def main():
while True:
clock.tick()
cx = 0
cy = 0
pix = 0
flag = 0
img = sensor.snapshot()
blobs = img.find_blobs([threshold[threshold_ch]],
x_stride=10,
y_stride=10,
pixels_threshold=100)
if blobs:
road = find_max(blobs)
pix = road.pixels() // 250
if pix > 255:
pix = 255
flag = 1
cx = road.cx()
cy = road.cy()
img.draw_rectangle(road.rect())
my_uart.send(flag, cx, cy, pix)
if pix > 30:
ledR.on()
else:
ledR.off()
print(flag, cx, cy, pix, clock.fps())
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 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())