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  • 为什么用32给openmv发送数据'A',接收到的很多数据是255而不是65



    • import sensor, image, time, math,json
      from pyb import LED
      from pyb import UART
      import ustruct
      thresholds = [(11, 56, 16, 59, -8, 44),#red
                   (22, 50, -3, 14, 11, 36),
                   (13, 43, -4, 29, -89, -21)]#blue
      
      objthresholds = [(34, 42, 26, 54, 5, 25), # generic_red_thresholds
                 (56, 67, -39, -17, 12, 37), # generic_green_thresholds
                 (29, 45, 0, 14, -32, -15)] # generic_blue_thresholds
      graythreshold=[(100,255)]
      
      
      sensor.reset()
      sensor.set_pixformat(sensor.RGB565)
      sensor.set_framesize(sensor.QVGA)
      sensor.skip_frames(time = 2000)
      sensor.set_auto_gain(False)
      sensor.set_auto_whitebal(False)
      clock = time.clock()
      
      uart = UART(3, 115200)
      uart.init(115200, bits=8, parity=None, stop=1)
      
      uart1 = UART(1, 115200, timeout_char=1000)
      uart1.init(115200, bits=8, parity=None, stop=1,timeout_char=1000)
      
      A=0
      red_cx = 0
      green_cx = 0
      blue_cx = 0
      a = 0
      led = LED(1)
      led1 = LED(2)
      led2 = LED(3)
      led3 = LED(4)
      
      def sending_data(cx,cy):
          global uart;
          #frame=[0x2C,18,cx%0xff,int(cx/0xff),cy%0xff,int(cy/0xff),0x5B];
          #data = bytearray(frame)
          data = ustruct.pack("<bbhhb",
                         0x2C,
                         0x12,
                         int(cx),
                         int(cy),
                         0x5B)
          uart.write(data)
      
      # 比较两个色块大小的函数
      def compareBlob(blob1, blob2):
         # 这里我们选择了pixels作为指标比对二者的代码
         # 你也可以换用其它指标 例如 blob.area()
         tmp = blob1.pixels() - blob2.pixels()
         if tmp == 0:
             return 0;
         elif tmp > 0:
             return 1;
         else:
             return -1;
      
      
      while (True):
          led.on()
          if(uart1.any()):
              a = uart1.readchar()
              if(a==65):      #A
                  A=1
                  led1.on()
              if(a==66):    #B
                  A=0
              if(a==67):    #C
                  A=2
                  led.on()
              if(a==68):    #D
                  A=3
                  led1.on()
              if(a==69):    #E
                  A=4
                  led2.on()
              print(a)
              print('A = %d'%A)
          if(A==1):
              led1.on()
              led.off()
              clock.tick()
              img = sensor.snapshot()
              for blob in img.find_blobs([thresholds[0]], pixels_threshold=500, area_threshold=500, merge=True):
                  img.draw_rectangle(blob[0:4])
                  img.draw_cross(blob.cx(), blob.cy())
                  red_cx = blob.cx()
              for blob in img.find_blobs([thresholds[1]], pixels_threshold=500, area_threshold=500, merge=True):
                  img.draw_rectangle(blob[0:4])
                  img.draw_cross(blob.cx(), blob.cy())
                  green_cx = blob.cx()
              for blob in img.find_blobs([thresholds[2]],pixels_threshold=500, area_threshold=500, merge=True):
                  img.draw_rectangle(blob[0:4])
                  img.draw_cross(blob.cx(), blob.cy())
                  blue_cx = blob.cx()
              if red_cx > green_cx and green_cx > blue_cx :
                  output_str='r123'
                  print(output_str)
                  uart.write(output_str)
                  time.sleep(4)
              if  red_cx > blue_cx and blue_cx > green_cx :
                  output_str='r132'
                  print(output_str)
                  uart.write(output_str)
                  time.sleep(4)
              if  green_cx > blue_cx and blue_cx > red_cx :
                  output_str='r231'
                  print(output_str)
                  uart.write(output_str)
                  time.sleep(4)
              if  green_cx > red_cx and red_cx > blue_cx :
                  output_str='r213'
                  print(output_str)
                  uart.write(output_str)
                  time.sleep(4)
              if  blue_cx > green_cx and green_cx > red_cx :
                  output_str='r321'
                  print(output_str)
                  uart.write(output_str)
                  time.sleep(4)
              if  blue_cx > red_cx and red_cx > green_cx :
                  output_str='r312'
                  print(output_str)
                  uart.write(output_str)
                  time.sleep(4)
          if(A==2 ):
              clock.tick()
              img = sensor.snapshot().lens_corr(1.8)
              img.binary([objthresholds[0]])
              img.dilate(4)
      
              blobs=img.find_blobs(graythreshold, pixels_threshold=2025, area_threshold=1600, merge=True)
              if len(blobs):
                  bigBlob = blobs[0]
                  for blob in blobs:
                      if compareBlob(bigBlob, blob) == -1:
                          bigBlob = blob
                      img.draw_rectangle(bigBlob.rect())
                      print(bigBlob.cx(),bigBlob.cy())
                      sending_data(bigBlob.cx(),bigBlob.cy())
                      time.sleep(4)
          if(A==3 ):
              clock.tick()
              img = sensor.snapshot().lens_corr(1.8)
              img.binary([objthresholds[1]])
              img.dilate(4)
              blobs=img.find_blobs(graythreshold, pixels_threshold=2025, area_threshold=1600, merge=True)
              if len(blobs):
                  bigBlob = blobs[0]
                  for blob in blobs:
                      if compareBlob(bigBlob, blob) == -1:
                          bigBlob = blob
                      img.draw_rectangle(bigBlob.rect())
                      print(bigBlob.cx(), bigBlob.cy())
                      sending_data(bigBlob.cx(),bigBlob.cy())
                      time.sleep(4)
      
          if(A==4 ):
              clock.tick()
              img = sensor.snapshot().lens_corr(1.8)
              img.binary([objthresholds[2]])
              img.dilate(4)
      
              blobs=img.find_blobs(graythreshold, pixels_threshold=900, area_threshold=900, merge=True)
              if len(blobs):
                  bigBlob = blobs[0]
                  for blob in blobs:
                      if compareBlob(bigBlob, blob) == -1:
                          bigBlob = blob
                      img.draw_rectangle(bigBlob.rect())
                      print(bigBlob.cx(), bigBlob.cy())
                      sending_data(bigBlob.cx(),bigBlob.cy())
                      time.sleep(4)