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, math

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 = [(63, 100, 6, 69, -41, 42)] # generic_blue_thresholds


uart = 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=0
    for blob in blobs:
        if blob.pixels() > max_size:
            max_blob = blob
            max_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 = 1
        if blob.cx()>=160 and blob.cx() <= x_max and\
            blob.cy() >=120 and blob.cy() <= y_max :
                flag = 2
        if blob.cx()>= x_min and blob.cx() <= 160 and \
            blob.cy() >= y_min and blob.cy() <= 120 :
                flag = 3
        if blob.cx()>= 160 and blob.cx() <= x_max and \
            blob.cy() >= y_min and blob.cy() <= 120 :
                flag = 4
        if blob.cx()>= x_1 and blob.cx() <= x_2 and\
            blob.cy() >= y_1 and blob.cy() <=y_2 :
                flag = 5
        output_str="%d" %flag #方式1
        print('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
**************************************************/