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qm5z

@kidswong999 额.........我试试，谢谢

qm5z

# Blob Detection Example
#
# This examp le shows off how to use the find_blobs function to find color
# blobs in the image. This example in particular looks for dark green objects.

import sensor, image, time,pyb

# For color tracking to work really well you should ideally be in a very, very,
# very, controlled enviroment where the lighting is constant...
red_threshold_01 =(13, 83, 1, 94, -6, 74)
#设置红色的阈值，括号里面的数值分别是L A B 的最大值和最小值（minL, maxL, minA,
# maxA, minB, maxB），LAB的值在图像左侧三个坐标图中选取。如果是灰度图，则只需
#设置（min, max）两个数字即可。

# You may need to tweak the above settings for tracking green things...
# Select an area in the Framebuffer to copy the color settings.

sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.RGB565) # use RGB565.
sensor.set_framesize(sensor.QQVGA) # use QVGA for quailtiy ,use QQVGA for speed.
sensor.skip_frames(100) # Let new settings take affect.
sensor.set_auto_whitebal(False)
#关闭白平衡。白平衡是默认开启的，在颜色识别中，需要关闭白平衡。
clock = time.clock() # Tracks FPS.
led = pyb.LED(3)


#定义串口
from pyb import UART

uart = UART(3, 19200)


zuoshou='Z'
youshou='Y'
daiming='G'


'''
  扩宽roi
'''
def expand_roi(roi):
    # set for QQVGA 160*120
    extra = 5
    win_size = (160, 120)
    (x, y, width, height) = roi
    new_roi = [x-extra, y-extra, width+2*extra, height+2*extra]

    if new_roi[0] < 0:
        new_roi[0] = 0
    if new_roi[1] < 0:
        new_roi[1] = 0
    if new_roi[2] > win_size[0]:
        new_roi[2] = win_size[0]
    if new_roi[3] > win_size[1]:
        new_roi[3] = win_size[1]

    return tuple(new_roi)

#机器人坐标系中心点
center_x=80
center_y=160





while(True):
    clock.tick() # Track elapsed milliseconds between snapshots().
    img = sensor.snapshot() # Take a picture and return the image.
    #  pixels_threshold=100, area_threshold=100
    blobs = img.find_blobs([red_threshold_01], area_threshold=150)
    led.on()
   # time.sleep(100)

    if blobs:
    #如果找到了目标颜色
        print(blobs)
        for blob in blobs:
        #迭代找到的目标颜色区域
            is_circle = False
            max_circle = None
            max_radius = -1

            new_roi = expand_roi(blob.rect())

            for c in img.find_circles(threshold = 2000, x_margin = 20, y_margin = 20, r_margin = 10, roi=new_roi):
                is_circle = True
                # img.draw_circle(c.x(), c.y(), c.r(), color = (255, 255, 255))
                if c.r() > max_radius:
                    max_radius = c.r()
                    max_circle = c
            if is_circle:
                # 如果有对应颜色的圆形 标记外框
                # Draw a rect around the blob.
                img.draw_rectangle(new_roi) # rect
                img.draw_rectangle(blob.rect()) # rect
                #用矩形标记出目标颜色区域
                img.draw_cross(blob[5], blob[6]) # cx, cy
                img.draw_circle(max_circle.x(), max_circle.y(), max_circle.r(), color = (0, 255, 0))
                img.draw_circle(max_circle.x(), max_circle.y(), max_circle.r() + 1, color = (0, 255, 0))



                print("%d,%d",blob.cx(),blob.cy())

                ball_center_x=blob.cx()
                ball_center_y=blob.cy()
                if uart.any():
                    if (uart.readchar() == ord("K")):
                        if ball_center_x > 75:
                            uart.write("Y")
                        if ball_center_x < 30:
                            uart.write("Z")
                        if (ball_center_x>30 and ball_center_x<75):
                            uart.write("G")


以下是arduino程序

#include <avr\pgmspace.h>
#include "GI2C_V11.h"
#include <Wire.h>

char a;
int i=1;
unsigned char Buf[61+1];
GI2CV11 MenSao_RCB1(Buf,sizeof(Buf));

const unsigned char ActionCode_daiming[][49] PROGMEM = {
129,36,145,251,251,251,251,135,180,166,100,125, 85,126,210, 75,137,251,251,251,251,251,189,161, 21, 21, 21, 1, 1, 1, 1, 21, 21, 21, 21, 21, 21, 21, 21, 21, 21, 1, 1, 1, 1, 1, 21, 21,10
};

const unsigned char ActionCode_youshou[][49] PROGMEM = {
129, 36,145,251,251,251,251,135,180,166,100,125, 85,126,210, 75,137,251,251,251,251,251,189,161, 21, 21, 21, 1, 1, 1, 1, 21, 21, 21, 21, 21, 21, 21, 21, 21, 21, 1, 1, 1, 1, 1, 21, 21,5,
129, 36,145,251,251,251,251,119,180,166,100, 81, 89,126,210, 75,152,251,251,251,251,251,189,161, 21, 21, 21, 1, 1, 1, 1, 21, 21, 21, 21, 21, 21, 21, 21, 21, 21, 1, 1, 1, 1, 1, 21, 21,5,
129, 36,145,251,251,251,251,137,180,166,100,137,104,126,210, 75,145,251,251,251,251,251,189,161, 21, 21, 21, 1, 1, 1, 1, 21, 21, 21, 21, 21, 21, 21, 21, 21, 21, 1, 1, 1, 1, 1, 21, 21,5,
129, 36,145,251,251,251,251,135,180,166,100,125, 85,126,210, 75,137,251,251,251,251,251,189,161, 21, 21, 21, 1, 1, 1, 1, 21, 21, 21, 21, 21, 21, 21, 21, 21, 21, 1, 1, 1, 1, 1, 21, 21,5,
129, 36,164,251,251,251,251,135,196,250, 16,125, 85, 47,119, 87,137,251,251,251,251,251,189,161, 21, 21, 21, 1, 1, 1, 1, 21, 21, 21, 21, 21, 21, 21, 21, 21, 21, 1, 1, 1, 1, 1, 21, 21,10,
129,236,164,251,251,251,251,173,196,250, 16,169, 85, 89,154, 87,178,251,251,251,251,251,158,161, 21, 21, 21, 1, 1, 1, 1, 21, 21, 21, 21, 21, 21, 21, 21, 21, 21, 1, 1, 1, 1, 1, 21, 21,10
};

const unsigned char ActionCode_zuoshou[][49] PROGMEM = {
129,36,145,251,251,251,251,135,180,166,100,125, 85,126,210, 75,137,251,251,251,251,251,189,161, 21, 21, 21, 1, 1, 1, 1, 21, 21, 21, 21, 21, 21, 21, 21, 21, 21, 1, 1, 1, 1, 1, 21, 21,5,
129,36,145,251,251,251,251,126,180,166,100,123,120,126,210, 75,155,251,251,251,251,251,189,161, 21, 21, 21, 1, 1, 1, 1, 21, 21, 21, 21, 21, 21, 21, 21, 21, 21, 1, 1, 1, 1, 1, 21, 21,5,
129,36,145,251,251,251,251,133,180,166,103,105, 83,126,210, 75,140,251,251,251,251,251,189,161, 21, 21, 21, 1, 1, 1, 1, 21, 21, 21, 21, 21, 21, 21, 21, 21, 21, 1, 1, 1, 1, 1, 21, 21,5,
129,36,145,251,251,251,251,135,180,166,100,125, 85,126,210, 75,137,251,251,251,251,251,189,161, 21, 21, 21, 1, 1, 1, 1, 21, 21, 21, 21, 21, 21, 21, 21, 21, 21, 1, 1, 1, 1, 1, 21, 21,5,
129,36,164,251,251,251,251,135,196,250, 16,125, 85, 47,119, 87,137,251,251,251,251,251,189,161, 21, 21, 21, 1, 1, 1, 1, 21, 21, 21, 21, 21, 21, 21, 21, 21, 21, 1, 1, 1, 1, 1, 21, 21,10,
129,189,164,251,251,251,251, 86,213,191, 61,125, 51, 45,119, 87, 99,251,251,251,251,251, 0,161, 21, 21, 21, 1, 1, 1, 1, 21, 21, 21, 21, 21, 21, 21, 21, 21, 21, 1, 1, 1, 1, 1, 21, 21,10
};

void daiming()
{
int i,j;
int row = sizeof(ActionCode_daiming) / sizeof(ActionCode_daiming[0]);
for(j=0;j<row;j++)
{
for(i=0;i<48;i++)
{
//更新缓冲区
Buf[i+13] = pgm_read_byte(&ActionCode_daiming[j][i]);
}
//将缓冲区中的数据发送给舵机控制单元，完成舵机控制
MenSao_RCB1.Write(1,13,48);
//动作组间的延时，注意*100
delay((int)(pgm_read_byte(&ActionCode_daiming[j][i])) * 100);
}
}

void youshou()
{
int i,j;
int row = sizeof(ActionCode_youshou) / sizeof(ActionCode_youshou[0]);
for(j=0;j<row;j++)
{
for(i=0;i<48;i++)
{
//更新缓冲区
Buf[i+13] = pgm_read_byte(&ActionCode_youshou[j][i]);
}
//将缓冲区中的数据发送给舵机控制单元，完成舵机控制
MenSao_RCB1.Write(1,13,48);
//动作组间的延时，注意*100
delay((int)(pgm_read_byte(&ActionCode_youshou[j][i])) * 100);
}
}

void zuoshou()
{
int i,j;
int row = sizeof(ActionCode_zuoshou) / sizeof(ActionCode_zuoshou[0]);
for(j=0;j<row;j++)
{
for(i=0;i<48;i++)
{
//更新缓冲区
Buf[i+13] = pgm_read_byte(&ActionCode_zuoshou[j][i]);
}
//将缓冲区中的数据发送给舵机控制单元，完成舵机控制
MenSao_RCB1.Write(1,13,48);
//动作组间的延时，注意*100
delay((int)(pgm_read_byte(&ActionCode_zuoshou[j][i])) * 100);
}
}

void setup()
{
Serial.begin(19200);

}

void loop()
{
daiming();
/*if(flag==0)
{
for(i=1;i<=6;i++)
{
Go();
}
daiming();
Serial.write("K");
} */

if (Serial.available())
{
a = Serial.read();
switch(a)
{
//case 'D': daiming(); Serial.print("K"); break;
//case 'G': Go(); Serial.print("K"); break;
case 'Z': zuoshou(); Serial.print("K"); break;
case 'Y': youshou(); Serial.print("K"); break;
/case 'L': Left();Serial.print("L"); break;
case 'R': Right();Serial.print("R"); break;/
case 'D': daiming();Serial.print("K"); break;
//default :daiming(); Serial.print("K"); break;
}

}