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  • 颜色识别的判断及其反应



    • 当找到颜色块时,怎样控制引脚做出高低电位的反应?





    • 这是我用过的程序,你看看有没有捏能用到的地方

      # Single Color RGB565 Blob Tracking Example
      #
      # This example shows off single color RGB565 tracking using the OpenMV Cam.
      
      import sensor, image, time,pyb
      #将蓝灯赋值给变量led
      led = pyb.LED(3) # Red LED = 1, Green LED = 2, Blue LED = 3, IR LEDs = 4.
      usb = pyb.USB_VCP() # This is a serial port object that allows you to
      # communciate with your computer. While it is not open the code below runs.
      
      
      threshold_index = 0 # 0 for red, 1 for green, 2 for blue
      
      # Color Tracking Thresholds (L Min, L Max, A Min, A Max, B Min, B Max)
      # The below thresholds track in general red/green/blue things. You may wish to tune them...
      
      thresholds = [(30, 100, 15, 127, 15, 127), # generic_red_thresholds
                   (30, 100, -64, -8, -32, 32), # generic_green_thresholds
                   (0, 30, 0, 64, -128, 0)] # generic_blue_thresholds
      
      sensor.reset()
      sensor.set_pixformat(sensor.RGB565)
      sensor.set_framesize(sensor.QVGA)
      sensor.skip_frames(time = 2000)
      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()
      
      
      
      
      #ROI=(80,30,15,15)#左上方
      
      
      
      
      # Only blobs that with more pixels than "pixel_threshold" and more area than "area_threshold" are
      # returned by "find_blobs" below. Change "pixels_threshold" and "area_threshold" if you change the
      # camera resolution. "merge=True" merges all overlapping blobs in the image.
      
      while(True):
          clock.tick()
          img = sensor.snapshot()
          for blob in img.find_blobs([thresholds[threshold_index]], pixels_threshold=200, area_threshold=200, merge=True):
              img.draw_rectangle(blob.rect())
              img.draw_cross(blob.cx(), blob.cy())
              print(123)
          if blob.cx()==img.width()/2:
              print(666)  
              led.on()
              time.sleep(600)      
              print(blob)  #rotation为旋转的弧度,通过这个来确认垂直时候停止
              print(blob.code())   #打印出来相应颜色的代码,可以通过这个进行串口通信 
         #此处为lcd输出XY坐标img.draw_string(100,100,'x='+str(blob.cx()), color=(0,0,0))
        #img.draw_string(100,100,'y=+'str(blob.cy()), color=(0,0,0))
       # thresholds[0]为色域的第一个,即为红色,见视频颜色16min
       
       #打印出来相应颜色的代码,可以通过这个进行串口通信 
      
      #通过90度,小ROI,代码确定为红色,中间均分,坐标中间,从而进行相应的定位