4. openmv串口和测距模块
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    • openmv串口和测距模块

    • P
       

      import sensor, image, time
from machine import I2C
from vl53l1x import VL53L1X
from pyb import LED
from pyb import UART, Timer
from pyb import Servo
from pid import PID

uart = UART(1,115200)
i2c = I2C(2)
distance = VL53L1X(i2c)

test_state = 1
L = 0
chang = 0
#cir.r = 300

pan_pid=PID(p=0.05, i=0.01, d=0, imax=90) #在线调试PID
tilt_pid=PID(p=0.05, i=0.012,d=0, imax=90)

#pan_pid=PID(p=0.06, i=0.1, d=0.02, imax=100) #脱机运行PID
#tilt_pid=PID(P=0.05, i=0.05, d=0, imax=90)

'''
rect_threshold=(20, 47, 29, 70, 12, 58) #(24, 45, 32, 70, 12, 58)
circle_threshold=(61, 23, 31, 81, 5, 59)
'''

all_thresholds = [(30, 100, 15, 127, 15, 127), # _red_thresholds
                  (30, 100, -64, -8, -32, 32), # _green_thresholds
                  (0, 15, 0, 40, -80, -20)] # _blue_thresholds

sensor.reset()
sensor.set_pixformat(sensor.RGB565) # 灰度更快(160x120 max on OpenMV-M7)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
clock = time.clock()



def uart_singal():
    buff = 0
    buff = uart.any()
    if buff > 0:
        _data_receive(readchar())
    else:
        pass

def _data_receive(data):

    if data == 65:
        test_state = 1
    elif data == 66:
        test_state = 2
    else:
        print('error!!!')


def test1_2():
    for r in img.find_rects(threshold = 20000):
        area_rectangle = (r.rect()) #是为了在检测矩形的基础上检测有颜色的矩形
        for blob in img.find_blobs(all_thresholds, pixels_threshold=100, area_threshold=100, merge=True, margin=10,roi = area_rectangle):
            img.draw_rectangle(area_rectangle, color = (0, 255, 0))
            LED(1).toggle()
    for c in img.find_circles(threshold = 2200):
        area_circle = (c.x()-c.r(), c.y()-c.r(), 2*c.r(), 2*c.r())#是为了在检测有圆的基础上检测有颜色的圆
        draw_cir = (c.x(), c.y(), c.r())#画圆的轮廓
        for blob in img.find_blobs(all_thresholds, pixels_threshold=100, area_threshold=100, merge=True, margin=10, roi = area_circle):
            img.draw_circle(draw_cir,  thickness=1, color = (0,255,0),  fill=False)
            LED(3).toggle()
            L = distance.read()-50
            print(L)
            chang = L
            uart.write(chang)
def test3_4():
    pass

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


while(True):
    clock.tick()
    img = sensor.snapshot()
    if(test_state == 1):
        test1_2()
    elif(test_state == 2):
        test3_4()
    else:
        pass
    uart_singal()

      我想问问为啥我用串口1发送openmv测距模块得到的距离值他会报错，测距模块不是占用的串口3吗？0_1602417353915_QQ图片20201011195521.png

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    • L是int，uart.write只能发送字节串(字符串)。

      uart.write(str(L))#转为字符串

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