79 lines
2.1 KiB
Python
79 lines
2.1 KiB
Python
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# color tracking with conic mirror - By: EmaMaker - wed 15 jan 2020
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# Based on:
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# color tracking - By: paolix - ven mag 18 2018
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# Automatic RGB565 Color Tracking Example
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#
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import sensor, image, time, pyb, math
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from pyb import UART
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uart = UART(3,19200, timeout_char = 1000)
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START_BYTE = chr(105) #'i'
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END_BYTE = chr(115) #'s'
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BYTE_UNKNOWN = chr(116) #'t'
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y_found = False
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b_found = False
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#From Arduino Documentation at: https://www.arduino.cc/reference/en/language/functions/math/map/
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def val_map(x, in_min, in_max, out_min, out_max):
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x = int(x)
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in_min = int(in_min)
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in_max = int(in_max)
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out_min = int(out_min)
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out_max = int(out_max)
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return int((x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min)
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# LED Setup ##################################################################
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red_led = pyb.LED(1)
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green_led = pyb.LED(2)
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blue_led = pyb.LED(3)
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red_led.off()
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green_led.off()
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blue_led.on()
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##############################################################################
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thresholds = [ (71, 100, -24, 12, 57, 99), # thresholds yellow goal
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(38, 55, -33, -1, 0, 26)] # thresholds blue goal (6, 31, -15, 4, -35, 0)
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roi = (0, 6, 318, 152)
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# Camera Setup ###############################################################
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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.skip_frames(time = 2000)
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sensor.set_auto_gain(False) # must be turned off for color tracking
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sensor.set_auto_whitebal(False) # must be turned off for color tracking
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sensor.set_auto_exposure(False, 10000) vbc
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#sensor.set_backlight(1)
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#sensor.set_brightness(+2)
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#sensor.set_windowing(roi)
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clock = time.clock()'''
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sensor.reset()
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sensor.set_pixformat(sensor.RGB565)
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sensor.set_framesize(sensor.QQVGA)
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sensor.set_contrast(3)
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sensor.set_saturation(3)
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sensor.set_brightness(0)
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sensor.set_quality(0)
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sensor.set_auto_whitebal(False)
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sensor.set_auto_exposure(False, 5500)
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sensor.set_auto_gain(True)
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sensor.skip_frames(time = 300)
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clock = time.clock()
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##############################################################################
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while(True):
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clock.tick()
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uart.write(42)
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