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  • 串口通信时,openmvide中串行终端的数据与星瞳串口助手发送的数据不一样,并且星瞳串口助手出现乱码,为什么?



    • ![0_1720663314270_1C7E68DB-4A5A-4A0D-9FCB-0BDB821ECF86.jpeg](正在上传 0%)

      
      THRESHOLD = (32, 6, -23, 9, -18, 45) # Grayscale threshold for dark things...
      import sensor, image, time,ustruct
      from pyb import UART,LED
      #from pid import PID
      #rho_pid = PID(p=0.4, i=0)
      #theta_pid = PID(p=0.001, i=0)
      import pyb
      LED(1).on()
      LED(2).on()
      LED(3).on()
       
      sensor.reset()
      #sensor.set_vflip(True)
      #sensor.set_hmirror(True)
      sensor.set_pixformat(sensor.RGB565)
      sensor.set_framesize(sensor.QQQVGA) # 80x60 (4,800 pixels) - O(N^2) max = 2,3040,000.
      #sensor.set_windowing([0,20,80,40])
      sensor.skip_frames(time = 2000)     # WARNING: If you use QQVGA it may take seconds
      clock = time.clock()                # to process a frame sometimes.
       
      uart = UART(3,115200)   #定义串口3变量
      uart.init(115200, bits=8, parity=None, stop=1) # init with given parameters
       
      #识别区域
      roi1 =     [(0, 17, 15, 25),        #  左  x y w h
                 (65,17,15,25),# 右
                 (30,0,20,15),#上
                 (0,0,80,60)]#停车
       
       
      def outuart(x,a,flag):        #x,a,两个标志变量flag
         global uart;
         f_x=0
         f_a=0
         if flag==0:                  #判断flag是否为0
             if x<0:
                 x=-x
                 f_x=1
             if a<0:
                 a=-a
                 f_a=1
       
         if flag==1: #十字
             x,a,f_x,f_a=(0,0,0,1)
         if flag==2: #上左
             x,a,f_x,f_a=(0,0,1,0)
         if flag==3: #上右
             x,a,f_x,f_a=(0,0,1,1)
         if flag==4: #stop
             x,a,f_x,f_a=(1,1,1,2)
       
       
       
         #frame=[0x2C,18,cx%0xff,int(cx/0xff),cy%0xff,int(cy/0xff),0x5B];
         #data = bytearray(frame)
         data = ustruct.pack("<bbhhhhb",      #格式为俩个字符俩个短整型(2字节)
                        0x2C,                      #帧头1
                        0x12,                      #帧头2
                        int(x), # up sample by 4   #数据1
                        int(a), # up sample by 4    #数据2
                        int(f_x), # up sample by 4    #数据1
                        int(f_a), # up sample by 4    #数据2
                        0x5B)
         if flag!=1:
             uart.write(data);  #必须要传入一个字节数组
         else:
       
             for x in range(50):
                 uart.write(data);  #必须要传入一个字节数组
                 time.sleep_ms(1)
       
       
      p9_flag=0 #p9需检测从低变高
      not_stop=0
      while(True):
         clock.tick()
         img = sensor.snapshot().binary([THRESHOLD])
         line = img.get_regression([(100,100)], robust = True)
         left_flag,right_flag,up_flag=(0,0,0)
         for rec in roi1:
                 img.draw_rectangle(rec, color=(255,0,0))#绘制出roi区域
         p = pyb.Pin("P9", pyb.Pin.IN)
         print(p.value())
         if p.value()==0:
             p9_flag=1
         if p.value()==1 and p9_flag==1:
             not_stop=1
             p9_flag=0
       
       
         if (line):
             rho_err = abs(line.rho())-img.width()/2      #偏移误差
             if line.theta()>90:
                 theta_err = line.theta()-180             #角度误差
             else:
                 theta_err = line.theta()
             #直角坐标调整
             img.draw_line(line.line(), color = 127)
             #画出直线
             #print(rho_err,line.magnitude(),rho_err)
             if line.magnitude()>8:
                 #if -40<b_err<40 and -30<t_err<30:
                 #rho_pid直线左右偏移的距离,theta_err角度偏移
                 #rho_output = rho_pid.get_pid(rho_err,1)
                 #theta_output = theta_pid.get_pid(theta_err,1)
                 #output = rho_output+theta_output
                 outdata=[rho_err,theta_err,0]
                 print(outdata)
                 outuart(rho_err,theta_err,0)
                 if img.find_blobs([(96, 100, -13, 5, -11, 18)],roi=roi1[0]):  #left
                     #print('left')
                     left_flag=1
                 if img.find_blobs([(96, 100, -13, 5, -11, 18)],roi=roi1[1]):  #right
                     #print('right')
                     right_flag=1
                 if img.find_blobs([(96, 100, -13, 5, -11, 18)],roi=roi1[2]):  #up
                     #print('up')
                     up_flag=1
                 #if not img.find_blobs([(96, 100, -13, 5, -11, 18)],roi=roi1[3]):  #stop
                     ##print('up')
                     #stop_flag=1
                 if left_flag==1 and right_flag==1:
                     outuart(0,0,1)
                     #time.sleep_ms(5)
                     print('shizi')
                     continue
                 if left_flag==1 and up_flag==1:
                     outuart(0,0,2)
                     print('up-left')
                     continue
                 if right_flag==1 and up_flag==1:
                     outuart(0,0,3)
                     print('up-right')
                     continue
                 #if stop_flag==1:
                     #outuart(0,0,4)
                     #print('stop')
                     #continue
       
       
                 #car.run(50+output, 50-output)
             else:
                 #outuart(0,0,4)
                 ##car.run(0,0)
                 #print('stop')
                 pass
       
         else:
             #car.run(50,-50)
       
             outuart(0,0,4)
             #if  not_stop==1:
                 #time.sleep_ms(1000)
                 #not_stop=0
             print('stop')
         #print(clock.fps())
       
       
      ![0_1720663551383_9CBE1AB9-CCAA-4448-98B1-9223BD0C69AB.jpeg](正在上传 0%) 
      

      ![0_1720663571317_image.jpg](正在上传 0%)![0_1720663607261_212D8C0D-7C66-4EDF-A6F3-B66EA91FE68D.jpeg](正在上传 0%)