import sensor, image, time
import pyb, ustruct # ustruct 用于打包和解压原始数据类型 的 "类"
import gc
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(time = 300)
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
clock = time.clock()
K=560#the value should be measure
bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
bus.deinit() # 完全关闭设备
bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
print("Waiting for Arduino...")
while(True):
length=0
circlex=0
circley=0
clock.tick()
img = sensor.snapshot().lens_corr(1.8)
for c in img.find_circles(threshold = 2000, x_margin = 10, y_margin = 10, r_margin = 10,
r_min = 2, r_max = 100, r_step = 2):
area = (c.x()-c.r(), c.y()-c.r(), 2*c.r(), 2*c.r())
circlex=c.x()
circley=c.y()
img.draw_rectangle(area, color = (255, 255, 255))#将非红色的圆用白色的矩形框出来
Lm = 2*c.r()
length = K/Lm
#print("FPS %f" % clock.fps())
print("length:",length)
output_str=[length,circlex,circley]
for i in range(3):
data = output_str[i]
#sensor.shutdown(True)
#try:
#bus.send(4, timeout=10000) # Send the len first (16-bits).
try:
bus.send(data, timeout=10000) # Send the data second.
print(data)
print("Sent Data!") # Only reached on no error.
except OSError as err:
pass # Don't care about errors - so pass.
# Note that there are 3 possible errors. A timeout error, a general purpose error, or
# a busy error. The error codes are 116, 5, 16 respectively for "err.arg[0]".
#except OSError as err:
#pass
del img
gc.collect()
