# pin PWM control
from pyb import Pin, Timer
p = Pin('X1') # X1 has TIM2, CH1
tim = Timer(2, freq=1000)
ch = tim.channel(1, Timer.PWM, pin=p)
ch.pulse_width_percent(50)
# servo control
from pyb import Servo
s1 = Servo(1) # servo on position 1 (X1, VIN, GND)
s1.angle(45) # move to 45 degrees
s1.angle(-60, 1500) # move to -60 degrees in 1500ms
s1.speed(50) # for continuous rotation servos
# ADC/DAC
from pyb import Pin, ADC
adc = ADC(Pin('X19'))
adc.read() # read value, 0-4095
from pyb import Pin, DAC
dac = DAC(Pin('X5'))
dac.write(120) # output between 0 and 255
# SPI
from pyb import SPI
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())
ext = ExtInt(Pin('P9'), ExtInt.IRQ_FALLING, Pin.PULL_UP, key) #下降沿触发，打开上拉电阻
##############################################
# OLED初始显示
##############################################
oled.fill(0) # 清屏显示黑色背景
oled.text('01Studio', 0, 0) # 首行显示01Studio
oled.text('Servo-360', 0, 15) # 次行显示实验名称
oled.text(str(speed[i]), 0, 35) # 显示当前速度值
oled.text('Pls Press USER', 0, 55) #提示按按键
oled.show()
#S1指定速度,启动时i=0，默认-100
s1.speed(speed[i])
while True:
if key_node == 1: #按键被按下
i = i + 1
if i == 5:
i = 0
key_node = 0 #清空按键标志位
#X1指定角度
s1.speed(speed[i])
#显示当前频率
oled.fill(0) # 清屏显示黑色背景
oled.text('01Studio', 0, 0) # 首行显示01Studio
s1 = Servo(1) # P7 Motor
s2 = Servo(2) # P8 Steering
print(s1.calibration()) # show throttle servo calibration
cruise_speed = 0 # how fast should the car drive, range from 1000 to 2000
steering_gain = 130
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.
#s1.pulse_width(2000) # initialize the motor controller with a high signal for a second
#pyb.delay(1000)
#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)
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())
def start_face_rendering(self):
sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.GRAYSCALE) # or sensor.GRAYSCALE
sensor.set_framesize(sensor.B128X128) # or sensor.QQVGA (or others)
sensor.set_windowing((92,112))
sensor.skip_frames(10) # Let new settings take affect.
sensor.skip_frames(time = 5000) #等待5s
s3 = Servo(3) # servo on position 1 (P7)
#将蓝灯赋值给变量led
led = pyb.LED(3) # Red LED = 1, Green LED = 2, Blue LED = 3, IR LEDs = 4.
#SUB = "s1"
NUM_SUBJECTS = 4 #图像库中不同人数，一共6人
NUM_SUBJECTS_IMGS = 17 #每人有20张样本图片
# 拍摄当前人脸。
img = sensor.snapshot()
#img = image.Image("singtown/%s/1.pgm"%(SUB))
d0 = img.find_lbp((0, 0, img.width(), img.height()))
#d0为当前人脸的lbp特征
img = None
pmin = 999999
self.num=0
for s in range(1, NUM_SUBJECTS+1):
dist = 0
for i in range(2, NUM_SUBJECTS_IMGS+1):
img = image.Image("singtown/s%d/%d.pgm"%(s, i))
d1 = img.find_lbp((0, 0, img.width(), img.height()))
#d1为第s文件夹中的第i张图片的lbp特征
dist += image.match_descriptor(d0, d1)#计算d0 d1即样本图像与被检测人脸的特征差异度。
print("Average dist for subject %d: %d"%(s, dist/NUM_SUBJECTS_IMGS))
pmin = self.min(pmin, dist/NUM_SUBJECTS_IMGS, s)#特征差异度越小，被检测人脸与此样本更相似更匹配。
print(pmin)
print(self.num) # num为当前最匹配的人的编号。
#TS=3 没戴口罩
if (pmin>5000) & (TS==3):
uart.write("-- NO People! --")
led.off()
if (pmin>5000) & (TS==1):
uart.write("-- NO People! --")
led.off()
if pmin<=5000:
if self.num==1: #匹配到了people_One
uart.write("People One ")
if self.num==2:
uart.write("People Two ")
if self.num==3:
uart.write("People Three ")
if self.num==4:
uart.write("People New ")
led.on() #亮灯
led1.off()
time.sleep(3500) #延时1500ms
led.off()
for i in range(1,460):
s3.speed(50) # for continuous rotation servos
time.sleep(15)
s3.speed(0)
time.sleep(1500)
for i in range(1,230):
s3.speed(-50)
time.sleep(15)
s3.speed(0)
# Servo Control Example
#
# 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
class ServoZumo:
""" A mini class to drive a Zumo Chassis (POL-1418) + DFRobot Servo motor (DFR0399) """
def __init__(self, left_servo, right_servo):
# This motor requires a timer @ 500 Hz so modify the timer(5) used by Servo from 50 HZ to 500 Hz
self._left = Servo(left_servo)
#self.left.calibration(500, 2500, 1500, 2500, 2500)
self._right = Servo(right_servo)
#self.right.calibration(500, 2500, 1500, 2500, 2500)
self._moving = False
self.stop()
@property
def is_moving(self):
return self._moving
def stop(self):
self._right.speed(0)
self._left.speed(0)
self._moving = False
def speed(self, speed):
""" Speed from -100 (backward) to +100 (forward) """
self._right.speed(-1 * speed)
self._left.speed(speed)
self._moving = True
def right(self, speed, time_ms=None):
""" Turn right @ given speed. if time_ms is given, it stop after the given time """
self._right.speed(speed)
self._left.speed(speed)
self._moving = True
if time_ms:
sleep_ms(time_ms)
self.stop()
def left(self, speed, time_ms=None):
""" Turn left @ given speed. if time_ms is given, it stop after the given time """
self.right(-1 * speed, time_ms)
