64 lines
1.8 KiB
Python
64 lines
1.8 KiB
Python
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import math
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import sensor, image, time, lcd
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import binascii
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from Maix import GPIO
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from machine import Timer, PWM, UART, Timer
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from fpioa_manager import fm
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import KPU as kpu
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lcd.init() # lcd初始化
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# 映射串口引脚
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fm.register(6, fm.fpioa.UART1_RX, force=True)
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fm.register(7, fm.fpioa.UART1_TX, force=True)
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# 初始化串口
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uart = UART(UART.UART1, 115200, read_buf_len=4096)
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# 初始化摄像头阈值
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def canera_init():
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# 摄像头模块初始化
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sensor.reset() # 复位和初始化摄像头
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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_pixformat(sensor.GRAYSCALE) # 设置像素格式为灰色
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sensor.set_framesize(sensor.QVGA) # 设置帧大小为QVGA（320×240）
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sensor.set_vflip(1) # 后置模式
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sensor.skip_frames(30) # # 跳过前30帧
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canera_init()
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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(0)
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res_QR = []
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timeflag = 0
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while (timeflag < 30):
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# for i in range(9):
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img = sensor.snapshot() # 获取图像
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lcd.display(img) # 在LCD显示
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TS_QR = img.find_qrcodes() # 再次寻找二维码
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for qr in TS_QR:
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if all(qr.payload() != existing_qr.payload() for existing_qr in res_QR):
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res_QR.append(qr)
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timeflag+=1
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time.sleep(0.001)
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print(timeflag)
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print(len(res_QR))
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for res in res_QR:
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result = res.payload()
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print(result)
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