69 lines
2.8 KiB
Python
69 lines
2.8 KiB
Python
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import sensor, lcd, time
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from machine import Timer, PWM, UART, Timer
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lcd.init(freq=15000000) # 初始化LCD
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sensor.reset() # 复位和初始化摄像头
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sensor.set_vflip(1) # 将摄像头设置成后置方式（所见即所得）
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sensor.set_pixformat(sensor.RGB565) # 设置像素格式为彩色 RGB565
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sensor.set_framesize(sensor.QVGA) # 设置帧大小为 QVGA (320x240)
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sensor.set_auto_gain(False)
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sensor.set_auto_whitebal(False)
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# sensor.set_auto_gain(0,0)
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sensor.set_brightness(-1)
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sensor.skip_frames(time = 200) # 等待设置生效
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# 阈值设置
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# thresholds = [(35, 100, 6, 127, 0, 127), # 红色阈值
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# (25, 100, -6, 127, 5, 43), # 黄色阈值
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# (87, 100, -59, 127, -10, 127)] # 绿色阈值
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# thresholds = [(33, 55, 21, 93, -28, 56, "红色"), # 红色阈值
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# (20, 100, -30, 34, 0, 45, "黄色"), # 黄色阈值
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# (52, 100, -128, -5, 5, 127, "绿色")] # 绿色阈值
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# thresholds = [(24, 61, 37, 85, 15, 90, "红色"), # 红色阈值 中午
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# (20, 100, -30, 34, 0, 45, "黄色"), # 黄色阈值
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# (52, 100, -128, -5, 5, 127, "绿色")] # 绿色阈值
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# thresholds = [(21, 57, 15, 108, 12, 126, "红色"), # 红色阈值 4：30
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# (23, 100, -28, 62, 2, 58, "黄色"), # 黄色阈值
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# (52, 100, -128, -5, 5, 127, "绿色")] # 绿色阈值
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thresholds = [(56, 99, 13, 63, -18, 37, "红色"), # 红色阈值
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(69, 100, -7, 14, 1, 46, "黄色"), # 黄色阈值
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(55, 100, -51, -16, -9, 83, "绿色")] # 绿色阈值
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def Servo(angle):
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'''
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说明：舵机控制函数
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功能：180度舵机：angle:-90至90 表示相应的角度
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360连续旋转度舵机：angle:-90至90 旋转方向和速度值。
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【duty】占空比值：0-100
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'''
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#PWM通过定时器配置，接到IO17引脚
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tim_pwm = Timer(Timer.TIMER0, Timer.CHANNEL0, mode=Timer.MODE_PWM)
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S1 = PWM(tim_pwm, freq=50, duty=0, pin=17)
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S1.duty((angle+90)/180*10+2.5)
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Servo(24)
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while True:
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img = sensor.snapshot()
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max_blobs = []
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img = img.crop((160, 0, 80, 224))
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max_blob_color = "无"
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for threshold in thresholds:
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# 查找每种颜色的色块
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blobs = img.find_blobs([threshold[:-1]], pixels_threshold=200, area_threshold=200, merge=True)
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if blobs:
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# 找到最大的色块
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max_blob = max(blobs, key=lambda b: b.pixels())
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max_blobs.append(max_blob)
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max_blob_color = threshold[-1] # 颜色标签
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# 绘制每种颜色最大色块的矩形和中心十字
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for b in max_blobs:
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img.draw_rectangle(b[0:4])
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img.draw_cross(b[5], b[6])
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print("最大颜色：", max_blob_color)
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lcd.display(img)
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