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  • 有扫描二维码的程序并且可以和32串口通信,并且现在云台经过修改可以追踪二维码,可以把两个代码结合起来输出二维码内容吗?



    • 1.扫码程序
      import sensor, image, time
      from pyb import UART

      uart = UART(3, 115200)
      sensor.reset()
      sensor.set_pixformat(sensor.RGB565)
      sensor.set_framesize(sensor.QQVGA) # can be QVGA on M7...
      sensor.skip_frames(30)
      sensor.set_auto_gain(False) # must turn this off to prevent image washout...
      while(True):
      img = sensor.snapshot()
      img.lens_corr(1.8) # strength of 1.8 is good for the 2.8mm lens.
      for code in img.find_qrcodes():
      print(code)
      FH= bytearray([0xb3,0xb3])
      uart.write(FH)
      uart.write(code.payload())
      FH = bytearray([0x0d,0x0a])
      uart.write(FH)
      time.sleep_ms(1000)

      2.云台追踪二维码程序
      import sensor, image, time

      from pid import PID
      from pyb import Servo

      pan_servo=Servo(1)
      tilt_servo=Servo(2)

      pan_servo.calibration(500,2500,500)
      tilt_servo.calibration(500,2500,500)

      red_threshold = (13, 49, 18, 61, 6, 47)

      pan_pid = PID(p=0.07, i=0, imax=90) #脱机运行或者禁用图像传输,使用这个PID
      tilt_pid = PID(p=0.05, i=0, imax=90) #脱机运行或者禁用图像传输,使用这个PID
      #pan_pid = PID(p=0.1, i=0, imax=90)#在线调试使用这个PID
      #tilt_pid = PID(p=0.1, i=0, imax=90)#在线调试使用这个PID

      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.

      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.

      blobs = img.find_qrcodes()
      if blobs:
          max_blob = find_max(blobs)
          pan_error = max_blob[0]+max_blob[2]/2-img.width()/2
          tilt_error = max_blob[1]+max_blob[3]/2-img.height()/2
      
          print("pan_error: ", pan_error)
      
          img.draw_rectangle(max_blob.rect()) # rect
          img.draw_cross(int(max_blob[0]+max_blob[2]/2),int(max_blob[1]+max_blob[3]/2)) # cx, cy
      
          pan_output=pan_pid.get_pid(pan_error,1)/2
          tilt_output=tilt_pid.get_pid(tilt_error,1)
          print("pan_output",pan_output)
          pan_servo.angle(pan_servo.angle()+pan_output)
          tilt_servo.angle(tilt_servo.angle()-tilt_output)


    • 你直接调用uart.write就完事了啊