def main():
while True:
clock.tick()
pix = 0
break_road = 0
cnt1 = 0
cnt2 = 0
mode = 0
hh = 0
cc = 0
img = sensor.snapshot()
t = my_uart.read()
if t!= None:
mode = t >> 7
offset = t & 0x7F
blobs = img.find_blobs([red_threshold[red_ch]], roi = roi_red, x_stride=5, y_stride=10, pixels_threshold=200)
if blobs:
road = find_max(blobs)
pix = road.pixels() * 255 // 3000
if pix > 255:
pix = 255
if mode == 0:
blobs = img.find_blobs([blue_threshold, black_threshold], roi = roi_blue[0], x_stride=3, y_stride=6, pixels_threshold=100)
if blobs:
road = find_max(blobs)
break_road = road.pixels()*255//2500
else:
blobs = img.find_blobs([blue_threshold, black_threshold], roi = roi_blue[1], x_stride=3, y_stride=6, pixels_threshold=100)
if blobs:
road = find_max(blobs)
break_road = (road.pixels()-150)*255//3400
if break_road < 0:
break_road = 0
if break_road > 255:
break_road = 255
if mode == 1:
blobs = img.find_blobs([white_threshold], roi = roi_white[chioce], pixels_threshold=20)
if blobs:
road = find_max(blobs)
hh = road.h()
cc = road.cy()+1
else:
roi_white2[0] = int(-0.3297*offset+106.2)-3
blobs = img.find_blobs([white_threshold], roi = roi_white2, pixels_threshold=20)
if blobs:
road = find_max(blobs)
hh = road.h()
cc = road.cy()+1
my_uart.send(pix,break_road,cc,hh)
if pix > 30:
ledR.on()
else:
ledR.off()
if break_road > 170:
ledB.on()
else:
ledB.off()
print(clock.fps())
def systemUI():
page = 0
Xsite = 0
Ysite = 0
global red_threshold
global blue_threshold
global black_threshold
global white_threshold
global red_ch
[red_threshold, blue_threshold, black_threshold, white_threshold, red_ch] = my_file.read_parameter()
my_ips.showstr(161, 0, "bR 30:127")
my_ips.showstr(161, 1, " -50:50")
my_ips.showstr(161, 3, "R 40:127")
my_ips.showstr(161, 4, " -20:70")
my_ips.showstr(161, 6, "yR 30:127")
my_ips.showstr(161, 7, " 10:127")
while(True):
save = 0
key = my_key.get_key()
if key == 3:#r
if Xsite<3:
Xsite += 1
elif key == 6:#l
if Xsite>0:
Xsite -= 1
elif key == 2:#u
if Ysite>0:
Ysite -= 1
elif key == 0:#d
if Ysite<3:
Ysite += 1
elif key == 1:#m
save = 1
if key == 4:
k = 1
elif key == 5:
k = -1
else:
k = 0
display(page, Xsite, Ysite, k, save)
if my_uart.read() == 0x0F:
break
my_file.save_parameter(red_threshold, blue_threshold, black_threshold, white_threshold, red_ch)
ledR.off()
ledB.off()
my_ips.spi.deinit()
time.sleep(200)
ledG.off()
def systemUI():
page = 0
Xsite = 0
Ysite = 0
global red_threshold
global blue_threshold
global black_threshold
global white_threshold
[red_threshold, blue_threshold, black_threshold,
white_threshold] = my_file.read_parameter()
while (True):
save = 0
key = my_key.get_key()
if key == 3: #r
if Xsite < 3:
Xsite += 1
elif key == 6: #l
if Xsite > 0:
Xsite -= 1
elif key == 2: #u
if Ysite > 0:
Ysite -= 1
elif key == 0: #d
if Ysite < 3:
Ysite += 1
elif key == 1: #m
break
#save = 1
if key == 4:
k = 1
elif key == 5:
k = -1
else:
k = 0
display(page, Xsite, Ysite, k, save)
if my_uart.read() == 0x0F:
break
my_file.save_parameter(red_threshold, blue_threshold, black_threshold,
white_threshold)
ledR.off()
ledB.off()
my_ips.spi.deinit()
time.sleep(200)
ledG.off()
def main():
while True:
clock.tick()
pix = 0
break_road = 0
img = sensor.snapshot()
t = my_uart.read()
if t != None:
mode = t >> 7
offset = t & 0x7F
blobs = img.find_blobs([red_threshold],
roi=(47, 25, 87, 70),
x_stride=10,
y_stride=5,
pixels_threshold=200)
if blobs:
obstacle = find_max(blobs)
pix = obstacle.pixels() * 255 // 3000
if pix > 255:
pix = 255
img.draw_rectangle(obstacle.rect())
blobs = img.find_blobs([blue_threshold, black_threshold],
roi=(0, 21, 33, 77),
x_stride=6,
y_stride=3,
pixels_threshold=100)
if blobs:
road = find_max(blobs)
break_road = road.pixels() * 255 // 2500
if break_road > 255:
break_road = 255
img.draw_rectangle(road.rect())
my_uart.send(pix, break_road)
if pix > 30:
ledR.on()
else:
ledR.off()
if break_road > 180:
ledB.on()
else:
ledB.off()
print(clock.fps())