OPENMV驱动云台实现颜色追踪

前言

本篇文章旨在记录我电赛期间学习OPENMV对颜色识别，以及通过串口通信的方式将坐标数据传给单片机，从而驱动舵机云台进行颜色追踪。

一、OPENMV色块识别追踪代码

# Single Color RGB565 Blob Tracking Example
#
# This example shows off single color RGB565 tracking using the OpenMV Cam.
from pyb import UART#开启串口
import sensor, image, time, maththreshold_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 = [(63, 100, 6, 69, -41, 42)] # generic_blue_thresholdsuart = UART(3, 9600)
x_max = 320
x_min = 0
x_1 = 155 #中心区域左边界
x_2 = 163 #中心区域右边界y_max = 240
y_min = 0
y_1 = 115 #中心区域上边界
y_2 = 123 #中心区域下边界
flag = 0#位置信息标志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()def find_max(blobs):    #定义寻找色块面积最+大的函数max_size=0for blob in blobs:if blob.pixels() > max_size:max_blob = blobmax_size = blob.pixels()return max_blob
# Only blobs that with more pixels than "pixel_threshold" and more area than "area_threshold" are
# returned by "find_blobs" below. Change "pixels_threshold" and "area_threshold" if you change the
# camera resolution. "merge=True" merges all overlapping blobs in the image.while(True):clock.tick()img = sensor.snapshot()for blob in img.find_blobs([thresholds[threshold_index]], area_threshold=50, pixels_threshold=300, area_threshold=200, merge=True):# These values depend on the blob not being circular - otherwise they will be shaky.if blob.elongation() > 0.5:img.draw_edges(blob.min_corners(), color=(255,0,0))img.draw_line(blob.major_axis_line(), color=(0,255,0))img.draw_line(blob.minor_axis_line(), color=(0,0,255))# These values are stable all the time.img.draw_rectangle(blob.rect())img.draw_cross(blob.cx(), blob.cy())#坐标数据# Note - the blob rotation is unique to 0-180 only.img.draw_keypoints([(blob.cx(), blob.cy(), int(math.degrees(blob.rotation())))], size=20)if blob.cx()>= x_min  and blob.cx() <= 160 and\blob.cy() >= 120 and blob.cy() <= y_max :flag = 1if blob.cx()>=160 and blob.cx() <= x_max and\blob.cy() >=120 and blob.cy() <= y_max :flag = 2if blob.cx()>= x_min and blob.cx() <= 160 and \blob.cy() >= y_min and blob.cy() <= 120 :flag = 3if blob.cx()>= 160 and blob.cx() <= x_max and \blob.cy() >= y_min and blob.cy() <= 120 :flag = 4if blob.cx()>= x_1 and blob.cx() <= x_2 and\blob.cy() >= y_1 and blob.cy() <=y_2 :flag = 5output_str="%d" %flag #方式1print('you send:',output_str)#time.sleep(0.02)uart.write('@'+output_str+'\r\n')

二、单片机驱动舵机云台进行颜色追踪

1、openmv与单片机通信

#include "stm32f10x.h"                  // Device header
#include <stdio.h>
#include <stdarg.h>
char Serial_RxPacket;				//"@MSG\r\n"
uint8_t Serial_RxFlag;void Serial_Init(void)
{RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);GPIO_InitTypeDef GPIO_InitStructure;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOA, &GPIO_InitStructure);GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;GPIO_InitStructure.GPIO_Pin = GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;GPIO_Init(GPIOA, &GPIO_InitStructure);USART_InitTypeDef USART_InitStructure;USART_InitStructure.USART_BaudRate = 9600;USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;USART_InitStructure.USART_Parity = USART_Parity_No;USART_InitStructure.USART_StopBits = USART_StopBits_1;USART_InitStructure.USART_WordLength = USART_WordLength_8b;USART_Init(USART1, &USART_InitStructure);USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);NVIC_InitTypeDef NVIC_InitStructure;NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;NVIC_Init(&NVIC_InitStructure);USART_Cmd(USART1, ENABLE);
}void Serial_SendByte(uint8_t Byte)
{USART_SendData(USART1, Byte);while (USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET);
}void Serial_SendArray(uint8_t *Array, uint16_t Length)
{uint16_t i;for (i = 0; i < Length; i ++){Serial_SendByte(Array[i]);}
}void Serial_SendString(char *String)
{uint8_t i;for (i = 0; String[i] != '\0'; i ++){Serial_SendByte(String[i]);}
}uint32_t Serial_Pow(uint32_t X, uint32_t Y)
{uint32_t Result = 1;while (Y --){Result *= X;}return Result;
}void Serial_SendNumber(uint32_t Number, uint8_t Length)
{uint8_t i;for (i = 0; i < Length; i ++){Serial_SendByte(Number / Serial_Pow(10, Length - i - 1) % 10 + '0');}
}int fputc(int ch, FILE *f)
{Serial_SendByte(ch);return ch;
}void Serial_Printf(char *format, ...)
{char String[100];va_list arg;va_start(arg, format);vsprintf(String, format, arg);va_end(arg);Serial_SendString(String);
}//文本数据包处理格式
void USART1_IRQHandler(void)
{static uint8_t RxState = 0;static uint8_t pRxPacket = 0;if (USART_GetITStatus(USART1, USART_IT_RXNE) == SET){uint8_t RxData = USART_ReceiveData(USART1);if (RxState == 0){if (RxData == '@' && Serial_RxFlag == 0){RxState = 1;pRxPacket = 0;}}else if (RxState == 1){if (RxData == '\r'){RxState = 2;}else{
//				strncpy(&Serial_RxPacket[pRxPacket],RxData,1);Serial_RxPacket = RxData;
//				pRxPacket ++;}}else if (RxState == 2){if (RxData == '\n'){RxState = 0;
//				Serial_RxPacket[pRxPacket] = '\0';Serial_RxFlag = 1;}}USART_ClearITPendingBit(USART1, USART_IT_RXNE);}
}

2、云台舵机驱动

#include "stm32f10x.h"               
#include "PWM.h"
#include "delay.h"void Servo_Init(void)
{PWM_Init();
}void Servo_SetAngle(float AngleX,float AngleY)
{PWM_SetCompare1( AngleX / 180 * 2000 + 500);PWM_SetCompare2(AngleY / 180 * 2000 + 500);
}void Servo_SetAngle1(float Angle)
{PWM_SetCompare1(Angle / 180 * 2000 + 500);}
void Servo_SetAngle2(float Angle)
{PWM_SetCompare2(Angle / 180 * 2000 + 500);}
void Servo_SetAngle3(float Angle)
{PWM_SetCompare3(Angle / 180 * 2000 + 500);}
void Servo_SetAngle4(float Angle)
{PWM_SetCompare4(Angle / 180 * 2000 + 500);}/*************************************************
如果想让舵机转不同的角度修改不同的数值即可
**************************************************/