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  • 串口 十进制整数的无效语法 和列表索引超出范围



    • 0_1625709056236_956412f5-3ab5-4d64-bfa8-a6bc2009626b-image.png 0_1625709147157_4cb642a8-da00-443f-a8ae-0036dbe0e2d1-image.png



    • # Blob Detection Example
      #
      # This example shows off how to use the find_blobs function to find color
      # blobs in the image. This example in particular looks for dark green objects.
      
      import sensor, image, time
      import car
      from pid import PID
      from pyb import UART
      
      # You may need to tweak the above settings for tracking green things...
      # Select an area in the Framebuffer to copy the color settings.
      
      sensor.reset() # Initialize the camera sensor.
      sensor.set_pixformat(sensor.RGB565) # use RGB565.
      sensor.set_framesize(sensor.QQVGA) # use QQVGA for speed.
      sensor.skip_frames(10) # Let new settings take affect.
      sensor.set_auto_whitebal(False) # turn this off.
      clock = time.clock() # Tracks FPS.
      
      # For color tracking to work really well you should ideally be in a very, very,
      # very, controlled enviroment where the lighting is constant...
      green_threshold   = (99, 100, 127, 127, 127, 127)
      size_threshold = 2000
      x_pid = PID(p=0.5, i=1, imax=100)
      h_pid = PID(p=0.05, i=0.1, imax=50)
      a=0
      datx=0
      daty=0
      uart = UART(3, 115200)
      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() # Track elapsed milliseconds between snapshots().
          img = sensor.snapshot() # Take a picture and return the image.
      
          #for blob in img.find_blobs(green_threshold,invert=True,merge=True):
      
          blobs = img.find_blobs([green_threshold],invert=False,merge=True)
          if uart.any():
              dat = uart.readline().decode().strip().split(',')
              datx=int(dat[0])#机械臂x
              daty=int(dat[1])#机械臂y
              print(datx)
              print(daty)
          if blobs:
              max_blob = find_max(blobs)
              x_error = max_blob[5]-img.width()/2
              h_error = max_blob[2]*max_blob[3]-size_threshold
              '''
              for b in blobs:
                  # Draw a rect around the blob.
                  img.draw_rectangle(b[0:4]) # rect
                  img.draw_cross(b[5], b[6]) # cx, cy
              '''
      
              img.draw_rectangle(max_blob[0:4]) # rect
              img.draw_cross(max_blob[5], max_blob[6]) # cx, cy
      
      
      
      
              if h_error<-500:
                  if h_error<-1500:
                      a=1
                  if h_error>-1700:
                      h_output=(abs(h_error))/100-3
                  #print("h_output",h_output)
                      if x_error>0:
                          car.run((h_output-2)*10-x_error*2,h_output*10)
                      elif x_error<0:
                          car.run(h_output*10,(h_output-2)*10+x_error*2)
                      else:
                          car.run(h_output*10,h_output*10)
                 # print("h_utput",-h_output-x_output)
                  else:
                      if x_error>0:
                          car.run(100-x_error*2,100)
                      elif x_error<0:
                          car.run(100,100+x_error*2)
                      else:
                          car.run(100,100)
              else:
                  car.run(0,0)
                  time.sleep(0.001)
                  if a==1:
                      car.run(-99,-99)
                      time.sleep(0.1)
                      a=0
      
                  if h_error>8000:
                      if x_error>0:
                          car.run(-40,-20)
                      elif x_error<0:
                          car.run(-20,-40)
                      else:
                          car.run(-40,-40)
                  elif h_error<3000:
                      if x_error>0:
                          car.run(20,40)
                      elif x_error<0:
                          car.run(40,20)
                      else:
                          car.run(40,40)
                  else:
                      if x_error>5:
                          car.run(-30,30)
                      elif x_error<-5:
                          car.run(30,-30)
      
          else:
              car.run(50,-50)
      


    • 你print一下看看data[0]是啥,反正不是数字。