import?sensor?image?time?math
from?pyb?import?UART
import?json
import?ustruct


#white_threshold_01?=?（（95?100?-18?3?-8?4））;??#白色閾值
red_threshold_01?=?（（35?100?41?77?24?59））;
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（）

uart?=?UART（3115200）???#定義串口3變量
uart.init（115200?bits=8?parity=None?stop=1）?#?init?with?given?parameters

def?find_max（blobs）:????#定義尋找色塊面積最大的函數(shù)
????max_size=0
????for?blob?in?blobs:
????????if?blob.pixels（）?>?max_size:
????????????max_blob=blob
????????????max_size?=?blob.pixels（）
????return?max_blob

def?sending_data（cxcy）:
????global?uart;
????#frame=[0x2C18cx%0xffint（cx/0xff）cy%0xffint（cy/0xff）0x5B];
????#data?=?bytearray（frame）
????data?=?ustruct.pack（“???????????????????0x2C???????????????????????#幀頭1
???????????????????0x12???????????????????????#幀頭2
???????????????????int（cx）?#?up?sample?by?4????#數(shù)據(jù)1
???????????????????int（cy）?#?up?sample?by?4????#數(shù)據(jù)2
???????????????????0x5B）
????uart.write（data）;???#必須要傳入一個(gè)字節(jié)數(shù)組

def?recive_data（）:
????global?uart
????if?uart.any（）:
????????tmp_data?=?uart.readline（）;
????????print（tmp_data）


#mainloop
while（True）:
????clock.tick（）?#?Track?elapsed?milliseconds?between?snapshots（）.
????img?=?sensor.snapshot（）?#?Take?a?picture?and?return?the?image.
????#??pixels_threshold=100?area_threshold=100
????blobs?=?img.find_blobs（[red_threshold_01]?area_threshold=150）;
????cx=0;cy=0;
????if?blobs:
????????#如果找到了目標(biāo)顏色
????????max_b?=?find_max（blobs）;
????????#?Draw?a?rect?around?the?blob.
????????img.draw_rectangle（max_b[0:4]）?#?rect
????????#用矩形標(biāo)記出目標(biāo)顏色區(qū)域
????????img.draw_cross（max_b[5]?max_b[6]）?#?cx?cy
????????img.draw_cross（160?120）?#?在中心點(diǎn)畫標(biāo)記
????????#在目標(biāo)顏色區(qū)域的中心畫十字形標(biāo)記
????????cx=max_b[5];
????????cy=max_b[6];
????????img.draw_line（（160120cxcy）?color=（127））;
????????#img.draw_string（160120?“（%d?%d）“%（160120）?color=（127））;
????????img.draw_string（cx?cy?“（%d?%d）“%（cxcy）?color=（127））;

????sending_data（cxcy）;?#發(fā)送點(diǎn)位坐標(biāo)
????recive_data（）;
????#time.sleep（1000）

#pack各字母對(duì)應(yīng)類型
#x???pad?byte????????no?value????????????1
#c???char????????????string?of?length?1??1
#b???signed?char?????integer?????????????1
#B???unsigned?char???integer?????????????1
#????_Bool???????????bool????????????????1
#h???short???????????integer?????????????2
#H???unsigned?short??integer?????????????2
#i???int?????????????integer?????????????4
#I???unsigned?int????integer?or?long?????4
#l???long????????????integer?????????????4
#L???unsigned?long???long????????????????4
#q???long?long???????long????????????????8
#Q???unsilong?long???long????????????????8
#f???float???????????float???????????????4
#d???double??????????float?????????????

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????文件????????3352??2019-04-21?20:45??串口與STM32通訊.py
?????目錄???????????0??2019-08-06?12:34??可見光定位\
?????目錄???????????0??2019-08-06?12:34??可見光定位\HARDWARE\
?????文件????????3382??2012-09-04?11:32??可見光定位\HARDWARE\i2c.c
?????文件?????????316??2019-03-21?14:16??可見光定位\HARDWARE\i2c.h
?????文件???????16921??2019-04-21?20:14??可見光定位\HARDWARE\system.c
?????文件????????1520??2019-08-06?13:26??可見光定位\HARDWARE\system.h
?????目錄???????????0??2019-08-06?12:34??可見光定位\Inc\
?????文件???????24057??2012-06-06?21:27??可見光定位\Inc\fonts.H
?????文件????????6166??2012-06-06?21:27??可見光定位\Inc\lcd.h
?????文件????????3288??2012-06-06?13:27??可見光定位\Inc\stm32f10x_conf.h
?????文件????????1989??2012-06-06?13:27??可見光定位\Inc\stm32f10x_it.h
?????目錄???????????0??2019-08-06?12:34??可見光定位\Libraries\
?????目錄???????????0??2019-08-06?12:34??可見光定位\Libraries\CMSIS\
?????目錄???????????0??2019-08-06?12:34??可見光定位\Libraries\CMSIS\CM3\
?????目錄???????????0??2019-08-06?12:34??可見光定位\Libraries\CMSIS\CM3\CoreSupport\
?????文件???????17273??2012-06-06?13:27??可見光定位\Libraries\CMSIS\CM3\CoreSupport\core_cm3.c
?????文件???????85714??2019-03-23?18:54??可見光定位\Libraries\CMSIS\CM3\CoreSupport\core_cm3.h
?????目錄???????????0??2019-08-06?12:34??可見光定位\Libraries\CMSIS\CM3\DeviceSupport\
?????目錄???????????0??2019-08-06?12:34??可見光定位\Libraries\CMSIS\CM3\DeviceSupport\ST\
?????目錄???????????0??2019-08-06?12:34??可見光定位\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\
?????文件???????26297??2012-06-06?13:27??可見光定位\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\Release_Notes.html
?????目錄???????????0??2019-08-06?12:34??可見光定位\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\
?????目錄???????????0??2019-08-06?12:34??可見光定位\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\
?????文件???????15766??2012-06-06?13:27??可見光定位\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_cl.s
?????文件???????15503??2012-06-06?13:27??可見光定位\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_hd.s
?????文件???????15692??2012-06-06?13:27??可見光定位\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_hd_vl.s
?????文件???????12376??2012-06-06?13:27??可見光定位\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_ld.s
?????文件???????13656??2012-06-06?13:27??可見光定位\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_ld_vl.s
?????文件???????12765??2012-06-06?13:27??可見光定位\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_md.s
?????文件???????14073??2012-06-06?13:27??可見光定位\Libraries\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_md_vl.s
............此處省略240個(gè)文件信息