45 lines
1.2 KiB
Python
45 lines
1.2 KiB
Python
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# -*- coding:utf-8 -*-
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# @Author len
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# @Create 2023/12/4 19:25
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import sensor
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import image
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import lcd
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import time
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from machine import Timer, PWM, UART, Timer
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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(-75)
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THRESHOLD = (5, 70, -23, 15, -57, 0)
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clock = time.clock()
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lcd.init()
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sensor.reset()
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sensor.set_pixformat(sensor.RGB565)
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sensor.set_framesize(sensor.QVGA)
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#sensor.set_vflip(1) #开启图像反转
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sensor.set_vflip(0) #关闭图像反转
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sensor.run(1)
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sensor.skip_frames(30)
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min_degree = 0
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max_degree = 179
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while True:
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clock.tick()
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img = sensor.snapshot()
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for l in img.find_lines(threshold = 2000, theta_margin = 25, rho_margin = 25):
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if (min_degree <= l.theta()) and (l.theta() <= max_degree):
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img.draw_line(l.line(), color = (255, 0, 0))
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lcd.display(img)
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