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g3n2

@g3n2 固件库版本4.0

g3n2

import sensor, image, time, pyb,math
from pyb import Pin, Timer,LED,Servo
import json
from pyb import UART

LED_R = pyb.LED(1) # Red LED = 1, Green LED = 2, Blue LED = 3, IR LEDs = 4.
LED_G = pyb.LED(2)
LED_B = pyb.LED(3)
s1 = Servo(1)#servo on position 1 (P7)

s2 = Servo(2)# servo on position 2 (P8)


LED_R.off()
LED_G.off()
LED_B.off()
ROI=(24,10,110,77)


red_threshold  = (34, 78, 48, 104, -66, 80)
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)


clock = time.clock() # Tracks FPS.

uart = UART(1, 9600)
uart.init(9600, bits=8, parity=None, stop=1)  #8位数据位，无校验位，1位停止位

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):
    if uart.any():
       LED_R.on()
       time.sleep_ms(1000)
       LED_R.off()
       s2.angle(0) # move to 45 degrees
       s2.angle(90, 500)# move to -60 degrees in 1500ms


    clock.tick() # Track elapsed milliseconds between snapshots().
    img = sensor.snapshot().lens_corr(1.8) # Take a picture and return the image.
    for c in img.find_circles(threshold =1500,roi=ROI, x_margin =10, y_margin =10, r_margin =10,
    r_min = 5, r_max = 20, r_step = 5):

      blobs = img.find_blobs([red_threshold],pixels_threshold=600,pixels_threshold=600,merge=True)
      if blobs:

         max_blob = find_max(blobs)
         img.draw_cross(max_blob.cx(),max_blob.cy())
         img.draw_circle(max_blob.cx(),max_blob.cy(),max_blob.cx()-max_blob.x(), color = (255, 0, 0))

         LED_R.on()
         time.sleep_ms(100)
         LED_R.off()

         FH = bytearray([0x01])
         uart.write(FH)
         LED(1).toggle()#红灯亮
         time.sleep_ms(100)
         LED(1).off()
         time.sleep_ms(100)
         LED(2).toggle()#绿灯亮
         time.sleep_ms(100)
         LED(2).off()
         time.sleep_ms(100)
         LED(3).toggle()#红灯亮
         time.sleep_ms(100)
         LED(3).off()
         time.sleep_ms(100)
         s1.angle(45) # move to 45 degrees
         s1.angle(-45, 1000)# move to -60 degrees in 1500ms
         s1.angle(-135, 1000)



      else:
         LED_R.off()



         print("帧率 : ",clock.fps())

这是代码

g3n2