import sensor, image,time,lcd, math
from pyb import UART,Timer,LED
threshold_index = 0 # 0 for red, 1 for green, 2 for blue
thresholds1 = [(65, 94, -63, -29, -14, 27)] # 黑色閾值
thresholds = [(8, 66, 21, 79, 3, 62), # 紅色
(30, 100, -64, -8, -32, 32), #
(96, 100, -15, -3, -14, 43)] #
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)
clock = time.clock()
data = []
uart = UART(3,115200,8,None,1) #創建串口對象
while(True):
img = sensor.snapshot() #保持一張照片
for blob1 in img.find_blobs(thresholds1,roi= [0,0,318,145], pixels_threshold=300, area_threshold=200):
b=blob1.x()-150
d=blob1.x()+70
e=blob1.y()+50
print(d)
print(e) #通過坐標得到一塊識別區域
if(uart.any()): #判斷是否有串口信息過來
data = uart.read(8) #讀8位數據
if((data[0] == 0x55)&(data[1] == 0x02)&(data[7] == 0xBB)):
print("4")
if(data[2] == 0x92 and data[3] == 0x01 ): #紅綠燈
for blob in img.find_blobs(thresholds,roi= [0,0,d,e], pixels_threshold=300, area_threshold=200):
print( blob.code())
if blob.code()==1 or blob.code()==4: #因為紅色與黃色總是識別成一樣的所以用坐標判斷
print("5")
if blob.x()<b: #紅色
uart.writechar(0x55)
uart.writechar(0x02)
uart.writechar(0x92)
uart.writechar(0x01)
uart.writechar(0x01)
uart.writechar(0x01)
uart.writechar(0x00)
uart.writechar(0xBB)
print("紅色")
if blob.x()>b: #黃色
# qr_Tab = code.payload()
uart.writechar(0x55)
uart.writechar(0x02)
uart.writechar(0x92)
uart.writechar(0x01)
uart.writechar(0x01)
uart.writechar(0x03)
uart.writechar(0x00)
uart.writechar(0xBB)
print("黃色")
if blob.code()!=1 or blob.code()!=4:#綠色
# qr_Tab = code.payload()
uart.writechar(0x55)
uart.writechar(0x02)
uart.writechar(0x92)
uart.writechar(0x01)
uart.writechar(0x01)
uart.writechar(0x02)
uart.writechar(0x00)
uart.writechar(0xBB)
print("綠色")
if(data[2] == 0x92 and data[3] == 0x02 ): #二維碼
print("二維碼")
for code in img.find_qrcodes(): #這是一個二維碼功能函數 uart.writechar是串口發送數據的
time.sleep(100)
qr_Tab = code.payload()
uart.writechar(0x55)
uart.writechar(0x02)
uart.writechar(0x89)
uart.writechar(0x01)
uart.writechar(len(qr_Tab))
for qrdata in qr_Tab:
uart.writechar(ord(qrdata))
uart.writechar(0xBB)
print("6")
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