4. 关于串口的问题
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    • 关于串口的问题


    • 主要是监测图形输出的，这边是我的代码

      import sensor,time,pyb,math,time,utime,image
from pyb import Pin, Timer, UART
clock = time.clock() # Tracks FPS.
LINE_WIDTH = 8
THRESHOLD = 40
#灞忓箷灏哄
WIDTH = 160
HEIGHT = 120
ROI = (int((WIDTH-HEIGHT)/2),0,HEIGHT,HEIGHT)
XO = int((WIDTH-HEIGHT)/2)
CENTRAL_AREA = 20

#楂樺害鏁版嵁
highcnt = 0.0
high = 0
#xy骞抽潰璇樊鏁版嵁
err_x = 0
err_y = 0
#瓒呭０娉㈠洖璋冨鐞嗗嚱鏁?
def Ultrasound(line):
   if(Echo.value()==1):
        tim_count.init(prescaler=1799, period=1176)#鎵撳紑瀹氭椂鍣?
   if(Echo.value()==0):
        global highcnt
        tim_count.deinit()
        highcnt = tim_count.counter()#璁℃暟
        uart.writechar(0x55)
        uart.writechar(0xAA)
        uart.writechar(0x10)
        uart.writechar(0x00)
        uart.writechar(0x00)
        uart.writechar(high>>8)
        uart.writechar(high)
        uart.writechar(err_x>>8)
        uart.writechar(err_x)
        uart.writechar(err_y>>8)
        uart.writechar(err_y)
        uart.writechar(0x00)
        uart.writechar(0x00)
        uart.writechar(0x00)
        uart.writechar(0x00)
        uart.writechar(0x00)
        uart.writechar(0x00)
        uart.writechar(0x00)
        uart.writechar(0x00)
        uart.writechar(0xAA)
        print(high)

timpwm = Timer(4, freq=60) #瓒呭０娉?0璧吂鍙戝皠棰戠巼
ch1 = timpwm.channel(1, Timer.PWM, pin=Pin("P7"), pulse_width=80) #100us鍙戝皠瑙?
#瓒呭０娉㈡帴鏀剁鍙ｉ厤缃?
tim_count = pyb.Timer(1) #瀹氭椂鍣ㄨ鏁?
extint = pyb.ExtInt('P0', pyb.ExtInt.IRQ_RISING_FALLING, pyb.Pin.PULL_DOWN,Ultrasound)#寮€鍚閮ㄤ腑鏂?
Echo = Pin('P0', Pin.IN, Pin.PULL_DOWN)
#涓插彛涓夐厤缃?
uart = UART(3, 115200)#115200
uart.init(115200, bits=8, parity=None, stop=1)
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)#璁剧疆鐏板害淇℃伅
sensor.set_framesize(sensor.QQVGA)#璁剧疆鍥惧儚澶у皬
#sensor.skip_frames(20)#鐩告満鑷鍑犲紶鍥剧墖
sensor.set_auto_whitebal(False)#鍏抽棴鐧藉钩琛?

while(True):
    high = int(1.7*highcnt)
    line_x1 = [0,0,0,0]
    line_x2 = [0,0,0,0]
    line_y1 = [0,0,0,0]
    line_y2 = [0,0,0,0]
    line_H = [0,0,0,0]
    line_V = [0,0,0,0]
    line_temp = [0,0,0,0]
    line_num = 0
    Flag = None
    weight = 0
    clock.tick() # Track elapsed milliseconds between snapshots().
    img = sensor.snapshot() # Take a picture and return the image.
    #print(img.height())
    
    for i in range(int(HEIGHT/3)):
        for j in range(int(HEIGHT/3)):
            if img.get_pixel(i*3+XO,j*3) < 127 :
                weight += 1
            #print(img.get_pixel(i,j))
    #print(weight)
    
    img.find_edges(image.EDGE_CANNY, threshold=(50, 80))  # Find edges
    lines = img.find_lines(roi = ROI,threshold = THRESHOLD) # Find lines.
#    lines = img.find_lines(threshold = THRESHOLD)
    img.draw_rectangle(ROI)
    #for l in lines: img.draw_line(l, color=(127)) # Draw lines
    #print(lines) 
    if len(lines) != 0:
        #print(len(lines),lines)
        for i in range(len(lines)):
            #print(i)
            if lines[i][0] == 0:                    
                if line_x1 == [0,0,0,0]:                                             
                    line_x1 = list(lines[i])
                elif abs(line_x1[1]-lines[i][1]) < LINE_WIDTH:                  
                    for j in range(4):
                        line_x1[j] = (i * line_x1[j] + lines[i][j])/(i+1)

                else:                                                          
                    if line_x2 == [0,0,0,0]:                                         
                        line_x2 = list(lines[i])
                    elif abs(line_x2[3]-lines[i][3]) < LINE_WIDTH:              
                        for j in range(4):
                            line_x2[j] = (i * line_x2[j] + lines[i][j])/(i+1)
                                                                                
            elif lines[i][1] == 0:                  
                if line_y1 == [0,0,0,0]:                                             
                    line_y1 = list(lines[i])
                elif abs(line_y1[0]-lines[i][0]) < LINE_WIDTH:                  
                    for j in range(4):
                        line_y1[j] = (i * line_y1[j] + lines[i][j])/(i+1)
                else:                                                           
                    if line_y2 == [0,0,0,0]:                                         
                        line_y2 = list(lines[i])
                    elif abs(line_y2[2]-lines[i][2]) < LINE_WIDTH:             
                        for j in range(4):
                            line_y2[j] = (i * line_y2[j] + lines[i][j])/(i+1)                                                                                 

    line_all = [line_x1,line_y1,line_x2,line_y2]

    for k in range(len(line_all)):
        if line_all[k] == [0,0,0,0]:
            line_num += 1
    #print(line_x1)
    if (line_x1 != [0,0,0,0]) and (line_x2 != [0,0,0,0]) :
        if line_x1[1] > line_x2[1]:
            line_temp = line_x1
            line_x1 = line_x2
            line_x2 = line_temp
    elif (line_x1 == [0,0,0,0]) and (line_x2 == [0,0,0,0]):
        line_x1 = [0,HEIGHT/2,(WIDTH-XO),HEIGHT/2]
        line_x2 = line_x1
    elif line_x1 == [0,0,0,0]:
        line_x1 = line_x2
    else :
        line_x2 = line_x1
    if (line_y1 != [0,0,0,0]) and (line_y2 != [0,0,0,0]) :
        if line_y1[0] > line_y2[0]:
            line_temp = line_y1
            line_y1 = line_y2
            line_y2 = line_temp
    elif (line_y1 == [0,0,0,0]) and (line_y2 == [0,0,0,0]):
        line_y1 = [(XO+HEIGHT/2),0,(XO+HEIGHT/2),HEIGHT]
        line_y2 = line_y1
    elif line_y1 == [0,0,0,0]:
        line_y1 = line_y2
    else :
        line_y2 = line_y1
    line_all = [line_x1,line_y1,line_x2,line_y2]
    print(line_num)
    print(line_all)
    print(weight)
    for i in range(4):
        line_H[i] = int((line_all[0][i] + line_all[2][i])/2)

    for i in range(4):
        line_V[i] = int((line_all[1][i] + line_all[3][i])/2)
    img.draw_line(line_H,127)
    img.draw_line(line_V,127)
    print(line_H)
    print(line_V)
    if line_V[2] != line_V[0]:
        central_x = -(line_V[0]*HEIGHT/(line_V[2]-line_V[0])+line_H[1])/((line_H[3]-line_H[1])/(WIDTH-XO)-HEIGHT/(line_V[2]-line_V[0]))
    else:
        central_x =line_V[0]
    central_y = (line_H[3]-line_H[1])/(WIDTH-XO)*central_x+line_H[1]
    #central position
    img.draw_cross(int(central_x),int(central_y),color=191)
    print(central_x)
    print(central_y)
    err_x = central_x - WIDTH/2
    err_y = central_y - HEIGHT/2

    #FLAG
    if (abs((central_y - (HEIGHT/2)) < CENTRAL_AREA) and (abs(central_x - (WIDTH/2)) < CENTRAL_AREA)):
        if line_num >= 3 :
            if weight > 400 :
                Flag = 'T'
            else:
                Flag = 'L'
        else :
            Flag = 'I'
    else:
        Flag = 'D'
    print(Flag)

      以上这部分代码中，通过串口输出超声波得到的high = int(1.7*highcnt)将图像经过处理后得到的err_x = central_x - WIDTH/2 err_y = central_y - HEIGHT/2
      后两个去掉的话串口是能正常输出high的，但是加上那两个就输出不出来

      0 1 条回复

    • 这边是嫁接过去的关于串口和超声波部分的代码，将其中处理图像的部分改掉了

      # gray_blob - By: jinyuying - 鍛ㄤ簲 浜旀湀 12 2017

import sensor,time,pyb,math,time,utime
from pyb import Pin, Timer, LED, UART
#榛戣壊鐐归槇鍊?
#black_threshold = [(0, 64)]
black_threshold = [(0, 84)]
#楂樺害鏁版嵁
highcnt = 0.0
high = 0
#xy骞抽潰璇樊鏁版嵁
err_x = 0
err_y = 0
#瓒呭０娉㈠洖璋冨鐞嗗嚱鏁?
def Ultrasound(line):
   if(Echo.value()==1):
        tim_count.init(prescaler=1799, period=1176)#鎵撳紑瀹氭椂鍣?
   if(Echo.value()==0):
        global highcnt
        tim_count.deinit()
        highcnt = tim_count.counter()#璁℃暟
        uart.writechar(0x55)
        uart.writechar(0xAA)
        uart.writechar(0x10)
        uart.writechar(0x00)
        uart.writechar(0x00)
        uart.writechar(high>>8)
        uart.writechar(high)
        uart.writechar(err_x>>8)
        uart.writechar(err_x)
        uart.writechar(err_y>>8)
        uart.writechar(err_y)
        uart.writechar(0x00)
        uart.writechar(0x00)
        uart.writechar(0x00)
        uart.writechar(0x00)
        uart.writechar(0x00)
        uart.writechar(0x00)
        uart.writechar(0x00)
        uart.writechar(0x00)
        uart.writechar(0xAA)
        print(high)

##閫夋嫨鎸夐敭鍥炶皟澶勭悊鍑芥暟
#def selection(IRQ_RISING):
    #if(selectpin.value()==1) :
        #pyb.delay(100)
        #if(selectpin.value()==1):

##纭鎸夐敭鍥炶皟澶勭悊鍑芥暟
#def enter(IRQ_RISING):
    #if(enterpin.value()==1) :
        #pyb.delay(100)
        #if(enterpin.value()==1):


#瓒呭０娉㈠彂灏勭鍙ｉ厤缃?
timpwm = Timer(4, freq=60) #瓒呭０娉?0璧吂鍙戝皠棰戠巼
ch1 = timpwm.channel(1, Timer.PWM, pin=Pin("P7"), pulse_width=80) #100us鍙戝皠瑙?
#瓒呭０娉㈡帴鏀剁鍙ｉ厤缃?
tim_count = pyb.Timer(1) #瀹氭椂鍣ㄨ鏁?
extint = pyb.ExtInt('P0', pyb.ExtInt.IRQ_RISING_FALLING, pyb.Pin.PULL_DOWN,Ultrasound)#寮€鍚閮ㄤ腑鏂?
Echo = Pin('P0', Pin.IN, Pin.PULL_DOWN)
#鎸夐敭閰嶇疆
#select_Key = pyb.ExtInt('P2', pyb.ExtInt.IRQ_RISING,  pyb.Pin.PULL_UP, selection)
#selectpin = Pin('P2', Pin.IN, Pin.PULL_UP)#閫夋嫨鎸夐敭
#enter_Key = pyb.ExtInt('P3', pyb.ExtInt.IRQ_RISING,  pyb.Pin.PULL_UP, enter)
#enterpin = Pin('P3', Pin.IN, Pin.PULL_UP)#纭鎸夐敭
#涓插彛涓夐厤缃?
uart = UART(3, 115200)
uart.init(115200, bits=8, parity=None, stop=1)
         #115200
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)#璁剧疆鐏板害淇℃伅
sensor.set_framesize(sensor.QQVGA)#璁剧疆鍥惧儚澶у皬
sensor.skip_frames(20)#鐩告満鑷鍑犲紶鍥剧墖
sensor.set_auto_whitebal(False)#鍏抽棴鐧藉钩琛?
clock = time.clock()#鎵撳紑鏃堕挓
while(True):
    clock.tick()
    img = sensor.snapshot()
    high = int(1.7*highcnt)
    blobs = img.find_blobs(black_threshold)
    if blobs:
        most_pixels = 0
        largest_blob = 0
        for i in range(len(blobs)):
            #鐩爣鍖哄煙鎵惧埌鐨勯鑹插潡鍙兘涓嶆涓€涓紝鎵惧埌鏈€澶х殑涓€涓?
            if blobs[i].pixels() > most_pixels:
                most_pixels = blobs[i].pixels()
                largest_blob = i
                #浣嶇疆鐜敤鍒扮殑鍙橀噺
                err_x = int(80 - blobs[largest_blob].cx())
                err_y = int(60 - blobs[largest_blob].cy())
        print(blobs[largest_blob])
        img.draw_rectangle(blobs[largest_blob].rect())
        img.draw_cross(blobs[largest_blob].cx(),blobs[largest_blob].cy())#璋冭瘯浣跨敤
    else:
       err_x = 0
       err_y = 0
      1

    • 这么长，看不下去，你也不说重点

      0

    • 改了一下算法，大致是因为类型是float才输出不了的，将err_x转成int型就行了。但是Flag还是无法输出。
      用write（Flag）也不行，改成数据用writechar(Flag)也不行

      
import sensor,time,pyb,math,time,utime,image
from pyb import Pin, Timer, UART
clock = time.clock() # Tracks FPS.
LINE_WIDTH = 10
THRESHOLD = 40
#屏幕尺寸
WIDTH = 160
HEIGHT = 120
ROI = (int((WIDTH-HEIGHT)/2),0,HEIGHT,HEIGHT)
XO = int((WIDTH-HEIGHT)/2)
CENTRAL_AREA = 20

#高度数据
highcnt = 0.0
high = 0
#xy平面误差数据
err_x = 0
err_y = 0
#超声波回调处理函数
def Ultrasound(line):
   if(Echo.value()==1):
        tim_count.init(prescaler=1799, period=1176)#打开定时器
   if(Echo.value()==0):
        global highcnt
        tim_count.deinit()
        highcnt = tim_count.counter()#计数
        uart.writechar(0x55)
        uart.writechar(0xAA)
        uart.writechar(0x10)
        uart.writechar(0x00)
        uart.writechar(0x00)
        uart.writechar(high>>8)
        uart.writechar(high)
        uart.writechar(err_x>>8)
        uart.writechar(err_x)
        uart.writechar(err_y>>8)
        uart.writechar(err_y)
        uart.writechar(Flag)
        uart.writechar(0x00)
        uart.writechar(0x00)
        uart.writechar(0x00)
        uart.writechar(0x00)
        uart.writechar(0x00)
        uart.writechar(0x00)
        uart.writechar(0x00)
        uart.writechar(0xAA)
        print(high)


#超声波发射端口配置
timpwm = Timer(4, freq=60) #超声波60赫兹发射频率
ch1 = timpwm.channel(1, Timer.PWM, pin=Pin("P7"), pulse_width=80) #100us发射角
#超声波接收端口配置
tim_count = pyb.Timer(1) #定时器计数
extint = pyb.ExtInt('P0', pyb.ExtInt.IRQ_RISING_FALLING, pyb.Pin.PULL_DOWN,Ultrasound)#开启外部中断
Echo = Pin('P0', Pin.IN, Pin.PULL_DOWN)
#串口三配置
uart = UART(3, 115200)#115200
uart.init(115200, bits=8, parity=None, stop=1)
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)#设置灰度信息
sensor.set_framesize(sensor.QQVGA)#设置图像大小
#sensor.skip_frames(20)#相机自检几张图片
sensor.set_auto_whitebal(False)#关闭白平衡

while(True):
    high = int(1.7*highcnt)
    line_x1 = [0,0,0,0]
    line_x2 = [0,0,0,0]
    line_y1 = [0,0,0,0]
    line_y2 = [0,0,0,0]
    line_H = [0,0,0,0]
    line_V = [0,0,0,0]
    line_temp = [0,0,0,0]
    line_num = 0
    line_num_y = 0
    line_num_x = 0
    num_H = 0
    num_V = 0
    Flag = int(0)
    weight = 0
    clock.tick() # Track elapsed milliseconds between snapshots().
    img = sensor.snapshot() # Take a picture and return the image.
    #print(img.height())
    #检测图形
#    img_2=img.binary([(0,127)],invert = 1)
        #image.binary(thresholds, invert=False)此函数将在thresholds内的
        #图像部分的全部像素变为1白，将在阈值外的部分全部像素变为0黑。invert将图像
        #的0 1（黑 白）进行反转，默认为false不反转。
#    img_2.median(1, percentile=0.5)
#    img_2.erode(2)
    for i in range(int(HEIGHT/3)):
        for j in range(int(HEIGHT/3)):
            if img.get_pixel(i*3+XO,j*3) < 127 :
                weight += 1
            #print(img.get_pixel(i,j))
    print(weight)

    #下面开始检测特征线数（可去？）
    img.find_edges(image.EDGE_CANNY, threshold=(50, 80))  # Find edges
    lines = img.find_lines(roi = ROI,threshold = THRESHOLD) # Find lines.
#    lines = img.find_lines(threshold = THRESHOLD)
    img.draw_rectangle(ROI)
    #for l in lines: img.draw_line(l, color=(127)) # Draw lines
    #print(lines) # Note: Your OpenMV Cam runs about half as fast while
    if len(lines) != 0:
        #print(len(lines),lines)
        for i in range(len(lines)):
            #print(i)
            if lines[i][0] == 0:                    #为横线时
                if line_x1 == [0,0,0,0]:                                             #横一无值时
                    line_x1 = list(lines[i])
                elif abs(line_x1[1]-lines[i][1]) < LINE_WIDTH:                  #为标准横一线时
                    for j in range(4):
                        line_x1[j] = (i * line_x1[j] + lines[i][j])/(i+1)

                else:                                                           #不为标准横一线时
                    if line_x2 == [0,0,0,0]:                                         #横二无值时
                        line_x2 = list(lines[i])
                    elif abs(line_x2[3]-lines[i][3]) < LINE_WIDTH:              #为标准横二线时
                        for j in range(4):
                            line_x2[j] = (i * line_x2[j] + lines[i][j])/(i+1)
                                                                                #为其他横线时舍弃
            elif lines[i][1] == 0:                  #为竖线时
                if line_y1 == [0,0,0,0]:                                             #竖一无值时
                    line_y1 = list(lines[i])
                elif abs(line_y1[0]-lines[i][0]) < LINE_WIDTH:                  #为标准竖一线时
                    for j in range(4):
                        line_y1[j] = (i * line_y1[j] + lines[i][j])/(i+1)
                else:                                                           #不为标准竖一线时
                    if line_y2 == [0,0,0,0]:                                         #竖二无值时
                        line_y2 = list(lines[i])
                    elif abs(line_y2[2]-lines[i][2]) < LINE_WIDTH:              #为标准竖二线时
                        for j in range(4):
                            line_y2[j] = (i * line_y2[j] + lines[i][j])/(i+1)   #为其他竖线时舍弃
                                                                                #为其他线时舍弃

    line_all = [line_x1,line_y1,line_x2,line_y2]

    for k in range(len(line_all)):
        if line_all[k][2] == 140:
            line_num_x += 1
        if line_all[k][3] == 120:
            line_num_y += 1
    line_num = line_num_y + line_num_x
    if line_num == 2:
        if (line_num_y == 2) or (line_num_x == 2):
            Flag_0 = '-'
        else:
            Flag_0 = '+'
    elif line_num < 2:
        Flag_0 = '-'
    else:
        Flag_0 = '+'
    print(line_num)
    #line_all = [line_x1,line_y1,line_x2,line_y2]
    #print(line_all)
    #下面开始检测横纵中线
    if len(lines) != 0:
        for i in range(len(lines)):
        #print(len(lines),lines)
            if lines[i][0] == 0:                                                    #为横线时
                if line_H == [0,0,0,0]:                                             #横一无值时
                    line_H = list(lines[i])
                    num_H += 1
                elif abs(line_H[1]-lines[i][1]) < 3*LINE_WIDTH and abs(line_H[3]-lines[i][3]) < 3*LINE_WIDTH:
                    for j in range(4):
                        line_H[j] = (num_H * line_H[j] + lines[i][j])/(num_H+1)
                    num_H += 1
            elif lines[i][1] == 0:                                                  #为竖线时
                if line_V == [0,0,0,0]:                                                 #横一无值时
                    line_V = list(lines[i])
                    num_V += 1
                elif abs(line_V[0]-lines[i][0]) < 3*LINE_WIDTH and abs(line_V[2]-lines[i][2]) < 3*LINE_WIDTH:
                    for j in range(4):
                        line_V[j] = (num_V * line_V[j] + lines[i][j])/(num_V+1)
                    num_V += 1
    #print(line_x1)
    if line_H == [0,0,0,0]:
        line_H = [0,HEIGHT/2,(WIDTH-XO),HEIGHT/2]
    if line_V == [0,0,0,0]:
        line_V = [(XO+HEIGHT/2),0,(XO+HEIGHT/2),HEIGHT]
    line_H = [ int(x) for x in line_H ]
    line_V = [ int(x) for x in line_V ]

    img.draw_line(line_H,127)
    img.draw_line(line_V,127)
    print(line_H)
    print(line_V)
    #找直线的交点（已完成）
    if line_V[2] != line_V[0]:
        central_x = -(line_V[0]*HEIGHT/(line_V[2]-line_V[0])+line_H[1])/((line_H[3]-line_H[1])/(WIDTH-XO)-HEIGHT/(line_V[2]-line_V[0]))
    else:
        central_x = line_V[0]
    central_y = (line_H[3]-line_H[1])/(WIDTH-XO)*central_x+line_H[1]
    img.draw_cross(int(central_x),int(central_y),color=191)
    print(central_x)
    print(central_y)
    err_x = int(central_x - WIDTH/2)
    err_y = int(central_y - HEIGHT/2)

    #接下来是FLAG
    if (abs((central_y - (HEIGHT/2)) < CENTRAL_AREA) and (abs(central_x - (WIDTH/2)) < CENTRAL_AREA)):
        if Flag_0 == '+' :
            if weight > 300 :
                Flag = 0xFF     #T
            else:
                Flag = 0x7F     #L
        elif Flag_0 =='-' :
            Flag = 0x3F         #I
    else:
        Flag = 0x00             #D
    print(Flag)
      0
    串口通信 97