def main():
# usb object
usb = USB_VCP()
i = 0
j = 0
emailNum = 0
while (True):
clock.tick()
img = sensor.snapshot(pixformat=sensor.GRAYSCALE)
blobs = img.find_blobs(threshold_list,
pixels_threshold=0,
area_threshold=0,
merge=True)
cmd = usb.recv(4, timeout=1)
if (cmd == b'snap'):
i = 0
emailNum = 0
if (i == 0):
usb.send(244)
if (blobs):
i = 1
if (i == 1):
fire_blob = max(blobs, key=lambda x: x.density())
img.draw_rectangle(fire_blob.rect())
img.draw_cross(fire_blob.cx(), fire_blob.cy())
# For pan control
xPos = fire_blob.cx()
xErr = 20 - xPos
# For tilt control
yPos = fire_blob.cy()
yErr = 15 - yPos
#img.draw_string(fire_blob.x(), fire_blob.y() - 10, "Pan Error: %.2f pixels" % xPosErr, mono_space=False)
usb.send(xPos)
usb.send(yPos)
if ((xErr <= 1 and xErr >= -1) and (yErr <= 1 and yErr >= -1)
and emailNum == 0):
bigPic() # Convert to better resolution for email photo
img2 = sensor.snapshot(pixformat=sensor.GRAYSCALE)
blobs = img2.find_blobs(threshold_list,
pixels_threshold=0,
area_threshold=0,
merge=True)
fire_blob = max(blobs, key=lambda x: x.density())
img2.draw_rectangle(fire_blob.rect())
img2.draw_cross(fire_blob.cx(), fire_blob.cy())
img2.to_rainbow(
color_palette=sensor.PALETTE_IRONBOW) # color it
imgUSB = img2.compress()
usb.send(ustruct.pack("<L", imgUSB.size()))
usb.send(imgUSB)
emailNum = 1
smallPic() # Convert back to low-res imaging for control
# Sensor Initialization
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time=2000)
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
# USB Initialization
usb = USB_VCP()
# Send X,Y
while (True):
img = sensor.snapshot()
for blob in img.find_blobs(thresholds,
pixels_threshold=25,
area_threshold=25,
merge=True):
# Filter non-circle blobs
if blob.roundness() > 0.6:
buf = str(blob.cx()) + ' ' + str(blob.cy())
usb.send(buf)
# Draw red circle around ball
# radius = 9
# img.draw_circle(x, y, radius, color = (255, 0, 0), thickness = 4, fill = False)
#print(clock.fps())
return "DATABAR_EXP"
if (code.type() == image.CODABAR):
return "CODABAR"
if (code.type() == image.CODE39):
return "CODE39"
if (code.type() == image.PDF417):
return "PDF417"
if (code.type() == image.CODE93):
return "CODE93"
if (code.type() == image.CODE128):
return "CODE128"
while (True):
clock.tick()
blue_led.on()
img = sensor.snapshot()
codes = img.find_barcodes()
for code in codes:
img.draw_rectangle(code.rect())
if (temp != code.payload()):
temp = code.payload()
result = code.payload()
green_led.on()
time.sleep(100)
green_led.off()
usb.send(result + '\r\n')
time.sleep(1000)
if not codes:
pass
'''
串口通信
'''
import sensor, image, time, ustruct
from pyb import USB_VCP
usb = USB_VCP()
sensor.reset() # 复位并初始化感光元件。
sensor.set_pixformat(sensor.RGB565) # 设置像素格式为RGB565(或GRAYSCALE)
sensor.set_framesize(sensor.QVGA) # 将图像大小设置为QVGA (320x240)
sensor.skip_frames(time=2000) # 等待设置生效。
while (True):
test = 'hi\r\n'
usb.send(test)
time.sleep(1000)
# xonxoff=False, rtscts=False, stopbits=serial.STOPBITS_ONE, timeout=None, dsrdtr=True)
# sp.write("snap")
# sp.flush()
# size = struct.unpack('<L', sp.read(4))[0]
# img = sp.read(size)
# sp.close()
#
# with open("img.jpg", "w") as f:
# f.write(img)
import sensor, image, time, ustruct
from pyb import USB_VCP
usb = USB_VCP()
sensor.reset() # Reset and initialize the sensor.
sensor.set_pixformat(
sensor.RGB565) # Set pixel format to RGB565 (or GRAYSCALE)
#sensor.set_auto_gain(True) # Automatically set the gain
#sensor.__write_reg(0x6B, 0x22) # Enable Advanced AWB
#sensor.set_auto_whitebal(True) # Automatically set the white balance
#sensor.set_auto_exposure(True) # Automatically set the exposure
sensor.set_framesize(sensor.QVGA) # Set frame size to QVGA (320x240)
sensor.skip_frames(time=2000) # Wait for settings take effect.
while (True):
cmd = usb.recv(4, timeout=5000)
if (cmd == b'snap'):
img = sensor.snapshot().compress()
usb.send(ustruct.pack("<L", img.size()))
usb.send(img)
img.draw_rectangle(ball.rect(), (0, 0, 255))
# \/ \/ USB CODE \/ \/ AND THE LLLL's are attacking!
ticks = time.ticks()
if stream:
img.copy(x_scale=.25, y_scale=.25, copy_to_fb=True)
img.compress(88) #90
cmd = usb.recv(
2,
timeout=1000) # Change this to match the number of commands received
if not cmd:
continue
if cmd[0] == b's'[0] and stream:
usb.send(
ustruct.pack(">llll", use_the_force_luke, ball_angle,
ball_distance, img.size()))
usb.send(img)
else:
usb.send(
ustruct.pack(">llll", use_the_force_luke, ball_angle,
ball_distance, 0))
if cmd[0] == b's'[0]:
stream = True
else:
stream = False
if cmd[1] == b'r'[0]:
pyb.LED(1).toggle()
if cmd[1] == b'g'[0]:
pyb.LED(2).toggle()
# #!/usr/bin/env python2.7
# import sys, serial, struct
# port = '/dev/ttyACM0'
# sp = serial.Serial(port, baudrate=115200, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE,
# xonxoff=False, rtscts=False, stopbits=serial.STOPBITS_ONE, timeout=None, dsrdtr=True)
# sp.setDTR(True) # dsrdtr is ignored on Windows.
# sp.write("snap")
# sp.flush()
# size = struct.unpack('<L', sp.read(4))[0]
# img = sp.read(size)
# sp.close()
#
# with open("img.jpg", "w") as f:
# f.write(img)
import sensor, image, time, ustruct
from pyb import USB_VCP
usb = USB_VCP()
sensor.reset() # Reset and initialize the sensor.
sensor.set_pixformat(sensor.RGB565) # Set pixel format to RGB565 (or GRAYSCALE)
sensor.set_framesize(sensor.QVGA) # Set frame size to QVGA (320x240)
sensor.skip_frames(time = 2000) # Wait for settings take effect.
while(True):
cmd = usb.recv(4, timeout=5000)
if (cmd == b'snap'):
img = sensor.snapshot().compress()
usb.send(ustruct.pack("<L", img.size()))
usb.send(img)
else:
return 0
while(True):
clock.tick()
img = sensor.snapshot()
numb = 0
rateOfBlue = 0
rateOfRed = 0
rateOfGreen = 0
#查看图片中是否存在该种颜色（占图片中颜色5%）
calculateRateOfColor(img,hsv_low_red,hsv_high_red,rateOfRed)
calculateRateOfColor(img,hsv_low_green,hsv_high_green,rateOfGreen)
calculateRateOfColor(img,hsv_low_blue,hsv_high_blue,rateOfBlue)
#numb 值为1 所需颜色出现在图片中线 为0不在中线
if rateOfRed > 0.05：
numb = calculateRange(img,img,hsv_low_red,hsv_high_red)
elif rateOfBlue > 0.05:
numb = calculateRange(img,img,hsv_low_blue,hsv_high_blue)
elif rateOfGreen > 0.05:
numb = calculateRange(img,img,hsv_low_green,hsv_high_green)
else:
numb = 0
#图片中有颜色返回True 无该颜色返回False
if numb == 1:
USB_VCP.send(True)
else:
USB_VCP.send(False)
print(clock.fps())
blue_led = LED(3)
ir_led = LED(4)
#usb.send('Camera initialization...')
blue_led.on()
usb = USB_VCP()
sensor.reset() # Reset and initialize the sensor.
sensor.set_pixformat(
sensor.RGB565) # Set pixel format to RGB565 (or GRAYSCALE)
sensor.set_framesize(sensor.QVGA) # Set frame size to QVGA (320x240)
sensor.skip_frames(time=2000) # Wait for settings take effect
clock = time.clock() # Create a clock object to track the FPS.
# sensor.set_gainceiling(16)
blue_led.off()
usb.send('Done')
contrast = 0
brightness = 0
saturation = 0
vertical_flip = False
horizontal_flip = False
watchdog_led = True
while (True):
cmd = usb.recv(5, timeout=2000)
if (cmd == b'photo'):
clock.tick()
img = sensor.snapshot().compress()
usb.send(ustruct.pack('<L', img.size()))
usb.send(img)
def beam(values): # function that shines the LED on the camera
if (((values[3] >= -5) and (values[3] <= 5)) and (values[3] != -1)):
green.on()
elif (values != [-1, -1, -1, -1, -1, -1]):
blue.on()
elif (values == [-1, -1, -1, -1, -1, -1]):
red.on()
while (True):
img = sensor.snapshot()
# params: width actual of target and height actual of target
# returns: centerX, centerY, distance, angleX, angleY, blob width pixels
values = getUnfilteredValues(TARGET_WIDTH, TARGET_HEIGHT, img)
if (values == None):
values = [-1, -1, -1, -1, -1,
-1] # makes values this when there is no blob detected
beam(values)
if (COMMS_METHOD == "print"):
print(values)
elif (COMMS_METHOD == "usb"
): # sending the data via USB serial to the robot
# values = memoryview(values)
usb.send(
ustruct.pack("d", values[0], values[1], values[2], values[3],
values[4], values[5]))
elif (COMMS_METHOD == "can"):
pass
from pyb import USB_VCP # importing the library for USb VCP(Virtual Comm Port).
usb = USB_VCP() # makes USB object
while (True): # making a loop to continously send data
usb.send("hi123") # send function to send script.
''' NOTE
usb.send() fucntion send the data character by character.
for ex: usb.send("hi123") send the "hi123" string as "h", "i", "1", "2", "3".
'''
imgMs = time.ticks() - ticks
# \/ \/ USB CODE \/ \/
ticks = time.ticks()
if stream:
img.copy(x_scale=.25, y_scale=.25, copy_to_fb=True)
img.compress(88) #90
cmd = usb.recv(
2,
timeout=1000) # Change this to match the number of commands received
if not cmd:
continue
if cmd[0] == b's'[0] and stream:
usb.send(ustruct.pack(">lll", imgMs, usbMs, img.size()))
usb.send(img)
else:
usb.send(ustruct.pack(">lll", imgMs, usbMs, 0))
if cmd[0] == b's'[0]:
stream = True
else:
stream = False
usbMs = time.ticks() - ticks
if cmd[1] == b'r'[0]:
pyb.LED(1).toggle()
if cmd[1] == b'g'[0]:
pyb.LED(2).toggle()
if cmd[1] == b'b'[0]:
pyb.LED(3).toggle()
