Openmv脱机运行闪烁两下红灯后熄灭

azuk

#2018.8.2
import sensor, image, time , pyb,json #引入感光元件的模块
from pyb import UART
from pyb import Timer
from pyb import LED
from machine import I2C
from vl53l1x import VL53L1X
import time

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
               #(36, 100, 45, -54, 26, 124),
                #(55, 70, -28, -10, 33, 57),
              (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
uart_index=0
start=0
current_exposure_time_in_microseconds = sensor.get_exposure_us()
sensor.reset()#初始化感光元件
sensor.set_pixformat(sensor.RGB565)#设置为彩色
sensor.set_framesize(sensor.QVGA)   #320*240 设置图像大小
sensor.skip_frames(time = 2000)#跳过一些帧，等待感光元件稳定
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(1, 115200)
uart.init(115200, bits=8, parity=None, stop=1, timeout_char=1000) # 使用给定参数初始化
i2c = I2C(2)
distance = VL53L1X(i2c)
#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 find_dir(xzb):
    dire=0
    if (xzb <= 120):
        dire=1
    elif (xzb > 120) and (xzb <185):
        dire=2
    elif (xzb >= 185):
        dire=3
    return dire
def Uart_Receive():   #UART接收 改变框小球的颜色阈值
    global uart_index;
    if uart.any():
       temp_data = uart.readchar()
       if temp_data==1:   #红色
          uart_index=1
          print(temp_data,uart_index)
       else:
            uart_index=0
            print(temp_data,uart_index)
while(True):
    if start<5:
       start=start+1;
       #clock.tick()
       img = sensor.snapshot()
       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
           fx=find_dir(max_blob.cx());
           xzb=max_blob.cx();
           xzba=int(xzb/100)
           xzbb=int(xzb%100)
           dis=distance.read();
           disa=int(dis/100)
           disb=int(dis%100)
           time.sleep_ms(100)
           output_str="[%d,%d,%d,%d]"%(xzba,xzbb,disa,disb)

           data_out=bytearray([xzba,xzbb,disa,disb])
           print('you send:',output_str)
           uart.write(data_out+'\r\n');
           time.sleep_ms(50)
           led.on()


           #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)
           # uart.write(output_str)
           #time.sleep_ms(10)
           #led.on()
       else:
           print("NO FIND")
           #data = bytearray([0xAA,0x55,0x07,0x00,0x00,0x00,0x00,0x00,0x00,0x06])
           data_out=bytearray([0,0])
           uart.write(data_out+'\r\n')
           time.sleep_ms(50)
           led.off()

    elif start==5:
         clock.tick()
         img = sensor.snapshot()
         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

             Uart_Receive()
             time.sleep_ms(50)
             if uart_index!=1:
                time.sleep_ms(1000);
             fx=find_dir(max_blob.cx());
             dis=distance.read();
             time.sleep_ms(100)
             disa=int(dis/100)
             disb=int(dis%100)
             xzb=max_blob.cx();
             xzba=int(xzb/100)
             xzbb=int(xzb%100)
             output_str="[%d,%d,%d,%d]"%(xzba,xzbb,disa,disb)
             data_out=bytearray([xzba,xzbb,disa,disb])
             print('you send:',output_str)
             uart.write(data_out+'\r\n');
             time.sleep_ms(50)
             led.on()


             #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)
             # uart.write(output_str)
             #time.sleep_ms(10)
             #led.on()
         else:
            print("NO FIND")
            #data = bytearray([0xAA,0x55,0x07,0x00,0x00,0x00,0x00,0x00,0x00,0x06])
            data_out=bytearray([0,0])
            uart.write(data_out+'\r\n')
            time.sleep_ms(50)
            led.off()

求大佬解答
正常运行没问题脱机运行就有时行有时不行

kidswong999

脱机运行时，是通过USB供电的吗？

azuk

不是是外面电池供电

azuk

买的你们官方的3.7V供电电池

kidswong999

用USB供电试试。