rt，孩子快崩溃了，为什么接入arduino后在arduino串口操作中能够正常输出数据到串口监视器，但是无法执行电机命令，换过其他硬串口软串口都不行，求求大佬救一救
import sensor, image, time
import json
from machine import UART
#from pyb import UART
# For color tracking to work really well you should ideally be in a very, very,
# very, controlled enviroment where the lighting is constant...
yellow_threshold = (57, 78, -32, 6, -30, 36)
# You may need to tweak the above settings for tracking green things...
# Select an area in the Framebuffer to copy the color settings.
x = 0
y = 0
judge = '0'
sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.RGB565) # use RGB565.
sensor.set_framesize(sensor.QQVGA) # use QQVGA for speed.
sensor.set_framerate(40)
sensor.skip_frames(time = 2000 ) # Let new settings take affect.
sensor.set_auto_whitebal(False) # turn this off.
clock = time.clock() # Tracks FPS.
left_roi = [0,0,80,200]
# OpenMV4 H7 Plus, OpenMV4 H7, OpenMV3 M7, OpenMV2 M4 的UART(3)是P4-TX P5-RX
uart = UART(3, 115200) #OpenMV RT 注释掉这一行，用下一行UART(1)
#uart = UART(1, 115200) #OpenMV RT 用UART(1)这行，注释掉上一行UART(3)
# OpenMV RT 只有串口UART(1)，对应P4-TX P5-RX; OpenMV4 H7 Plus, OpenMV4 H7, OpenMV3 M7 的UART(1)是P0-RX P1-TX
x = 0
y = 0
judge = '0'
while(True):
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot() # Take a picture and return the image.
blobs = img.find_blobs([yellow_threshold],roi=left_roi,merge=True,area_threshold=200)
if blobs:
data=[]
for b in blobs:
# Draw a rect around the blob.
img.draw_rectangle(b.rect()) # rect
img.draw_cross(b.cx(), b.cy()) # cx, cy
if b.cy() < 25:
x = x + 1
if x > 4 :
if judge == '0':
x = 0
data.append((b.cx(),b.cy()))
data_out = json.dumps(set(data))
uart.write(data_out +'\n')
print('L')
judge = '1'
elif b.cy() > 27:
y = y + 1
if y > 4:
if judge == '0':
data.append((b.cx(),b.cy()))
data_out = json.dumps(set(data))
uart.write(data_out +'\n')
print('R')
judge = '1'
else:
judge = '0'
print('---------')
else:
print("not found!")
#{(1,22),(-3,33),(22222,0),(9999,12),(0,0)}
下面的是arduino的代码：
#include <ArduinoJson.h>
#include <SoftwareSerial.h>
SoftwareSerial mySerial(9, 11); // RX, TX pins for SoftwareSerial
typedef struct
{
int data[50][2] = {{0, 0}};
int len = 0;
} List;
List list;
int leftindex = 0;
int rightindex = 0;
const int xdirPin = 5; // X方向控制引脚
const int xstepPin = 2; // X步进控制引脚
const int ydirPin = 6; // Y方向控制引脚
const int ystepPin = 3; // Y步进控制引脚
const int zdirPin = 7; // Z方向控制引脚
const int zstepPin = 4; // Z步进控制引脚
const int astepPin = 12; // A步进控制引脚
const int adirPin = 13; // A方向控制引脚
const int enablePin = 8; // 使能控制引脚
void setup() {
pinMode(xstepPin, OUTPUT); // X步进引脚为输出模式
pinMode(xdirPin, OUTPUT); // X方向引脚为输出模式
pinMode(astepPin, OUTPUT); // A步进引脚为输出模式
pinMode(adirPin, OUTPUT); // A方向引脚为输出模式
pinMode(ystepPin, OUTPUT); // Y步进引脚为输出模式
pinMode(ydirPin, OUTPUT); // Y方向引脚为输出模式
pinMode(zstepPin, OUTPUT); // Z步进引脚为输出模式
pinMode(zdirPin, OUTPUT); // Z方向引脚为输出模式
pinMode(enablePin, OUTPUT); // 使能控制引脚为输出模式
digitalWrite(enablePin, LOW); // 低电平使能电机驱动
Serial.begin(115200); // 初始化硬件串口通信
mySerial.begin(115200); // 初始化软串口通信
}
void ahead() {
digitalWrite(xdirPin, HIGH);
digitalWrite(ydirPin, LOW);
digitalWrite(adirPin, LOW);
digitalWrite(zdirPin, HIGH);
}
void back() {
digitalWrite(xdirPin, LOW);
digitalWrite(ydirPin, HIGH);
digitalWrite(adirPin, HIGH);
digitalWrite(zdirPin, LOW);
}
void left() {
digitalWrite(xdirPin, LOW);
digitalWrite(ydirPin, LOW);
digitalWrite(zdirPin, HIGH);
digitalWrite(adirPin, HIGH);
}
void right() {
digitalWrite(xdirPin, HIGH);
digitalWrite(ydirPin, HIGH);
digitalWrite(zdirPin, LOW);
digitalWrite(adirPin, LOW);
}
void turnround() {
digitalWrite(xdirPin, HIGH);
digitalWrite(ydirPin, HIGH);
digitalWrite(zdirPin, HIGH);
digitalWrite(adirPin, HIGH);
}
void run(int speed) {
digitalWrite(xstepPin, HIGH);
digitalWrite(ystepPin, HIGH);
digitalWrite(zstepPin, HIGH);
digitalWrite(astepPin, HIGH);
delayMicroseconds(1200 - speed);
digitalWrite(xstepPin, LOW);
digitalWrite(ystepPin, LOW);
digitalWrite(zstepPin, LOW);
digitalWrite(astepPin, LOW);
delayMicroseconds(1200 - speed);
}
String detectString() {
while(mySerial.read() != '{');
return(mySerial.readStringUntil('}'));
}
void clearList() {
memset(list.data, 0, sizeof(list.data)); // 清空数据列表
list.len = 0;
}
void getList() {
String s = detectString(); // 从串口读取数据
String numStr = "";
for (int i = 0; i < s.length(); i++) {
if (s[i] == '(') {
numStr = "";
} else if (s[i] == ',') {
list.data[list.len][0] = numStr.toInt();
numStr = "";
} else if (s[i] == ')') {
list.data[list.len][1] = numStr.toInt();
numStr = "";
list.len++;
} else {
numStr += s[i];
}
}
}
void loop() {
// 运行步进电机
if (mySerial.available()) {
getList(); // 读取并解析串口数据
for (int i = 0; i < list.len; i++) {
if (list.data[i][1] < 25) {
Serial.println("left");
left();
}else if (list.data[i][1] > 28) {
Serial.println("right");
right();
}else{
Serial.println("ahead");
}
clearList(); // 清空数据列表
}
run(800);
}
ahead();
run(400);
}