#颜色识别内容
import sensor, image, time, math, pyb
from pyb import UART
from pyb import Servo
s1 = Servo(1) #P7 舵机1
s1.pulse_width(1900) #舵机1初始化到中间位置
#设置颜色识别阈值
green_threshold = (8, 20, -22, -9, -4, 19)#(22, 46, -49, -20, -33, 24)(11, 83, -43, -25, -2, 26)
white_threshold = (38, 47, -7, 7, -5, 5)
GRAYSCALE_THRESHOLD = [(13, 69)]
#发送的数据种类选择·
X_Size = 200
H_Size = 210
#找到最大的那块
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
#限幅函数
def XianFu(Data1,Data2):
biggest = 1500
if(Data1>biggest):
laser_disable=0 laser_enable=1 uart = UART(3, 921600, timeout=50) #串口初始化定义 p4 p5 # red_threshold =(0, 100, 17, 127, -128, 127) # 以前 red_threshold = (20, 68, 41, 127, -13, 54) yellow_threshold = red_threshold #白天 室外 (0, 100, 24, 127, -128, 127) 曝光值 0.6 #室内 灯光 (0, 100, 17, 127, -128, 127) 曝光值 1.5 up_servo=Servo(1) #p7 p8 down_servo=Servo(2) up_servo_zero_position = 1500 down_servo_zero_position = 1440 #up_servo_zero_position = 1800 #向下正 #down_servo_zero_position = 1100 #向左正 up_servo.pulse_width(up_servo_zero_position) down_servo.pulse_width(down_servo_zero_position) kp_up = -2.6 ki_up = -0.42 kd_up = -0.43 kp_down = 3.19 ki_down = 0.46 kd_down = 0.43 #kp_down = 2.5 #ki_down = 0 #kd_down = 0 bias_down = 0.0
# Servo Control Example
#
# This example shows how to use your OpenMV Cam to control servos.
import time
from pyb import Servo
s1 = Servo(1) # P7
s2 = Servo(2) # P8
while (True):
for i in range(1000):
s1.pulse_width(1000 + i)
s2.pulse_width(1999 - i)
time.sleep(10)
for i in range(1000):
s1.pulse_width(1999 - i)
s2.pulse_width(1000 + i)
time.sleep(10)
s2 = Servo(2) # P8
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(time=2000)
sensor.set_brightness(0)
sensor.set_contrast(0)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
clock = time.clock()
tag_families = 0
tag_families |= image.TAG16H5
s1.pulse_width(1450)
s2.pulse_width(1200)
def family_name(tag):
if (tag.family() == image.TAG16H5):
return "TAG16H5"
def moveservo(servo, deg):
if servo == 1:
s1.pulse_width(deg)
else:
import gc
import sensor
import network
import usocket
import ure
import utime
import uos
import ubinascii
import uhashlib
from pyb import LED
from pyb import Servo
GREEN_LED = LED(2)
BLUE_LED = LED(3)
servo = Servo(3) # P9
servo.pulse_width(500)
SSID = 'YOUR_SSID'
KEY = 'YOUR_KEY'
LOG_FILE = 'time.log'
AUTH_FILE = '.htpasswd'
DAY_ABBR = ['Mon', 'Tue', 'Wed', 'Thu', 'Fri', 'Sat', 'Sun']
STATUS = {200:"200 OK", 404:"404 Not Found", 401:"401 Unauthorized", 501:"501 Server Error"}
TURNS = 1
# Set sensor settings
sensor.reset()
sensor.set_framesize(sensor.QQVGA) # 160x120 resolution
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.skip_frames()
from pyb import Servo servo = Servo(1) print(servo) servo.angle(0) servo.angle(10, 100) servo.speed(-10) servo.speed(10, 100) servo.pulse_width(1500) print(servo.pulse_width()) servo.calibration(630, 2410, 1490, 2460, 2190) print(servo.calibration())
#s1.pulse_width(1000) # return motor controller to low/off throttle
while (True):
led_control(2)
s1.speed(120)
pyb.delay(10)
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot() # Take a picture and return the image.
img.find_edges(image.EDGE_CANNY, threshold=(40, 174)) # Find edges
lines = img.find_lines(threshold=40) # Find lines.
counter = 0
totalslope = 0
for l in lines:
img.draw_line(l, color=(127)) # Draw lines
if lines:
if (l[2] - l[0]) != 0: # don't allow vertical lines (infinite slope)
slope = 0
slope = (l[3] - l[1]) / (l[2] - l[0])
# print ('slope')
# print (slope)
if slope <= -0.5 or slope >= 0.5: # ignore lines that are mostly horizontal (slope between -0.5 and 0.5)
totalslope = totalslope + slope
counter = counter + 1
if counter != 0:
steer_angle = 1 / (
totalslope / counter
) # 1/(average slope), to compensate for the inverse slope curve
print(steer_angle)
# s1.pulse_width(cruise_speed) # move forward at cruise speed
s2.pulse_width(1500 - int(steer_angle * steering_gain)) # steer
pyb.delay(10)
from pyb import Servo servo = Servo(1) print(servo) servo.angle(0) servo.angle(10, 100) servo.speed(-10) servo.speed(10, 100) servo.pulse_width(1500) print(servo.pulse_width()) servo.calibration(630, 2410, 1490, 2460, 2190) print(servo.calibration())
# Servo Control Example
#
# This example shows how to use your OpenMV Cam to control servos.
import time
from pyb import Servo
s1 = Servo(1) # P7
s2 = Servo(2) # P8
while(True):
for i in range(1000):
s1.pulse_width(1000 + i)
s2.pulse_width(1999 - i)
time.sleep(10)
for i in range(1000):
s1.pulse_width(1999 - i)
s2.pulse_width(1000 + i)
time.sleep(10)
if (x & 8) == 0: ir_led.off()
elif (x & 8) == 8: ir_led.on()
s1 = Servo(1) # P7 Motor
s2 = Servo(2) # P8 Steering
print(s1.calibration()) # show throttle servo calibration
cruise_speed = 1500 # how fast should the car drive, range from 1000 to 2000
steering_gain = 800
sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.GRAYSCALE) # or sensor.RGB565
sensor.set_framesize(sensor.QQVGA) # or sensor.QVGA (or others)
clock = time.clock() # Tracks FPS.
while (True):
led_control(2)
s1.pulse_width(cruise_speed) # move forward at cruise speed
# s1.speed(120) # alternative way to control speed
pyb.delay(10)
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot() # Take a picture and return the image.
img.find_edges(image.EDGE_CANNY, threshold=(40, 174)) # Find edges
lines = img.find_lines(threshold=40) # Find lines.
counter = 0
totalslope = 0
if lines:
for l in lines:
img.draw_line(l, color=(127)) # Draw lines
if (l[2] -
l[0]) != 0: # don't allow vertical lines (infinite slope)
slope = 0 # reset slope
slope = (l[3] - l[1]) / (l[2] - l[0])
#
# This example shows how to use your OpenMV Cam to control servos.
import micropython, time
from pyb import Servo
micropython.alloc_emergency_exception_buf(100)
s1 = Servo(1) # P7
#s1.calibration(1000, 1500, 1100)
s1.calibration(640, 2420, 1500)
s1.speed(-100)
time.sleep(2000)
print(s1.pulse_width())
print(s1.calibration())
s1.speed(-14)
time.sleep(5000)
s1.speed(-13)
time.sleep(5000)
i = -20
while (i < 100):
print(i)
s1.speed(i)
print(s1.pulse_width())
time.sleep(1000)
i += 1
