import sensor, image, time
from pid import PID
from pyb import Servo
from pyb import UART
uartCP = UART(1, 115200)#用于电脑与OPenmv数据传输
uartAH = UART(3, 115200)#用于机械臂与openmv数据传输
#pan_servo=Servo(1)
#tilt_servo=Servo(2)
yellow_threshold = (42, 100, -33, 34, 23, 87)
#pan_pid = PID(p=0.07, i=0, imax=90) #脱机运行或者禁用图像传输,使用这个PID
#tilt_pid = PID(p=0.05, i=0, imax=90) #脱机运行或者禁用图像传输,使用这个PID
pan_pid = PID(p=0.1, i=0, imax=90)#在线调试使用这个PID
tilt_pid = PID(p=0.1, i=0, imax=90)#在线调试使用这个PID
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)
sensor.set_auto_whitebal(False) # turn this off.
clock = time.clock() # Tracks FPS.
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
z=1500
K=600
while(True):
clock.tick() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot() # Take a picture and return the image.
img.lens_corr(1.8) #矫正视图
blobs = img.find_blobs([yellow_threshold])
if blobs:
max_blob = find_max(blobs)
pan_error = max_blob.cx()-img.width()/2 # 什么意思
tilt_error = max_blob.cy()-img.height()/2 #??????
# print("pan_error: ", pan_error)
# print("tilt_error: ", tilt_error)
img.draw_rectangle(max_blob.rect()) # rect
img.draw_cross(max_blob.cx(), max_blob.cy()) # cx, cy
# if len(max_blob) == 1:
# Draw a rect around the blob.
b = max_blob#blobs[0]
# img.draw_rectangle(b[0:4]) # rect
# img.draw_cross(b[5], b[6]) # cx, cy
Lm = (b[2]+b[3])/2
length = K/Lm
q=int(length)
l=str(q)#字符转换
l=str(0) #可修改高度值
# print(length) #输出长度
pan_output=pan_pid.get_pid(pan_error,1)/2 #增益值(由pid得出的值)
tilt_output=tilt_pid.get_pid(tilt_error,1)
#print(pan_output,tilt_output,length) #输出长度
# print("pan_output",pan_output)
# print("tilt_output",tilt_output)
x=float(pan_output)
y=x #PID的值放大 倍
z=int(y)
z=str(z)
a=float(tilt_output)
b=a #PID的值放大2倍
c=int(b)
d=str(c)
time.sleep(1000)
print(z,d,l)
uartCP.write(z+' '+d+' '+l+'\r\n'+'\0')
if uartCP.any(): #串口通信接收
a=uartCP.readline().decode().strip().split(',') #以逗号隔开,暂时不用空格
#print((a[0]))
n=float(a[0])
m=-20*n+1500
print(m)
#m=-11.11*n+1500
duoji1=str(m)
#print(duoji1)
duoji2=str(a[1])
duoji3=str(a[2])
duoji4=str(a[3])
duoji5=str(a[4])
duoji6=str(a[5])
time.sleep(1000)
#print(duoji6)
uartAH.write("#1P"+duoji1+"#2P1500#3P1500#4P1500#5P1500#6P1500T1000\r\n")
#uartAH.write("#1P"+duoji1+"#2P"+duoji2+"#3P"+duoji3+"#4P"+duoji4+"#5P"+duoji5+"#6P"+duoji6+"T1000\r\n")
#time.sleep(1000)
#time.sleep(1000)
#time.sleep(1000)
#time.sleep(1000)
#time.sleep(1000)
#time.sleep(1000)
#time.sleep(1000)