STM32 tracking based on open MV

be based on open mv collocation stm32 Trace

One . Code

THRESHOLD = (0, 43, 20, -8, -37, 14) # Grayscale threshold for dark things...
import sensor, image, time
from pyb import LED
import car
from pid import PID
from pyb import UART
from pyb import Pin
rho_pid = PID(p=0.4, i=0)
theta_pid = PID(p=0.001, i=0)

sensor.reset()
sensor.set_vflip(True)
sensor.set_hmirror(True)
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQQVGA) # 80x60 (4,800 pixels) - O(N^2) max = 2,3040,000.
#sensor.set_windowing([0,20,80,40])
sensor.skip_frames(time = 2000)     # WARNING: If you use QQVGA it may take seconds
clock = time.clock()                # to process a frame sometimes.
uart = UART(3, 115200)

while(True):

    clock.tick()
    img = sensor.snapshot().binary([THRESHOLD])
    line = img.get_regression([(100,100)], robust = True)# Two valued 
    if (line):
        rho_err = abs(line.rho())-img.width()/2
        if line.theta()>90:
            theta_err = line.theta()-180
        else:
            theta_err = line.theta()
        img.draw_line(line.line(), color = 127)
        #print(rho_err,line.magnitude(),rho_err)
        if line.magnitude()>8:   # The larger the value, the better the linear regression effect 
            #if -40<b_err<40 and -30<t_err<30:
            rho_output = rho_pid.get_pid(rho_err,1)
            theta_output = theta_pid.get_pid(theta_err,1)
            output = rho_output+theta_output
            if rho_err > -3 and rho_err < 3:
                uart.write("1")
                p_out = Pin('P0', Pin.OUT_PP)
                p_out.high()
                p_out = Pin('P1', Pin.OUT_PP)
                p_out.low()# Set up p_out The pin is low 
                p_out = Pin('P2', Pin.OUT_PP)
                p_out.low()# Set up p_out The pin is low 
                print('0')
            elif rho_err <= -3:
                p_out = Pin('P1', Pin.OUT_PP)# Set up p_out Is the output pin 
                p_out.high()# Set up p_out Pin is high 
                p_out = Pin('P0', Pin.OUT_PP)
                p_out.low()# Set up p_out The pin is low 
                p_out = Pin('P2', Pin.OUT_PP)
                p_out.low()# Set up p_out The pin is low 
                uart.write("2")
                print('1')
            elif rho_err >= 3:
                uart.write("3")
                p_out = Pin('P2', Pin.OUT_PP)# Set up p_out Is the output pin 
                p_out.high()# Set up p_out Pin is high 
                p_out = Pin('P1', Pin.OUT_PP)
                p_out.low()# Set up p_out The pin is low 
                p_out = Pin('P0', Pin.OUT_PP)
                p_out.low()# Set up p_out The pin is low 
                print('2')

    #print(clock.fps())

Here is the routine of using star pupil , Add your own thoughts , Because I just learned OPEN MV So use this simple idea . here OPEN MV Equivalent to tracking module .

Two . thought
Here I mainly use rho_err This function , In the star pupil routine, a line will be drawn in the middle of the tracked object , and rho_err Is the error that the line follows for , It's less than... To the left 0, It's bigger than 0,rho_err >= Some number , A certain number is the offset , A certain number can be adjusted to make the route more accurate . Then on IO Set high and low levels at the port .32 Read io Adjust the route according to the level .

If you have any questions, you can leave a message below .