4. 串口通信和云台有冲突吗，为什么使用了UART3后云台不响应？
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    • 串口通信和云台有冲突吗，为什么使用了UART3后云台不响应？

    • 3

      import sensor
      import display
      import image
      import time
      import pyb
      import ml

      from pyb import UART
      from pid import PID
      from pyb import Servo

      red = (23, 56, 19, 43, -4, 25)

      #-------------------------------------------------------
      #脱机调阈值参数

      state = 1
      mode = 1
      trans_data = 0

      Lmin = 0
      Lmax = 100
      Amin = -128
      Amax = 127
      Bmin = -128
      Bmax = 127

      #-------------------------------------------------------
      #识别数字对应操作参数

      num = [0,0,0,0,0,0,0,0,0,0]
      count = 0

      model = ml.Model("trained.tflite", load_to_fb=True)
      norm = ml.Normalization(scale=(0, 1.0))

      #-------------------------------------------------------
      #云台追踪参数及函数

      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

      #-------------------------------------------------------

      #red = (9, 73, 5, 55, 1, 32)

      def uart_callback(timer):
      global received_data
      if uart.any():
      received_data = uart.readchar()

      uart = UART(3,9600)
      uart.init(9600, bits=8, parity=None, stop=1)
      received_data = None

      初始化定时器，每10ms触发一次

      timer = pyb.Timer(4, freq=100)
      timer.callback(uart_callback)

      sensor.reset() # 初始化sensor

      初始化lcd屏幕。

      注意：如果支持，可以使用 DAC 或 PWM 背光控制器来控制背光强度：

      lcd = display.SPIDisplay(backlight=display.DACBacklight(channel=2))

      lcd.backlight(25) # 25% intensity

      否则，将使用默认的 GPIO（开on/关off）控制器。

      lcd = display.SPIDisplay()

      while True:
      if(received_data == 115):#小写s的ASCLL码,向openmv发送字符s切换模式
      state += 1
      received_data = None
      if(state > 3):
      state = 1
      if(state == 1):
      color = (Lmin,Lmax,Amin,Amax,Bmin,Bmax)
      sensor.set_framesize(sensor.QQVGA2)
      sensor.set_pixformat(sensor.RGB565)
      img = sensor.snapshot()
      img.binary([color])
      lcd.write(img)
      if(received_data == 99):#小写c的ASCLL码,向openmv发送字符c改变要调整的LAB的值
      mode += 1
      if(mode > 6):
      mode = 1
      received_data = None
      if(mode == 1):
      if(received_data == 43): # 43 是字符 '+' 的ASCII码，发送一个字符+后对应LAB值+2
      trans_data = received_data
      Lmin += 5
      received_data = None
      if(received_data == 45): #45 是字符 '-' 的ASCII码，发送一个字符-后对应LAB值-2
      trans_data = received_data
      Lmin += -5
      received_data = None
      if(mode == 2):
      if (received_data == 43):
      trans_data = received_data
      Lmax += 5
      received_data = None
      if(received_data == 45):
      trans_data = received_data
      Lmax += -5
      received_data = None
      if(mode == 3):
      if (received_data == 43):
      trans_data = received_data
      Amin += 5
      received_data = None
      if(received_data == 45):
      trans_data = received_data
      Amin += -5
      received_data = None
      if(mode == 4):
      if (received_data == 43):
      trans_data = received_data
      Amax += 5
      received_data = None
      if(received_data == 45):
      trans_data = received_data
      Amax += -5
      received_data = None
      if(mode == 5):
      if (received_data == 43):
      trans_data = received_data
      Bmin += 5
      received_data = None
      if(received_data == 45):
      trans_data = received_data
      Bmin += -5
      received_data = None
      if(mode == 6):
      if (received_data == 43):
      trans_data = received_data
      Bmax += 5
      received_data = None
      if(received_data == 45):
      trans_data = received_data
      Bmax += -5
      received_data = None
      print("color:",color,"trans_data:",trans_data,"color_mode:",mode,"state:",state)
      if(state == 2):
      if(count < 100):
      sensor.set_pixformat(sensor.GRAYSCALE) # Set pixel format to GRAYSCALE (or RGB565)
      sensor.set_framesize(sensor.QQVGA2) # Set frame size to QVGA (320x240)
      sensor.set_windowing((240, 240)) # Set 240x240 window.
      img = sensor.snapshot().binary([(0,60)]).dilate(2)
      #img.binary([color])
      lcd.write(img)
      input = [norm(img)] # scale 0~255 to 0~1.0
      result = model.predict(input)[0].flatten().tolist()
      number = result.index(max(result))
      print("number", number)
      num[number] += 1
      count += 1
      if(count >= 100):
      max_num = max(num)
      final_num = num.index(max_num)
      print("final_num",final_num,"state:",state)
      #对应数字操作
      if(state == 3):
      pan_servo=Servo(1)
      tilt_servo=Servo(2)

          pan_servo.calibration(500,2500,500)
    tilt_servo.calibration(500,2500,500)
    
    pan_pid = PID(p=0.10, i=0, d=0.002,imax=90) #脱机运行或者禁用图像传输，使用这个PID
    tilt_pid = PID(p=0.09, i=0, d=0.002,imax=90) #脱机运行或者禁用图像传输，使用这个PID
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    • 不影响的：https://book.openmv.cc/MCU/pyb.html

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