2023电赛E题代码
openmv：
import sensor, image, time
from pyb import LED, UART
#import lcd
import json, ustruct
class Elecdesign(object):
def __init__(self):
sensor.reset()
# 图像翻转
# sensor.set_vflip(True)
# sensor.set_hmirror(True)
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA) # 320x240
#sensor.set_windowing((480, 480))
sensor.skip_frames(time=900)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
# 获取三种颜色的灯
self.red_led = LED(1)
self.green_led = LED(2)
self.blue_led = LED(3)
#self.red_threshold = (92, 0, -56, 34, -36, 76)
self.red_threshold = (100, 0, -84, 17, -59, 94)
#self.green_threshold = (100, 0, -39, 40, -67, 127)
self.green_threshold = (100, 0, 93, -12, -54, 71)
self.uart_middle = UART(3, 19200)
#self.uart_middle.init(115200, bits=8, parity=None, stop=1)
#self.uart_green = UART(1, 115200)
# 误差消除
self.square_detlax = 2
self.square_detlay = 2
#
self.real_roi = (70, 48, 126, 143) # 320 240
self.left_corner = (70, 48) # 左上角点
self.left_down_corner = 0 # 左下角
self.right_corner = (196, 191) # 右下角点
self.right_up_corner = 0 # 右上角
self.w = 0
self.h = 0
self.middle_dot = 0 # 中心点
# 关灯
def close_rgb(self):
self.red_led.off()
self.green_led.off()
self.blue_led.off()
# 开白灯
def while_rgb(self):
self.close_rgb()
self.red_led.on()
self.green_led.on()
self.blue_led.on()
# 开红灯
def red_rgb(self):
self.close_rgb()
self.red_led.on()
# 开绿灯
def green_rgb(self):
self.close_rgb()
self.green_led.on()
# 开蓝灯
def blue_rgb(self):
self.close_rgb()
self.blue_led.on()
# 与arduino通信
def chat_arduino(self, string):
self.uart_middle.write(json.dumps(string))
print("已发送：", string)
# 接受消息
def recv_arduino(self):
recv = self.uart_middle.read()
if recv:
return recv
else:
return None
# 返回指定色块相对于图像中的坐标（中心点）
def dot_identify(self, thresholds, img):
most_pixels = 0
max_x = 0
if img:
#blob0 = img.find_blobs([thresholds], pixels_threshold=2, area_threshold=2, merge=True, invert=True)
blob0 = img.find_blobs([thresholds],x_stride=1, y_stride=1, area_threshold=0, pixels_threshold=0,merge=False, margin=1, invert=True)
if blob0:
for n in range(len(blob0)):
if blob0[n].pixels() > most_pixels:
most_pixels = blob0[n].pixels()
max_x = n
img.draw_rectangle(blob0[max_x].x(), blob0[max_x].y(), blob0[max_x].w(), blob0[max_x].h(),
color=(0, 0, 255), thickness=1, fill=False)
img.draw_cross(blob0[max_x].x() + int(blob0[max_x].w() / 2), blob0[max_x].y() + int(
blob0[max_x].h() / 2), color=(0, 0, 255), size=1, thickness=1)
return blob0[max_x].x() + int(blob0[max_x].w() / 2), \
blob0[max_x].y() + int(blob0[max_x].h() / 2)
else:
return 0
else:
return 0
def change_mode_dot(self):
sensor.reset()
sensor.set_auto_gain(False)
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA) # 320x240
sensor.skip_frames(n=10)
sensor.set_auto_exposure(False, 1000)#在这里调节曝光度，调节完可以比较清晰地看清激光点
sensor.set_auto_whitebal(False) # turn this off.
sensor.set_auto_gain(False) # 关闭增益（色块识别时必须要关）
def change_mode_square(self):
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
#sensor.set_framesize(sensor.QQVGA) # 240x160
sensor.set_framesize(sensor.QVGA) # 320x240
sensor.skip_frames(n=10)
sensor.set_auto_whitebal(False)
sensor.set_auto_gain(False)
def find_max_square(self, blobs):
max_size=0
for blob in blobs:
if blob[2]*blob[3] > max_size:
max_blob=blob
max_size = blob[2]*blob[3]
return max_blob
def square_type_change(self, data):
string = ""
for j in data:
string = string + str(j)
return "{"+string+"}"
# 找方块
def square_identify(self, img):
blobs = img.find_rects(roi=self.real_roi, threshold = 30000)
if blobs:
r = self.find_max_square(blobs)
else:
return 0
img.draw_rectangle(r.rect(), color = (255, 0, 0))
#print(r.corners())
dot1 = (r.corners()[0][0]+self.square_detlax, r.corners()[0][1]-self.square_detlay)
dot2 = (r.corners()[1][0]-self.square_detlax, r.corners()[1][1]-self.square_detlay)
dot3 = (r.corners()[2][0]-self.square_detlax, r.corners()[2][1]+self.square_detlay)
dot4 = (r.corners()[3][0]+self.square_detlax, r.corners()[3][1]+self.square_detlay)
corners = (dot1, dot4, dot3, dot2)
for p in corners:
img.draw_circle(p[0], p[1], 1, color = (0, 255, 0))
#print(self.square_type_change(corners))
#return self.square_type_change(corners)
#print(corners)
return corners
# 像素点到具体坐标转换（中间为原点）
def change_dot_type(self, dot):
if dot == 0:
return 0
x, y = dot
x0, y0 = self.left_corner
xt, yt = self.right_corner
return int((((x-x0)*0.5)/(xt-x0)-0.25)*1000), int((-((y-y0)*0.5)/(yt-y0)+0.25)*1000)
# 左上角到右下角点推roi
def count_roi(self):
if self.left_corner and self.right_corner:
self.real_roi = (self.left_corner[0], self.left_corner[1],\
self.right_corner[0]-self.left_corner[0], self.right_corner[1]-self.left_corner[1])
return True
else:
return False
# 初始化幕布大小
#def init_background(self):
#type_dot = 0 # 1 左上 2 右下
#while 1:
#while 1:
#data = self.recv_arduino()
#if data == "left":
#type_dot = 1
#break
#elif data == "right":
#type_dot = 2
#break
#elif data == "EOF":
#return
#sensor.skip_frames(n=10)
#img = sensor.snapshot()
#if type_dot == 1:
#self.left_corner = self.dot_identify(self.red_threshold, img)
#elif type_dot == 2:
#self.right_corner = self.dot_identify(self.red_threshold, img)
def run_dot(self):
self.change_mode_dot()
while 1:
img = sensor.snapshot()
print(self.dot_identify(self.red_threshold, img))
def run_square(self):
self.change_mode_square()
while 1:
img = sensor.snapshot().lens_corr(strength = 1.8, zoom = 1.0)
self.square_identify(img)
#lcd.display(img)
def run_chat(self):
while 1:
data = self.recv_arduino()
if data:
data = data.decode("utf-8")
time.sleep(1)
# 计算其他两个点
def find_two_dot(self):
self.left_down_corner = (self.right_corner[0], self.left_corner[1])
self.right_up_corner = (self.left_corner[0], self.right_corner[1])
self.middle_dot = (int((self.left_corner[0] + self.right_corner[0])/2), \
int((self.left_corner[1] + self.right_corner[1])/2))
self.h = self.right_corner[1] - self.left_corner[1]
self.w = self.right_corner[0] - self.left_corner[0]
self.count_roi()
# 初始化
def first_init(self):
#self.change_mode_dot()
while 1:
data = self.recv_arduino()
sensor.snapshot()
if data:
data = data.decode("utf-8")
print("接受消息：", data)
if data=="O":
break
while 1:
img = sensor.snapshot()
dot = self.dot_identify(self.red_threshold, img)
if dot:
print("dot1", dot)
self.left_corner = dot
break
while 1:
data = self.recv_arduino()
sensor.snapshot()
if data:
data = data.decode("utf-8")
print("接受消息：", data)
if data=="O":
break
while 1:
img = sensor.snapshot()
dot = self.dot_identify(self.red_threshold, img)
if dot:
print("dot2", dot)
self.right_corner = dot
break
self.find_two_dot()
print("初始化成功，四个点为：", self.left_corner, self.right_up_corner, self.right_corner, self.left_down_corner)
self.green_rgb()
time.sleep(1)
self.close_rgb()
# 发送边框
def send_four_dot(self):
dot_real_set = []
while 1:
img = sensor.snapshot().lens_corr(strength = 1.8, zoom = 1.0)
dot_set = self.square_identify(img)
if dot_set:
for dot in dot_set:
dot_real_set.append(self.change_dot_type(dot))
#return self.square_type_change(tuple(dot_real_set))
dot_real_set = self.square_type_change(tuple(dot_real_set))
self.uart_middle.write(str(dot_real_set))
print("已发送：", str(dot_real_set))
self.green_rgb()
time.sleep(1)
self.close_rgb()
break
# 发送单点
def send_one_dot(self):
while 1:
sensor.snapshot()
data = self.recv_arduino()
#print(data)
if data:
data = data.decode("utf-8")
print(data)
if data == "D":
return
if data == "O":
img = sensor.snapshot()
dot = self.dot_identify(self.red_threshold, img)
print(dot)
self.uart_middle.write("{"+str(self.change_dot_type(dot))+"}")
#print(str(self.change_dot_type(dot)))
def main_run(self):
while 1:
order = self.recv_arduino()
sensor.snapshot()
if order:
print(order)
order = order.decode("utf-8")
print("接受消息：", order)
if order=="A":
#self.recv_arduino()
self.red_rgb()
self.change_mode_dot()
self.first_init()
elif order=="B":
self.blue_rgb()
self.change_mode_square()
self.send_four_dot()
elif order=="C":
self.change_mode_dot()
self.send_one_dot()
def test_run1(self):
strr = "{(-379, 3)(290, 38)(258, 430)(-411, 409)}"
#self.change_mode_square()
while 1:
a = self.send_four_dot()
#order = self.recv_arduino()
#if order:
#self.uart_middle.write(strr)
#print("已发送：", strr)
def print_dot(self):
#new_list = []
f = open("text.txt", "w")
self.change_mode_dot()
while 1:
order = self.recv_arduino()
sensor.snapshot()
if order:
order = order.decode("utf-8")
if order == "O":
img = sensor.snapshot()
dot = self.dot_identify(self.red_threshold, img)
print(dot)
f.write(str(dot)+"\n")
#f.flush()
elif order == "E":
f.close()
break
if __name__ == '__main__':
recognition = Elecdesign()
#recognition.run_dot()
#recognition.run_square()
recognition.main_run()
#recognition.test_run1()
#recognition.print_dot()
arduino（主控）:
#include <LobotServoController.h>
#include <SoftwareSerial.h> // 引用BT函数库
#include <math.h>
#include <U8g2lib.h>
#include <OneButton.h>
#define KEY_FUNCTION 7 // 功能键
#define KEY_STOP 5 // 急停按键
#define light_ring 13
OneButton button_7(KEY_FUNCTION, false);
OneButton button_5(KEY_STOP, false);
U8G2_SSD1306_128X64_NONAME_1_SW_I2C u8g2(U8G2_R0, /* clock=*/ SCL, /* data=*/ SDA, /* reset=*/ U8X8_PIN_NONE);
LobotServoController myse;
SoftwareSerial BT(8, 9); // 接收脚，传送脚
LobotServo servos[2];
uint8_t type=1; // 模式 1 reset 2 绕边框移动 3 寻黑边
int stop_sign=0;
int positionxxx;
int id1=1;
int id2=2;
int init_positionx = 1500;
int init_positiony = 1515;
int edge_positionx;
int edge_positiony;
int positionx1;
int positiony1;
int time=100;
int i;
double xangle;//横轴角度
double yangle;//纵轴角度
double x;//横轴坐标
double y;//纵轴坐标
double deltax=0.01;//横轴偏移
double deltay=0;
//double deltay=(7*PI)/250;//纵轴调整
//double deltay=56/(PI*2000);
// double deltay=56/2000*PI;
double r=0.06;//舵机长度，舵机选择半径
double psi;//计算角度
double k_x=4000/(3*PI);//横轴为270°舵机
double k_y=2000/PI; //纵轴为180°舵机
double result1;
double result2;
// 创建接受结构体
typedef struct
{
int data[4][2] = {{0,0}};
int len = 0;
}List;
typedef struct
{
int data[1][2] = {{0,0}};
}Dot;
typedef struct
{
int target_val; //目标值
int actual_val; //实际值
float err; //定义当前偏差值
float err_next; //定义下一个偏差值
float err_inter;
float err_last; //定义最后一个偏差值
float Kp, Ki, Kd; //定义比例、积分、微分系数
}_pid;
_pid turnx;
_pid turny;
String detectString();
int chuanhan(float x, float y, float r);
Dot recv_one_dot();
List recv_four_dot();
void alert();
void stop_alert();
void click_7();
void longclick_7();
void click_6();
void click_5();
void surround();
void surround_black();
void UI_show_flash();
void UI_show_reset();
void UI_show_stop();
void UI_show_rect();
void UI_show_edge();
void UI_show_error();
void setup() {
Serial.begin(9600); //舵机控制板控制串口
//Serial.println("BT is ready!");
BT.begin(19200); //openmv串口
u8g2.begin(); // 启动u8g2 128×64
u8g2.setFont(u8g2_font_callite24_tr);
servos[0].ID=id1;
servos[1].ID=id2;
pinMode(light_ring, OUTPUT); // 声光提示
button_7.reset();//清除一下按钮状态机的状态
button_7.attachClick(click_7); // 单击
button_7.attachLongPressStart(longclick_7); // 长按
button_5.reset();
button_5.attachClick(click_5);
}
void turn_param_init(void)
{
turnx.target_val=0;
turnx.actual_val=0.0;
turnx.err = 0.0;
turnx.err_last = 0.0;
turnx.err_inter = 0.0;
turnx.Kp = 1.0;
turnx.Ki = 0.1;
// turn.Kd = 1;
}
void turn_param_initY(void)
{
turny.target_val=0;
turny.actual_val=0.0;
turny.err = 0.0;
turny.err_last = 0.0;
turny.err_next = 0.0;
turny.Kp = 2;
turny.Ki = 0.1;
// turn.Kd = 1;
}
float turn_pid_realizeX(float actual_val)
{
/*计算目标值与实际值的误差*/
turnx.err = -turnx.target_val + actual_val;
Serial.print("err:");
Serial.println(turnx.err);
if(turnx.err<10 && turnx.err>-10)
{
turnx.target_val=0;
turnx.actual_val=0.0;
turnx.err = 0.0;
turnx.err_last = 0.0;
turnx.err_inter = 0.0;
// goto EXIT;
}
/*PID算法实现*/
// turnx.actual_val = turnx.actual_val+ (0*(turnx.err - turnx.err_next) + 1*turnx.err);
// + turn.Kd*(turn.err - 2 * turn.err_next + turn.err_last);
else{
turnx.actual_val += 0.3*(turnx.err) + 0.2*turnx.err_inter;
// + turn.Kd*(turn.err - 2 * turn.err_next + turn.err_last);
// /*传递误差*/
// turn.err_last = turn.err_next;
turnx.err_inter += turnx.err;
Serial.print("actual_val:");
Serial.println(turnx.err_inter);
Serial.println(turnx.actual_val);}
// turn.err_last = turn.err_next;
// turnx.err_next = turnx.err;
/*返回当前实际值*/
return turnx.actual_val;
}
float turn_pid_realizeY(float actual_val)
{
/*计算目标值与实际值的误差*/
turny.err = turny.target_val-actual_val;
/*PID算法实现*/
turny.actual_val += turny.Kp*(turny.err - turny.err_next) + turny.Ki*turny.err;
// + turn.Kd*(turn.err - 2 * turn.err_next + turn.err_last);
/*传递误差*/
// turn.err_last = turn.err_next;
turny.err_next = turny.err;
/*返回当前实际值*/
return turny.actual_val;
}
String detectString() // 判断传入的字符串能否被接收
{
// 我们传入的数据形式 you send: {(90, 101)}
while(BT.read() != '{');
//返回"{}"中的字符串
return(BT.readStringUntil('}'));
}
double x_chuanhan(double x)
{
// x=-x;
// xangle=atan(x);
// result1=k_x*xangle+1500;
// return result1;
psi=atan(1/(deltax+x));
if(x>0){xangle=acos(deltax/(sqrt(1+sq(deltax+x))))-psi;}
if(x<0){xangle=PI-(acos(deltax/(sqrt(1+sq(deltax+x))))-psi);}
if(x<0){result1=-x*x+k_x*xangle+1500;}
if(x>0){result1=-x*x-k_x*xangle+1500;}
return result1;
// result1=-428.68*x+1499;
// return result1;
}
double y_chuanhan(double x, double y)
{
if (r+y>0){
psi=atan(sqrt(1+sq(x))/(r+y));
yangle=acos(r/(sqrt(1+sq(x)+sq(r+y))))-psi-deltay;
result2=k_y*(0.850882)*yangle+1515;}
else if (r+y<0){
psi=atan(sqrt(1+sq(x))/(r+y));
yangle=acos(-(r/(sqrt(1+sq(x)+sq(r+y)))))+psi+deltay;
result2=-k_y*yangle+1515;}
else if (r+y==0){
yangle=asin(-r);
result2=k_y*yangle+1515;}
return result2;
// result2=-192*sq(y)-572*y+1515;
// return result2;
}
Dot recv_one_dot(){
Dot dot;
// BT.print("1");
// Serial.println("123");
while(1){
if(BT.available()) break;
}
// Serial.println("321");
String s = detectString();
// Serial.println(s);
String numStr = "";
for(int i = 0; i<s.length(); i++)
{
if(s[i]=='(')
{
numStr = "";
}
else if(s[i] == ',')
{
dot.data[0][0] = numStr.toInt();
numStr = ""; // 清空numstr，方便接受','后的另一组数据
}
else if(s[i]==')') // 读到结尾
{
dot.data[0][1] = numStr.toInt();
numStr = "";
}
else // 读到数据
{
numStr += s[i];
}
}
return dot; // 拿到一个数据点 有放大1000倍
}
List recv_four_dot(){
List four_dot;
while(1){
if(BT.available()) break;
}
delay(500); // 等待数据发完
String s = detectString();
Serial.println(s);
String numStr = "";
for(int i = 0; i<s.length(); i++)
{
if(s[i]=='(')
{
numStr = "";
}
else if(s[i] == ',')
{
four_dot.data[four_dot.len][0] = numStr.toInt();
numStr = ""; // 清空numstr，方便接受','后的另一组数据
}
else if(s[i]==')') // 读到结尾
{
four_dot.data[four_dot.len][1] = numStr.toInt();
numStr = "";
four_dot.len++;
}
else // 读到数据
{
numStr += s[i];
}
}
// Serial.println(four_dot.data[0][0]);
// Serial.println(four_dot.data[0][1]);
// Serial.println(four_dot.data[1][0]);
// Serial.println(four_dot.data[1][1]);
// Serial.println(four_dot.data[2][0]);
// Serial.println(four_dot.data[2][1]);
// Serial.println(four_dot.data[3][0]);
// Serial.println(four_dot.data[3][1]);
return four_dot; // 四个点，按顺序读取即可
}
void alert(){
digitalWrite(light_ring, HIGH);
}
void stop_alert(){
digitalWrite(light_ring, LOW);
}
void UI_show_flash(){
char m_str[1];
strcpy(m_str, u8x8_u8toa(type, 1));
u8g2.firstPage();
do {
u8g2.drawStr(0, 40,"Mode:");
u8g2.drawStr(70, 40, m_str);//在指定位置显示字符串
} while ( u8g2.nextPage() );
}
void UI_show_reset(){
u8g2.firstPage();
do {
u8g2.drawStr(0, 40,"reset!");
} while ( u8g2.nextPage() );
}
void UI_show_stop(){
u8g2.firstPage();
do {
u8g2.drawStr(0, 40,"stop!");
} while ( u8g2.nextPage());
}
void UI_show_edge(){
u8g2.firstPage();
do {
u8g2.drawStr(0, 40,"Edge!");
} while ( u8g2.nextPage());
}
void UI_show_rect(){
u8g2.firstPage();
do {
u8g2.drawStr(0, 40,"Rect!");
} while ( u8g2.nextPage());
}
void UI_show_rect_1(){
u8g2.firstPage();
do {
u8g2.drawStr(0, 40,"Rect_1!");
} while ( u8g2.nextPage());
}
void UI_show_error(){
u8g2.firstPage();
do {
u8g2.drawStr(0, 40,"error!");
} while ( u8g2.nextPage());
}
void click_7(){
Serial.println("click");
type++;
if(type>5){
type=1;
}
UI_show_flash();
}
void longclick_7(){
// Serial.println("long_click");
if(type==1){ // reset
UI_show_reset();
click_6();
}else if(type==2){
UI_show_edge(); // 绕边框移动
surround();
}else if(type==3){
UI_show_rect_1();
rect_1();
}else if(type==4){
UI_show_rect(); // 绕黑边移动
surround_black();
}else if(type==5){
// PID_turn();
tick();
}
else{
UI_show_error();
}
}
void tick(){
for(int i=0;i<=215;i+=2)
{
servos[0].Position=1605-i;
for(int j=0;j<=286;j+=2)
{
servos[1].Position=1646-j;
myse.moveServos(servos,2,100);
delay(110);
BT.print("O");
delay(200);
}
}
BT.print("E");
}
// void PID_turn(){
// while(1)
// {
// if (turn.err>4 || turn.err<-4)
// {
// BT.print("O");
// dot=recv_one_dot();
// turn.actual_val=dot.data[0];
// positionx=turn_pid_realize()+500;
// servos[0].Position=positionx;
// myse.moveServos(servos,2,200);
// }
// else
// {
// break;
// }
// }
// }
void PID_turn(Dot dot){
//actual_val=dot.data[0][0];
// if (turnx.err>4 || turnx.err<-4)
// {
// BT.print("O");
// dot=recv_one_dot();
// positionx=turn_pid_realize()+500;
positionxxx=turn_pid_realizeX(dot.data[0][0])+1500;
if(turnx.err!=0.0)
{servos[0].Position=positionxxx;
Serial.println("123");
Serial.println(servos[0].Position);}
// myse.moveServos(servos,2,200);
// }
}
// 复位函数
void click_6(){
// Serial.println("reset!");
myse.moveServo(id1,init_positionx,50);
myse.moveServo(id2,init_positiony,50);
UI_show_reset();
delay(1000);
}
// 具体写死的移动函数
void surround(){
BT.print("A");
delay(1000);
// 左上
servos[0].Position=1605;
servos[1].Position=1646;
myse.moveServos(servos,2,200);
delay(220);
delay(1000);
BT.print("O"); // 告诉openmv快看
delay(1000);
// 右上
servos[0].Position=1390;
servos[1].Position=1646;
myse.moveServos(servos,2,200);
delay(220);
delay(1000);
// 右下
servos[0].Position=1390;
servos[1].Position=1360;
myse.moveServos(servos,2,200);
delay(220);
delay(1000);
BT.print("O"); // 告诉openmv快看
delay(1000);
// 左下
servos[0].Position=1605;
servos[1].Position=1360;
myse.moveServos(servos,2,200);
delay(220);
delay(1000);
// 左上
servos[0].Position=1605;
servos[1].Position=1646;
myse.moveServos(servos,2,200);
delay(220);
delay(1000);
// 回中
servos[0].Position=init_positionx;
servos[1].Position=init_positiony;
myse.moveServos(servos,2,200);
delay(220);
UI_show_flash();
return;
}
void rect_1(){
delay(1000);
// 左上
servos[0].Position=1604;
servos[1].Position=1643;
myse.moveServos(servos,2,200);
delay(220);
delay(2000);
// 右上
servos[0].Position=1486;
servos[1].Position=1644;
myse.moveServos(servos,2,500);
delay(520);
delay(2000);
// 右下
servos[0].Position=1486;
servos[1].Position=1537;
myse.moveServos(servos,2,200);
delay(220);
delay(2000);
// 左下
servos[0].Position=1604;
servos[1].Position=1536;
myse.moveServos(servos,2,200);
delay(220);
delay(2000);
// 左上
servos[0].Position=1602;
servos[1].Position=1639;
myse.moveServos(servos,2,200);
delay(220);
delay(2000);
// 归中
servos[0].Position=init_positionx;
servos[1].Position=init_positiony;
myse.moveServos(servos,2,200);
delay(220);
}
void surround_black(){
BT.print("B");
delay(1000);
List dot_list = recv_four_dot();
dot_list.len = 0;
// BT.print("C");
// delay(1000);
for(dot_list.len; dot_list.len<=3; dot_list.len++){
// EXIT:
// Serial.println(dot_list.data[dot_list.len][0]);
// Serial.println(dot_list.data[dot_list.len][1]);
// Serial.println(double(dot_list.data[dot_list.len][0]/1000.0), 3);
// Serial.println(double(dot_list.data[dot_list.len][1]/1000.0), 3);
servos[0].Position=x_chuanhan(double(dot_list.data[dot_list.len][0])/1000.00000);
servos[1].Position=y_chuanhan(double(dot_list.data[dot_list.len][0])/1000.00000, double(dot_list.data[dot_list.len][1])/1000.00000);
myse.moveServos(servos,2,200);
delay(220);
delay(1000);
// turnx.target_val = dot_list.data[dot_list.len][0];
// Serial.println("qweqwe");
// Serial.println(turnx.target_val);
// while(1){
// // delay(1000);
// BT.print("O");
// Dot dot = recv_one_dot();
// Serial.println("321");
// Serial.println(dot.data[0][0]);
// PID_turn(dot);
// if(turnx.err<10 && turnx.err>-10)
// {
// turnx.err=0;
// break;
// }
// myse.moveServos(servos,2,200);
// delay(220);
// delay(1000);
// }
}
servos[0].Position=x_chuanhan(double(dot_list.data[0][0])/1000.00000);
servos[1].Position=y_chuanhan(double(dot_list.data[0][0])/1000.00000, double(dot_list.data[0][1])/1000.00000);
myse.moveServos(servos,2,200);
delay(220);
delay(1000);
// BT.print("D");
}
void click_5(){
stop_sign=1;
}
void loop(){
button_7.tick();
}
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