4. 我先用串口帧格式与单片机通讯，在openmv发送数据上出错，为什么说不能把浮点型转整形？我用了int()也不行？
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    • 我先用串口帧格式与单片机通讯，在openmv发送数据上出错，为什么说不能把浮点型转整形？我用了int()也不行？

    • 2
       

      #THRESHOLD =(0, 23, -12, 5, -5, 13)
THRESHOLD_day=(0, 30, -47, 20, -28, 19)
import sensor, image, time,math,pyb
from pyb import UART,Pin,Timer
from pyb import LED
from pid import PID
output_str=''
uart = UART(3,9600)
sensor.reset()
sensor.set_vflip(True)
sensor.set_hmirror(True)
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.set_windowing((0,60,120,60))
sensor.skip_frames(time = 2000)
clock = time.clock()
LED(1).on()
LED(2).on()
LED(3).on()
roi_X=[30,0,30,30]
roi_stra=[50,0,30,30]
rho_pid = PID(p=0.7, i=0)
theta_pid = PID(p=0.3, i=0.5,d=0.1)
while(True):
     img = sensor.snapshot()
     img.draw_rectangle(roi_X, color = (255, 0, 0), thickness = 2, fill = False)
     img.draw_rectangle(roi_stra, color = (255, 0, 0), thickness = 2, fill = False)
     blobs = img.find_blobs([THRESHOLD_day], roi=roi_X,x_stride=1, y_stride=1,pixels_threshold=10)
     for blob in blobs:
            img.draw_rectangle(blob.rect())
            img.draw_cross(blob.cx(), blob.cy())
            if blob:
                blobsss = img.find_blobs([THRESHOLD_day],roi=roi_stra,x_stride=1, y_stride=1,pixels_threshold=10)
                for blob in blobs:
                        img.draw_rectangle(blob.rect())
                        img.draw_cross(blob.cx(), blob.cy())
                        if blob:
                            print('go!')
                            output_str =bytearray([0x2C,0x12,128,128,0x5B])
                            #output_str='&0%d%d*' % (300, 300)
                            uart.write(output_str)
                            print(output_str)
                            pyb.delay(200)
     img = sensor.snapshot().binary([THRESHOLD_day])
     line1 = img.get_regression([(100,100)], robust = True)
     if (line1):
         rho_err = abs(line1.rho())-img.width()/2
         if line1.theta()>90:
             theta_err = line1.theta()-180
         else:
             theta_err = line1.theta()
         img.draw_line(line1.line(), color = 127)
         if line1.magnitude()>8:
            rho_output = rho_pid.get_pid(rho_err,1)
            theta_output = theta_pid.get_pid(theta_err,1)
            output = rho_output+theta_output
            output1=128-output
            output2=128+output
            int(output1)
            int(output2)
            output_str =bytearray([0x2C,0x12,output1,output2,0x5B])
            #output_str='&0%d%d*' % (300-output, 300+output)
            uart.write(output_str)
            print(output_str)
         else:
            output_str =bytearray([0x2C,0x12,0,128,0x5B])
            #output_str='&0000300*'
            uart.write(output_str)  
            print(output_str)
            pass

      0_1674529020783_458688f8-f7dd-4668-be43-eb155605bb39-image.png

      0 

    •             output1=128-output
            output2=128+output
            int(output1)
            int(output2)
            output_str =bytearray([0x2C,0x12,output1,output2,0x5B])

      改成

                  output1=int(128-output)
            output2=int(128+output)
            output_str =bytearray([0x2C,0x12,output1,output2,0x5B])
      0