flag
ifma_flag :
print("
已完成掃碼。")
else
: ma =img.find_qrcodes()
ifma:
print("
發現***即將停車進行掃碼")
saoma()
ma_flag = 1
else
: 
print("
正在尋找***。。。")
defsaoma():
img.lens_corr(1.8) #
strength of 1.8 is good for the 2.8mm lens.
for code in
img.find_qrcodes():
print
(code)
deffind_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
while
(true):
clock.tick() 
#track elapsed milliseconds between snapshots().
img =sensor.snapshot()
find_ma()
'''blobs = img.find_blobs([red_threshold])
if blobs:
max_blob = find_max(blobs)
x_error = max_blob[5]-img.width()/2
h_error = max_blob[2]*max_blob[3]-size_threshold
# print("x error: ", x_error)
print("測試與arduino通訊")
###下面**為測試與arduino通訊傳送座標####
data=
for b in blobs:
# draw a rect around the blob.
img.draw_rectangle(b[0:4]) # rect
img.draw_cross(b[5], b[6]) # cx, cy
data_out = json.dumps(set(data))
uart.write(data_out +'\n')
###################################
img.draw_rectangle(max_blob[0:4]) # rect
img.draw_cross(max_blob[5], max_blob[6]) # cx, cy
x_output=x_pid.get_pid(x_error,1)
h_output=h_pid.get_pid(h_error,1)
print("h_output",h_output)
car.run(-h_output-x_output,-h_output+x_output)
else:
car.run(10,-10) #旋轉尋找小球
'''

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