from machine import I2C
from vl53l1x import VL53L1X
import sensor, image, time ,math
from pyb import UART
uart = UART(1, 115200)
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(time = 2000)
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()
i2c = I2C(2)
distance = VL53L1X(i2c)
x=0
y=0
while(True):
clock.tick()
img = sensor.snapshot().lens_corr(1.8)
for c in img.find_circles(threshold = 3500, 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())
#area为识别到的圆的区域,即圆的外接矩形框
statistics = img.get_statistics(roi=area)#像素颜色统计
print(statistics)
#(0,100,0,120,0,120)是红色的阈值,所以当区域内的众数(也就是最多的颜色),范围在这个阈值内,就说明是红色的圆。
#l_mode(),a_mode(),b_mode()是L通道,A通道,B通道的众数。
if 0<statistics.l_mode()<100 and 0<statistics.a_mode()<127 and 0<statistics.b_mode()<127:#if the circle is red
img.draw_circle(c.x(), c.y(), c.r(), color = (255, 0, 0))#识别到的红色圆形用红色的圆框出来
x = c.x()
y = c.y()
#uart.write("find\r\n")
print("range: mm ", distance.read(),x,y)
#distance_head = distance.read()//256
#distance_tail = distance.read()%256
#data = bytearray([0x2C,0x18,x,y,distance_head,distance_tail,0x5B])
#uart.write(data)
B
brpn
@brpn
0
声望
1
楼层
238
资料浏览
0
粉丝
0
关注
brpn 发布的帖子
-
正确连接测距扩展版后运行代码,少部分呢情况下会出现ETIMEDOUT错误?