openMV實現(xiàn)舵機定位色塊STM32

ID:956485 · 發(fā)表于 2021-7-26 11:13

實驗?zāi)康?/font>：本實驗實現(xiàn)使用openMV檢測前方色塊，并傳回色塊的坐標位置給STM32，控制舵機轉(zhuǎn)動來跟蹤色塊。

openMV部分

import sensor, image, time
from pyb import UART
import json
red_threshold = (46, 80, 19, -5, 38, 103)
sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.RGB565) # use RGB565.
sensor.set_framesize(sensor.QQVGA) # use QQVGA for speed.
sensor.skip_frames(10) # Let new settings take affeOpenMV_Xct.
sensor.set_auto_whitebal(False) # turn this off.
clock = time.clock() # Tracks FPS.
uart = UART(3, 115200)
uart.init(115200, bits=8, parity=None, stop=1) #8位數(shù)據(jù)位，無校驗位，1位停止位
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
def sending_data(cx_max,cy_max):
global uart;
data = ustruct.pack("<bbbb", #格式為倆個字符倆個短整型(2字節(jié))
0xff,
0xfe,
int(cx_max),
int(cy_max));
#數(shù)據(jù)1
# up sample by 4#數(shù)據(jù)2LCD_ShowStringLCD_ShowString
uart.write(data); #必須要傳入一個字節(jié)數(shù)組
while(True):
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot() # Take a picture and return the image.
blobs = img.find_blobs([red_threshold])
if blobs:
max_blob = find_max(blobs)
img.draw_cross(max_blob.cx(),max_blob.cy())
img.draw_circle(max_blob.cx(),max_blob.cy(),max_blob.cx()-max_blob.x(), color = (255, 255, 255))
X =int(max_blob.cx()-img.width()/2)
Y =int(max_blob.cy()-img.height()/2)
# FH = bytearray([0xb3,0xb3])
# uart.write(FH) #打印幀頭
data = bytearray([0xb3,0xb3,X,Y,0x5b])
uart.write(data) #打印XY軸的偏移坐標
print("X軸偏移坐標 : ",X)
print("Y軸偏移坐標 : ",Y)
print("幀率 : ",clock.fps())
sending_data(blob.X,blob.Y)

復(fù)制代碼

代碼介紹：此部分為openMV追蹤色塊（黃色）并且傳回色塊的橫坐標位置給STM32C8T6t，同時也可以用串口打印出來色塊距離中心坐標位置偏移值。
如圖所示

如果要利用串口顯示的話可以用一根杜杜邦線接openMV的P4和USB轉(zhuǎn)TTL的RXD接收端即可。

STM32部分

串口接收終端代碼

void USART1_IRQHandler(void) //串口1中斷服務(wù)程序
{
u8 com_data;
#if SYSTEM_SUPPORT_OS //如果SYSTEM_SUPPORT_OS為真，則需要支持OS.
OSIntEnter();
#endif
if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) //接收中斷(接收到的數(shù)據(jù)必須是0x0d 0x0a結(jié)尾)
{
USART_ClearFlag(USART1,USART_FLAG_RXNE);
com_data = USART1->DR;
Openmv_Receive_Data(com_data); //openmv數(shù)據(jù)處理函數(shù)
Openmv_Data(); //openmv數(shù)據(jù)處理函數(shù)
}
#if SYSTEM_SUPPORT_OS //如果SYSTEM_SUPPORT_OS為真，則需要支持OS.
OSIntExit();
#endif
}