# main.py -- put your code here!
from pyb import UART
from micropyGPS import MicropyGPS
from pyb import LED
# Setting up UART
# This example uses UART 2 with RX on pin X4
# Baudrate is 9600bps, with the standard 8 bits, 1 stop bit, no parity
uart = UART(2, 9600)
# Initiate
my_gps = MicropyGPS()
# Reads 100 sentences and reports how many were parsed and if any failed the CRC check
sentence_count = 0
while True:
if uart.any():
led = LED(3)
led.on()
stat = my_gps.update(chr(uart.readchar()))
if stat:
print(stat)
print('Latitude:', my_gps.latitude_string())
print('Longitude:', my_gps.longitude_string())
print('Speed:', my_gps.speed_string('kph'), 'or',
my_gps.speed_string('mph'), 'or',
my_gps.speed_string('knot'))
import time
from pyb import UART
from modbus import ModbusRTU
uart = UART(3)
modbus = ModbusRTU(uart)
while(True):
if modbus.any():
modbus.handle()
else:
time.sleep(100)
# image processing in there
from pyb import Pin, Timer, ExtInt, UART, Servo
import time
u = UART(3, 9600)
ss = Pin(Pin.cpu.A13, Pin.OUT)
from car import *
import re, time
cmds = {
'back': back2,
'forward': forward2,
'stop': stop,
'add': add,
'dec': dec,
}
ss.value(0)
def jdytest():
print("jdytest")
for s in ('BAUD', 'RFID', 'DVID', 'RFC'):
u.write('AT+' + s + '\r\n')
while not u.any():
pass
print(u.read())
jdytest()
u.write('AT+CLSSA0\r\n')
time.sleep(2)
print(u.read())
ss.value(1)
print(ss.value())
while (1):
SPI = pyb.SPI(1) #DIN=>X8-MOSI/CLK=>X6-SCK
#DIN =>SPI(1).MOSI 'X8' data flow (Master out, Slave in)
#CLK =>SPI(1).SCK 'X6' SPI clock
RST = pyb.Pin('X20')
CE = pyb.Pin('X19')
DC = pyb.Pin('X18')
LIGHT = pyb.Pin('X17')
lcd_5110 = upcd8544.PCD8544(SPI, RST, CE, DC, LIGHT) #以上内容为声明并初始化显示屏
count_ = 0
N2 = Pin('Y3', Pin.OUT_PP) #定义“Y3”为输出模式，这个引脚是控制蜂鸣器的，来电话了需要响铃的
N1 = Pin('Y6', Pin.OUT_PP) #定义“Y6”位输出模式，“Y6”引脚是板载通信系统的开关控制引脚
N1.low()
pyb.delay(2000)
N1.high()
pyb.delay(10000) #通过拉低拉高开光控制引脚，启动通信系统
u2 = UART(4, 115200) #设置串口4，并设置串口波特率为115200
i = '0'
w = 0
d = 0
q = 0
G = 0
j = 0
while 0 < 1:
N2.low() #设置蜂鸣器控制引脚为低电平，不让蜂鸣器响
if (u2.any() > 0): #检测串口4是否有数据，如果有数据执行以下
_dataRead = u2.readall()
if _dataRead != None: #判断串口4的数据是否为空，不为空执行以下代码
print('原始数据=', _dataRead)
print('原始数据长度:', len(_dataRead))
print('123', _dataRead[2:6])
RING = _dataRead[2:6] #截取包头，这个包头是为了判断数据是否正确的重要依据
#blue=[(34, 40, 10, 18, -60, -40)]
#green=[(36, 58, -39, -24, -3, 19)]#green
#red=[(41, 54, 67, 80, 30, 63)] # generic_blue_thresholds,green(36, 58, -39, -24, -3, 19),
#blue (41, 54, 57, 80, 16, 63)
#sensor.reset()
#sensor.set_pixformat(sensor.RGB565)
#sensor.set_framesize(sensor.QQVGA)
#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
#sensor.set_vflip(False)
#sensor.set_hmirror(False)
#clock = time.clock()
uart=UART(3,19200)
#track_color()
color_track()
while True:
key=uart.readchar()
if key==1:
cal()
elif key==2:
color_track()
elif key==3:
print(3)
elif key==4:
print(4)
def __init__(self):
self.scan = UART(3, 9600, read_buf_len=100)
from pyb import I2C
import char_lcd
import binascii
from pyb import UART
from pyb import Pin, ADC
ser = UART(6, 115200)
ser.init(115200, bits=8, parity=None, stop=1)
i2c = I2C(2, I2C.MASTER, baudrate=20000)
d = char_lcd.HD44780(i2c)
i2 = I2C(1, I2C.MASTER, baudrate=50000)
adc = ADC(Pin('X1'))
temp1 = 0
#d.set_line(1)
#d.set_string("Bar")
while True:
i2.send(0x43, 0x39)
asd = i2.recv(1, 0x39)
test = asd[0]
step = test & 0x0F
chordnr = (test >> 4) & 0x07
i2.send(0x83, 0x39)
kanava2 = i2.recv(1, 0x39)
test2 = kanava2[0]
step2 = test2 & 0x0F
chordnr2 = (test2 >> 4) & 0x07
countvalue2 = int(16.5 * (2**chordnr2 - 1) + (step2 * (2**chordnr2)))
countvalue = int(16.5 * (2**chordnr - 1) + (step * (2**chordnr)))
import pyb
xlights = (pyb.LED(2), pyb.LED(3))
ylights = (pyb.LED(1), pyb.LED(4))
from pyb import UART
from pyb import Pin
#from ubinascii import hexlify
from ubinascii import *
accel = pyb.Accel()
u2 = UART(2,9600,timeout=100)
i=0
K=1
#*******************************主程序**********************************
print('while')
while (K>0):
_dataRead=u2.readall()
if(1>0):
x = accel.x()
print("x=")
print(x)
if x > 10:
xlights[0].on()
xlights[1].off()
u2.write('\x00\x05\x18YOU')
print('\x00\x01\x18YOU')
elif x < -10:
xlights[1].on()
xlights[0].off()
u2.write('\x00\x05\x18ZUO')
print('\x00\x01\x18ZUO')
#XBee Test code send packets to another xbee
#PyBoard
#Created by: Joseph Fuentes [08/09/2017]
import pyb
from pyb import UART
from pyb import ExtInt
from pyb import Pin
import time
import math
#Connect RX of XBee to 'X3', TX to 'X4'
xbee = UART(2, 115200)
xbee.write('\nChecking GPS and altitude to see if landed...')
import sensor, image, time, struct from pyb import UART import math import utime from robot_arm import RobotArm3DoF red_threshold_01 = (21, 29, -72, 6, -11, 17) blue_threshold_01 = (26, 12, -15, 25, -46, -6) orang_threshold_01 = (68, 34, -14, 52, 100, 27) sensor.reset() uart = UART(1, 57600) sensor.set_pixformat(sensor.RGB565) sensor.set_framesize(sensor.QVGA) sensor.skip_frames(time=2000) sensor.set_auto_gain(False) clock = time.clock() qr_finish_flag = 1 buff = [] arm = RobotArm3DoF() img = sensor.snapshot() blobs = img.find_blobs([orang_threshold_01], area_threshold=150) last_blobs = blobs k = 1900 x_scale = 26.8 y_scale = 28.7 scale = (x_scale + y_scale) / 4 init_frame = (0.1, 15, 2.5) target_x_err = 0 length = 0 arm.move(init_frame[0], init_frame[1], init_frame[2])
# with the raspberry pi.
##################################
import sensor, image, time
from pyb import UART
#Sensor Setup
#################################
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time=2000)
#################################
#Communication Setup
#################################
uart = UART(1, 9600, timeout_char=1000) # init with given baudrate
uart.init(9600, bits=8, parity=None, stop=1,
timeout_char=1000) # init with given parameters
#################################
#Main Loop
#################################
clock = time.clock()
while (True):
clock.tick()
while (uart.any() == 0):
continue
print(20)
while (uart.any() != 0):
print(uart.readchar())
time.sleep(1000)
import pyb
from pyb import UART
# 串口6初始化
uart = UART(6, 115200, timeout=100)
# 响应报文
header = """
HTTP/1.1 200 OK
Content-Type:text/html
Content-Length:{0}
{1}
"""
# HTML页面
html = """<!DOCTYPE html>
<html>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
<head> <title>TPYBoard</title> </head>
<body>
<h1>TPYBoard v201</h1><br />
<h2>Simple HTTP server</h2>
</body>
</html>
"""
while True:
if uart.any() > 0:
request = uart.read().decode()
print('request:', request)
# 当接收到GET请求头时，进行响应
if request.find('GET') > -1:
# Single Color RGB565 Blob Tracking Example
#
# This example shows off single color RGB565 tracking using the OpenMV Cam.
import sensor, image, time, math
from pyb import UART, Timer
obj_x = 0
obj_y = 0
uart = UART(3, 115200) #初始化串口 波特率 115200
def transmit_data():
bol = (obj_x + obj_y) % 254
pack_data = bytearray([
0xff, obj_x >> 8, obj_x & 0x0ff, obj_y >> 8, obj_y & 0x0ff, bol, 0xfe
])
return pack_data
threshold_index = 0 # 0 for red, 1 for green, 2 for blue
# Color Tracking Thresholds (L Min, L Max, A Min, A Max, B Min, B Max)
# The below thresholds track in general red/green/blue things. You may wish to tune them...
thresholds = [
((59, 0, 24, 118, 5, 50)), # generic_red_thresholds
(30, 100, -64, -8, -32, 32), # generic_green_thresholds
(0, 30, 0, 64, -128, 0)
] # generic_blue_thresholds
from math import sqrt import pyb import sensor, image, time from pyb import UART sensor.reset() sensor.set_pixformat(sensor.RGB565) #sensor.set_pixformat(sensor.GRAYSCALE) sensor.set_framesize(sensor.QQVGA) sensor.skip_frames(time=2000) clock = time.clock() enable_lens_corr = True #UART Initialization uart = UART(1, 115200) #Threshold Theta min_degree_V = 135 max_degree_V = 180 min_degree_V_rev = 0 max_degree_V_rev = 45 line_counter_V = 0 min_degree_H = 85 max_degree_H = 95 line_counter_H = 0 #Coordinates of detected lines start_x, start_y = 0, 0 end_x, end_y = 0, 0 mid_x, mid_y = 0, 0
#DIN =>SPI(1).MOSI 'X8' data flow (Master out, Slave in)
#CLK =>SPI(1).SCK 'X6' SPI clock
RST = pyb.Pin('X20')
CE = pyb.Pin('X19')
DC = pyb.Pin('X18')
LIGHT = pyb.Pin('X17')
lcd_5110 = upcd8544.PCD8544(SPI, RST, CE, DC, LIGHT)
lcd_5110.clear()
lcd_5110.lcd_write_string('Getting Ready', 0, 1)
#GU620模块初始化
N1 = Pin('Y6', Pin.OUT_PP) #定义通信系统启动引脚
N1.low()
pyb.delay(2000)
N1.high()
pyb.delay(10000) #拉高拉低引脚，启动通信系统
u2 = UART(4, 115200, timeout=100) #定义串口4，设置 波特率为115200
#报文详细格式说明参照萝卜电子服务平台示例报文格式。
#www.turnipsmart.com:8080
message = 'TPGPS,1234567890abcde,36.67191670,119.17200000,201701120825,25,50,END'
if __name__ == '__main__':
#连接TCP服务器
u2.write('AT+CIPSTART="TCP","139.196.110.155",30000\r\n')
while True:
if u2.any() > 0:
_dataRead = u2.read()
print('_dataRead:', _dataRead)
if _dataRead.find(b'CONNECT OK') > -1:
#说明已经和服务器成功建立连接
lcd_5110.lcd_write_string('CONNECT OK', 0, 2)
print('CONNECT OK')
pyb.LED(2).on()
# Select an area in the Framebuffer to copy the color settings.
#代表红色的代码
red_color_code = 1
green_color_code = 2
yellow_color_code = 4
blue_color_code = 8
from pyb import UART
sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.RGB565) # use RGB565.
sensor.set_framesize(
sensor.QQVGA) # use QVGA for quailtiy ,use QQVGA for speed.
sensor.skip_frames(10) # Let new settings take affect.
sensor.set_auto_whitebal(False)
uart = UART(3, 115200) #利用串口3
#关闭白平衡。白平衡是默认开启的，在颜色识别中，需要关闭白平衡。
clock = time.clock() # Tracks FPS.
right_angle_threshold = (45, 61)
forget_ratio = 0.8
move_threshold = 5
center_x = 000
center_y = 000
def calculate_angle(line1, line2):
# 利用四边形的角公式， 计算出直线夹角
angle = (180 - abs(line1.theta() - line2.theta()))
if angle > 90:
angle = 180 - angle
return angle
socket_node = 1
pyb.LED(3).toggle()
tim = pyb.Timer(4, freq=10)
tim.callback(fun)
sensor.reset() # Initialize the camera sensor.
sensor.set_hmirror(True)
sensor.set_vflip(True)
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(10)
sensor.set_auto_whitebal(False)
clock = time.clock()
uart = UART(3, 9600)
# Init wlan module and connect to network
print("Trying to connect... (may take a while)...")
wlan = network.WINC()
wlan.connect(SSID, key=KEY, security=wlan.WPA_PSK)
# We should have a valid IP now via DHCP
print(wlan.ifconfig())
# Create server socket
s = usocket.socket(usocket.AF_INET, usocket.SOCK_STREAM)
# Bind and listen
s.bind([HOST, PORT])
s.listen(5)
(30, 100, -64, -8, -32, 32), # generic_green_thresholds -> index is 1 so code == (1 << 1)
(0, 15, 0, 40, -80, -20)] # generic_blue_thresholds -> index is 2 so code == (1 << 2)
"""
#*************************************For LASER Measurement Module**********************************
laser_off_on = [(0xAA,0x00,0x01,0xBE,0x00,0x01,0x00,0x00,0xC0), #sequence to turn laser OFF
(0xAA,0x00,0x01,0xBE,0x00,0x01,0x00,0x01,0xC1)] #sequence to turn laser ON
laser_meas_cmd_seq = [(0xAA,0x00,0x00,0x20,0x00,0x01,0x00,0x02,0x23), #OneShotFast mode
(0xAA,0x00,0x00,0x20,0x00,0x01,0x00,0x01,0x22), #OneShotSlow mode
(0xAA,0x00,0x00,0x20,0x00,0x01,0x00,0x00,0x21)] #OneShotAuto mode
fast_meas_cmd_seq = [0xAA,0x00,0x00,0x20,0x00,0x01,0x00,0x02,0x23] #OneShotFast mode
#fast_meas_cmd_seq = [0x30,0x31,0x32,0x33,0x34,0x35,0x36,0x37,0x38] #OneShotFast mode
threshold_index = 0;
ldmm = UART(1,19200) #Laser Distance Measurement Module UART interface
#ldmm.init(19200, bits=8, parity=None, stop=1)
ldmm_cmd_sz = 9
ldmm_result_sz = 13
dm_mode_fast = 0
dm_mode_slow = 1
dm_mode_auto = 2
dist_mm = 0
off = 0
on = 1
#***************************For controlling stepper motor functionality*****************************
pm_home_pin = pyb.Pin("P2", pyb.Pin.IN)#("P2", pyb.Pin.IN) #pan motor home position detect pin
zfm_endis_pin = pyb.Pin("P3", pyb.Pin.OUT_PP) #Zoom, Focus Motor enable/disable pin
'''
实验名称：串口通信
版本：v1.0
日期：2019.10
作者：01Studio
说明：通过编程实现串口通信，跟电脑串口助手实现数据收发。
'''
#导入串口模块
from pyb import UART
uart = UART(3, 115200) #设置串口号3和波特率,TX--Y9,RX--Y10
uart.write('Hello 01Studio!') #发送一条数据
while True:
#判断有无收到信息
if uart.any():
text = uart.read(64) #默认单次最多接收64字节
print(text) #通过REPL打印串口3接收的数据
#
# For this script to work properly you should point the camera at a line at a
# 45 or so degree angle. Please make sure that only the line is within the
# camera's field of view.
import sensor, image, pyb, math, time
from pyb import Servo
from pyb import LED
from pyb import UART
from pyb import Pin
switch_pin = Pin('P7', Pin.IN, Pin.PULL_DOWN)
uart = UART(3, 19200) # Use UART 3 (pins 4 and 5)
blue_threshold = (0, 100, -128, 127, -128, -35) # L A B
binary_threshold = (57, 255)
rois = [0,40,320,190]
TARGET_POINTS = [(70, 50), # (x, y), clockwise from top left
(285, 50),
(319, 239),
(1,239)]
cruise_speed = 1575 # how fast should the car drive, range from 1000 (full backwards) to 2000 (full forwards). 1500 is stopped. 1575 is slowest it can go
steering_direction = -1 # use this to revers the steering if your car goes in the wrong direction
# * Content: *
# *---------------------------------------------------------------------------*
# * Language: Python *
# * Compiler: *
# * Target: STM32F407 micropython 1.9.3 *
# *===========================================================================*
import pyb
import accelerometer
import filterToolkit
import time
import math
from pyb import UART
from pyb import Pin, Timer
uart = UART(2, 9600, timeout=10) # UART2 -> Rx PA3, Tx PA2
acc = accelerometer.LIS302DL()
acc.init()
rawX, rawY, rawZ = 0, 0, 0
filteredX, filteredY, filteredZ = 0, 0, 0
PI = 3.14156
ledLeft = Pin('PD12')
ledRight = Pin('PD14')
ledUp = Pin('PD13')
ledDown = Pin('PD15')
tim = Timer(4, freq=1000)
chLeft = tim.channel(1, Timer.PWM, pin=ledLeft)
import json
import ustruct
#
#white_threshold_01 = ((95, 100, -18, 3, -8, 4)); #白色阈值
red_threshold_01 = [(5, 37, 122, 34, -47, 31), (34, 54, 46, 15, 18, 57),
(20, 48, -124, -10, -45, 127), (0, 30, 0, 64, -128, 0)]
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
clock = time.clock()
uart = UART(3, 115200) #定义串口3变量
uart.init(115200, bits=8, parity=None, stop=1) # init with given parameters
def find_max(blobs): #定义寻找色块面积最大的函数
max_size = 0
for blob in blobs:
if blob.pixels() > max_size:
max_blob = blob
max_size = blob.pixels()
return max_blob
def sending_data(cx, cy):
global uart
#frame=[0x2C,18,cx%0xff,int(cx/0xff),cy%0xff,int(cy/0xff),0x5B];
#
# For additional info please consult provided documentation
############################################################
#some imports libraries etc.
import sensor, image, time # for using camera and basic image processing functions
from pyb import Pin #use hardware inputs / outputs
from pyb import UART #enables use of hardware serial (UART)
import math #use trigonometry functions
#importing lookup tables, placed inside lut_table.py script
from lut_table import lut_distance
#HARDWARE INPUTS AND OUTPUTS
uart = UART(3, 9600) #UART pin 4, 9600 baudrate
pin1 = Pin('P1', Pin.OUT_PP, Pin.PULL_NONE) #output, to laser (MOSFET)
# gain setting
GAIN_SCALE = 1
polozaj_linije_ypos = 100 #tu se zapisuje polozaj vertikalne linije, prepraviti kalibracijom
#USER changable:
low_threshold = (30, 255) #defining threshold limit for image binarisation
#enter bottle diameter in mm, default is 67 mm
bottle_diameter = 67 #bottle diameter in mm
#define min spot size (reflected laser line), optimised for 15-30 cm distance
num_pixels_threshold = 15 #minimal number of pixles detected, default is 25
num_area_threshold = 20 #minimal area covered by blob , default is 30
import sensor, image, time, pyb
from pyb import UART
from struct import pack
sensor.reset() # 初始化摄像头
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA) #320x240
sensor.set_auto_whitebal(False) #关闭白平衡
clock = time.clock() # 追踪帧率
buf_x = [0, 0, 0] # 坐标x的缓冲区
buf_y = [0, 0, 0] # 坐标y的缓冲区
frame_time = 0.01 # FPS初始化(后面会更新成真实值)
uart = UART(3, 115200) # 设定好串口号，波特率
blob_thresholds = ((85, 100, -12, 12, -12, 12)) # 白色
thresholds = [(160, 255)] # 二值化设置阈值
find_once = 0 # 搜索边框计数变量
search_rect = [5, 5, 310, 230] # 边框的x1，y1，x2，y2
def find_rect():
if (find_once < 50):
sensor.set_pixformat(sensor.GRAYSCALE) # 设置成灰度图像读取
thresh = sensor.snapshot().lens_corr(1.8) # 读取图像
thresh.binary(thresholds) # 二值化处理
u_flag = 1
d_flag = 1
l_flag = 1
r_flag = 1 # 设置4个边界的查找状态变量，若查找成功为0，否则为1
# ----------------------------------------------------
# Task 8: Get keypad commands via Bluetooth
import pyb
from pyb import Pin, Timer, UART
print('Task 8: Test keypad communication with Pyboard')
key = ('1', '2', '3', '4', 'U', 'D', 'L', 'R')
uart = UART(6)
uart.init(9600, bits=8, parity=None, stop=2)
while True:
while (uart.any() != 10): #wait we get 10 chars
n = uart.any()
command = uart.read(10)
key_index = command[2] - ord('1')
if (0 <= key_index <= 7):
key_press = key[key_index]
if command[3] == ord('1'):
action = 'pressed'
elif command[3] == ord('0'):
action = 'released'
else:
action = 'nothing pressed'
print('Key', key_press, ' ', action)
micropython.alloc_emergency_exception_buf(100)
## Bring up the LED matrix
pwmclk = Timer(1, freq=125000)
dcfurs.init(pwmclk)
dcfurs.clear()
##-----------------------------------------------
## Bluetooth Module
##-----------------------------------------------
ble_enable = Pin("BLE_EN", Pin.OUT_OD)
ble_enable.value(0)
pyb.delay(5)
ble_enable.value(1)
ble = UART(1, 115200)
## Write variables with a little delay to make up
## for the lack of flow control.
def ble_set(name, value=None):
line = "set: " + name
if value:
line += "=" + value
line += "\r\n"
for ch in line:
ble.write(ch)
pyb.delay(1)
##-----------------------------------------------
## Pushbutton Class
def __init__(self):
# Always pass UART 3 for the UART number for your OpenMV Cam.
self.uart = UART(3);
# This initializes the UART paramters: 115200 bits/second, 8 bits/byte, no parity, 1 stop.
# Wait for 80ms for data to start when reading and up to 20ms between characters before
# we timeout on reading.
self.uart.init(115200, bits=8, parity=None, stop=1, timeout_char=20, timeout=80);
# First we have to stop it from talking so we can send commands
# and understand what it says back.
# Disable output command:
self.command = bytes(b'\x5A\x05\x07\x00\x66');
self.uart.write(self.command);
self.uart.read();
#print("Disable Command: %s"%command);
#uart.write(command);
#response = uart.read();
#print("Disable Response[%d]: %s"%(len(response),response));
# Manal synchronizing with device
#
# Wait 1/4 second for it to shut up, so we can get synchronized with what it is
# sending to us.
pyb.delay(250); # Delay is in milliseconds.
# Read everything we've got in the UART buffer so far and ignore it...because
# it is just a jumble of stuff we don't know where the frames begin or end.
self.response = self.uart.read();
# Now Read Version Info: Now we know that the next response will be to this command.
self.command = bytes(b'\x5A\x04\x01\x5F');
self.uart.write(self.command);
self.uart.read();
#print("Version Command: %s"%command);
#uart.write(command);
# Read back response:
#response = uart.read();
#print("Version Response[%d]: %s"%(len(response), response));
# Set the format of data to be text (easily parsed):
# We could send another command to set the binary format and then
# we would receive packets of 9 bytes for each reading.
self.command = bytes(b'\x5A\x05\x05\x02\x66');
self.uart.write(self.command);
self.uart.read();
#print("Format Command: %s"%command);
#uart.write(command);
# Read back response:
#response = uart.read();
#print("Format Response[%d]: %s"%(len(response),response));
# Set the rate to zero so we trigger it to capture and can sync with
# other things we do in the OpenMV. It will respond when we ask so
# we can't get out of sync with it.
self.command = bytes(b'\x5A\x06\x03\x00\x00\x63');
self.uart.write(self.command);
self.uart.read();
# print("Rate Command: %s"%command);
# uart.write(command);
# response = uart.read();
# print("Rate Response[%d]: %s"%(len(response),response));
# Enable output again now that we're ready:
self.command = bytes(b'\x5A\x05\x07\x01\x67');
self.uart.write(self.command);
self.uart.read();
# Untitled - By: wmy - 周日 12月 2 2018
import sensor, image, time
from pyb import UART
warning_threshold = (75, 100, -25, 25, -25, 25)
kernel_size = 2
kernel = [
-1, -1, -1, -1, -1, -1, 1, 1, 1, -1, -1, 1, 8, 1, -1, -1, 1, 1, 1, -1, -1,
-1, -1, -1, -1
]
uart = UART(3, 9600, timeout_char=1000)
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time=1000)
clock = time.clock()
while (True):
warning = False
clock.tick()
img = sensor.snapshot()
img.morph(kernel_size, kernel)
blobs = img.find_blobs([warning_threshold])
if blobs:
for b in blobs:
img.draw_rectangle(b[0:4])
import time, sensor, image, pyb
from pyb import UART
from pyb import LED
import json
uart = UART(3, 115200)
uart.init(115200, bits=8, parity=None, stop=1) # init with given parameters
threshold = (60, 24, 36, 76, -19, 71)
blue_led = LED(1)
la_led = LED(2)
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time=2000)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False) # must be turned off for color tracking
clock = time.clock()
x = 0
y = 0
while (True):
clock.tick()
img = sensor.snapshot()
blobs = img.find_blobs([threshold],
pixels_threshold=10,
area_threshold=10,
merge=True)
la_led.on()
def init(self, bus=3, baud=9600, tout_c=10, initSend=None):
self.uart = UART(bus, baud, timeout_char=tout_c)
if (initSend):
self.sendData(initSend)
