#2018.8.2
import sensor, image, time , pyb,json #引入感光元件的模块
from pyb import UART
from pyb import Timer
from pyb import LED
from machine import I2C
from vl53l1x import VL53L1X
import time
led = pyb.LED(3) # Red LED = 1, Green LED = 2, Blue LED = 3, IR LEDs = 4.
thresholds = [(27, 67, 19, 91, 45, 76), # 红色
#(21, 75, 3, -38, 34, 68), # 绿色
#(36, 100, 45, -54, 26, 124),
#(55, 70, -28, -10, 33, 57),
(27, 90, -3, -28, 31, 125),
(0, 30, 0, 64, -128, 0)] # generic_blue_thresholds
threshold_index = 1 # 0 for red, 1 for gre9en, 2 for blue
uart_index=0
start=0
current_exposure_time_in_microseconds = sensor.get_exposure_us()
sensor.reset()#初始化感光元件
sensor.set_pixformat(sensor.RGB565)#设置为彩色
sensor.set_framesize(sensor.QVGA) #320*240 设置图像大小
sensor.skip_frames(time = 2000)#跳过一些帧，等待感光元件稳定
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()
uart = UART(1, 115200)
uart.init(115200, bits=8, parity=None, stop=1, timeout_char=1000) # 使用给定参数初始化
i2c = I2C(2)
distance = VL53L1X(i2c)
#def tick(timer): # we will receive the timer object when being called
# global data
# if blobs:
# print("Find")
# print('you send:',output_str)
# uart.write(data)
tim = Timer(4, freq=10) # create a timer object using timer 4 - trigger at 1Hz
#tim.callback(tick) # set the callback to our tick function
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
def find_dir(xzb):
dire=0
if (xzb <= 120):
dire=1
elif (xzb > 120) and (xzb <185):
dire=2
elif (xzb >= 185):
dire=3
return dire
def Uart_Receive(): #UART接收 改变框小球的颜色阈值
global uart_index;
if uart.any():
temp_data = uart.readchar()
if temp_data==1: #红色
uart_index=1
print(temp_data,uart_index)
else:
uart_index=0
print(temp_data,uart_index)
while(True):
if start<5:
start=start+1
img = sensor.snapshot()
blobs = img.find_blobs([thresholds[threshold_index]])
if blobs:
max_blob = find_max(blobs)
b = max_blob[0] #方框元组
L = (max_blob[2]+max_blob[3])/2
l=int(1000/L)
#x_error = max_blob[5]-img.width()/2 #求横向偏差
x_error = max_blob[5]-img.width()/2
h_error = max_blob[2]*max_blob[3]-size_threshold
img.draw_rectangle(max_blob[0:4]) # 画矩形
img.draw_cross(max_blob[5], max_blob[6]) # 画十字
#发送 小球的(x,y,l,n)
#x为横坐标，y为纵坐标，l为粗略的距离，n为小球颜色(0：红 1：绿)
# output_str="%d,%d,%d,%d" % (max_blob.cx(),max_blob.cy(),l,threshold_index) #10进制字符包
#checkout=0xAA+0x55+0x07+int(max_blob.cx()/2)+max_blob.cy()+l+threshold_index
fx=find_dir(max_blob.cx())
xzb=max_blob.cx()
xzba=int(xzb/100)
xzbb=int(xzb%100)
dis=distance.read()
disa=int(dis/100)
disb=int(dis%100)
time.sleep_ms(100)
output_str="[%d,%d,%d,%d,%d]"%(xzba,xzbb,disa,disb,l)
data_out=bytearray([xzba,xzbb,disa,disb,l])
print('you send:',output_str)
uart.write(data_out+'\r\n');
time.sleep_ms(50)
led.on()
#data = bytearray([0xAA,0x55,0x07,int(max_blob.cx()/2),max_blob.cy(),l,threshold_index,0x00,0x00,checkout])#转成16进制
# uart.write(data)
# uart.write(output_str)
#time.sleep_ms(10)
#led.on()
else:
print("NO FIND")
#data = bytearray([0xAA,0x55,0x07,0x00,0x00,0x00,0x00,0x00,0x00,0x06])
data_out=bytearray([0,0])
uart.write(data_out+'\r\n')
time.sleep_ms(50)
led.off()
elif start==5:
img = sensor.snapshot()
blobs = img.find_blobs([thresholds[threshold_index]])
if blobs:
max_blob = find_max(blobs)
b = max_blob[0] #方框元组
L = (max_blob[2]+max_blob[3])/2
l=int(1000/L)
#x_error = max_blob[5]-img.width()/2 #求横向偏差
x_error = max_blob[5]-img.width()/2
img.draw_rectangle(max_blob[0:4]) # 画矩形
img.draw_cross(max_blob[5], max_blob[6]) # 画十字
#发送 小球的(x,y,l,n)
#x为横坐标，y为纵坐标，l为粗略的距离，n为小球颜色(0：红 1：绿)
# output_str="%d,%d,%d,%d" % (max_blob.cx(),max_blob.cy(),l,threshold_index) #10进制字符包
#checkout=0xAA+0x55+0x07+int(max_blob.cx()/2)+max_blob.cy()+l+threshold_index
#Uart_Receive()
#time.sleep_ms(50)
#if uart_index==1:
#time.sleep_ms(1000)
#uart_index=0;
fx=find_dir(max_blob.cx())
dis=distance.read()
time.sleep_ms(100)
disa=int(dis/100)
disb=int(dis%100)
xzb=max_blob.cx()
xzba=int(xzb/100)
xzbb=int(xzb%100)
output_str="[%d,%d,%d,%d,%d]"%(xzba,xzbb,disa,disb,l)
data_out=bytearray([xzba,xzbb,disa,disb,l])
print('you send:',output_str)
Uart_Receive()
if uart_index==1:
uart.write(data_out+'\r\n');
uart_index=0;
time.sleep_ms(50)
led.on()
#data = bytearray([0xAA,0x55,0x07,int(max_blob.cx()/2),max_blob.cy(),l,threshold_index,0x00,0x00,checkout])#转成16进制
# uart.write(data)
# uart.write(output_str)
#time.sleep_ms(10)
#led.on()
else:
print("NO FIND")
#data = bytearray([0xAA,0x55,0x07,0x00,0x00,0x00,0x00,0x00,0x00,0x06])
data_out=bytearray([0,0])
if uart_index==1:
uart.write(data_out+'\r\n');
uart_index=0;
time.sleep_ms(50)
led.off()
我发了字符1 然后readchar，读完后会自动清空吗，下次我不发1 会不会还读到1呢