出现ValueError: Sensor control failed! 传感器MT9V034是什么原因呢？
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import sensor, image, time, math, struct import json from pyb import LED,Timer from struct import pack, unpack import Message,LineFollowing,DotFollowing,QRcode,Photography #初始化镜头 sensor.reset() sensor.set_pixformat(sensor.GRAYSCALE)#设置相机模块的像素模式 sensor.set_framesize(sensor.QQVGA)#设置相机分辨率160*120 sensor.skip_frames(time=3000)#时钟 sensor.set_auto_whitebal(False)#若想追踪颜色则关闭白平衡 clock = time.clock()#初始化时钟 #主循环 while(True): clock.tick()#时钟初始化 #接收串口数据 Message.UartReadBuffer() if Message.Ctr.WorkMode==1:#点检测 DotFollowing.DotCheck() elif Message.Ctr.WorkMode==2:#线检测 LineFollowing.LineCheck() elif Message.Ctr.WorkMode==4:#二维码识别 QRcode.ScanQRcode() elif Message.Ctr.WorkMode==5:#拍照 Photography.Photography('IMG.jpg',10) Message.Ctr.WorkMode = LastWorkMode LastWorkMode = Message.Ctr.WorkMode #用户数据发送 #Message.UartSendData(Message.UserDataPack(127,127,32767,32767,65536,65536,65536,65536,65536,65536)) #计算程序运行频率 if Message.Ctr.IsDebug == 1: fps=int(clock.fps()) Message.Ctr.T_ms = (int)(1000/fps) print('fps',fps,'T_ms',Message.Ctr.T_ms)from pyb import UART import LineFollowing uart = UART(3,500000)#初始化串口 波特率 500000 class Receive(object): uart_buf = [] _data_len = 0 _data_cnt = 0 state = 0 R=Receive() # WorkMode=1为寻点模式 # WorkMode=2为寻线模式 包括直线 转角 # WorkMode=3为颜色识别模式 # WorkMode=4为识别二维码模式 # WorkMode=5为拍照模式 class Ctrl(object): WorkMode = 1#工作模式 IsDebug = 1 #不为调试状态时关闭某些图形显示等，有利于提高运行速度 T_ms = 0 #类的实例化 Ctr=Ctrl() def UartSendData(Data): uart.write(Data) #串口数据解析 def ReceiveAnl(data_buf,num): #和校验 sum = 0 i = 0 while i<(num-1): sum = sum + data_buf[i] i = i + 1 sum = sum%256 #求余 if sum != data_buf[num-1]: return #和校验通过 if data_buf[4]==0x06: #设置模块工作模式 Ctr.WorkMode = data_buf[5] #串口通信协议接收 def ReceivePrepare(data): if R.state==0: if data == 0xAA:#帧头 R.uart_buf.append(data) R.state = 1 else: R.state = 0 elif R.state==1: if data == 0xAF: R.uart_buf.append(data) R.state = 2 else: R.state = 0 elif R.state==2: if data == 0x05: R.uart_buf.append(data) R.state = 3 else: R.state = 0 elif R.state==3: if data == 0x01:#功能字 R.state = 4 R.uart_buf.append(data) else: R.state = 0 elif R.state==4: if data == 0x06:#数据个数 R.state = 5 R.uart_buf.append(data) R._data_len = data else: R.state = 0 elif R.state==5: if data==1 or data==2 or data==3: R.uart_buf.append(data) R.state = 6 else: R.state = 0 elif R.state==6: R.state = 0 R.uart_buf.append(data) ReceiveAnl(R.uart_buf,7) R.uart_buf=[]#清空缓冲区，准备下次接收数据 else: R.state = 0 #读取串口缓存 def UartReadBuffer(): i = 0 Buffer_size = uart.any() while i<Buffer_size: ReceivePrepare(uart.readchar()) i = i + 1 #点检测数据打包 def DotDataPack(color,flag,x,y,T_ms): print("found: x=",x," y=",-y) pack_data=bytearray([0xAA,0x29,0x05,0x41,0x00,color,flag,x>>8,x,(-y)>>8,(-y),T_ms,0x00]) lens = len(pack_data)#数据包大小 pack_data[4] = 7;#有效数据个数 i = 0 sum = 0 #和校验 while i<(lens-1): sum = sum + pack_data[i] i = i+1 pack_data[lens-1] = sum; return pack_data #线检测数据打包 def LineDataPack(flag,angle,distance,crossflag,crossx,crossy,T_ms): if (flag == 0): print("found: angle",angle," distance=",distance," 线状态 未检测到直线") elif (flag == 1): print("found: angle",angle," distance=",distance," 线状态 直线") elif (flag == 2): print("found: angle",angle," distance=",distance," 线状态 左转") elif (flag == 3): print("found: angle",angle," distance=",distance," 线状态 右转") line_data=bytearray([0xAA,0x29,0x05,0x42,0x00,flag,angle>>8,angle,distance>>8,distance,crossflag,crossx>>8,crossx,(-crossy)>>8,(-crossy),T_ms,0x00]) lens = len(line_data)#数据包大小 line_data[4] = 11;#有效数据个数 i = 0 sum = 0 #和校验 while i<(lens-1): sum = sum + line_data[i] i = i+1 line_data[lens-1] = sum; return line_data #用户数据打包 def UserDataPack(data0,data1,data2,data3,data4,data5,data6,data7,data8,data9): UserData=bytearray([0xAA,0x05,0xAF,0xF1,0x00 ,data0,data1,data2>>8,data2,data3>>8,data3 ,data4>>24,data4>>16,data4>>8,data4 ,data5>>24,data5>>16,data5>>8,data5 ,data6>>24,data6>>16,data6>>8,data6 ,data7>>24,data7>>16,data7>>8,data7 ,data8>>24,data8>>16,data8>>8,data8 ,data9>>24,data9>>16,data9>>8,data9 ,0x00]) lens = len(UserData)#数据包大小 UserData[4] = lens-6;#有效数据个数 i = 0 sum = 0 #和校验 while i<(lens-1): sum = sum + UserData[i] i = i+1 UserData[lens-1] = sum; return UserDatafrom pyb import LED,Timer import sensor, image, time, math, struct import Message Blob_threshold =(173, 255)# 寻色块用白色 class Dot(object): flag = 0 color = 0 x = 0 y = 0 Dot=Dot() #色块识别函数 #定义函数：找到画面中最大的指定色块 def FindMax(blobs): max_size=1 if blobs: max_blob = 0 for blob in blobs: blob_size = blob.w()*blob.h() if ( (blob_size > max_size) & (blob_size > 100) ) :#& (blob.density()<1.2*math.pi/4) & (blob.density()>0.8*math.pi/4) if ( math.fabs( blob.w() / blob.h() - 1 ) < 2.0 ) : max_blob=blob max_size = blob.w()*blob.h() return max_blob def LineFilter(src, dst): for i in range(0, len(dst), 1): dst[i] = src[i<<1] #点检测 def DotCheck(): img = sensor.snapshot(line_filter = LineFilter)#拍一张图像 red_blobs = img.find_blobs([Blob_threshold], pixels_threshold=3, area_threshold=3, merge=True, margin=5)#识别红色物体 max_blob=FindMax(red_blobs)#找到最大的那个 if max_blob: img.draw_cross(max_blob.cx(), max_blob.cy())#物体中心画十字 img.draw_rectangle(max_blob.rect())#画圈 #获取坐标并转换为+-200 Dot.x = max_blob.cx()-80 Dot.y = max_blob.cy()-60 Dot.flag = 1 #LED灯闪烁 LED(3).toggle() #LED灯闪烁 LED(2).toggle() else: Dot.flag = 0 LED(2).off() LED(3).off() Message.UartSendData(Message.DotDataPack(Dot.color,Dot.flag,Dot.x,Dot.y,Message.Ctr.T_ms)) return Dot.flag #串口发送数据给飞控
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为什么把这一行注释掉就能使用了
sensor.set_auto_whitebal(False) # 颜色跟踪必须关闭白平衡
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https://github.com/openmv/openmv/issues/1384
提交了issue，应该是驱动有问题，会尽快解决。