Hi there,
currently I’m working on a robotics project where I want to detect colored Blocks and send the angle of the block to my Teensy. The Angle is also always changing. But on Arduino are no values which I can read out he just tells me there’s nothing. I also already checked the cabeling. But I’m quite new in phyton so it could also be a programming issue.
Thanks for help, Theo.
Here’s my code in OpenMV IDE:
# This work is licensed under the MIT license.
# Copyright (c) 2013-2023 OpenMV LLC. All rights reserved.
# https://github.com/openmv/openmv/blob/master/LICENSE
#
# Multi Color Blob Tracking Example
#
# This example shows off multi color blob tracking using the OpenMV Cam.
import sensor
import time
import math
import time
from pyb import UART
# Color Tracking Thresholds (L Min, L Max, A Min, A Max, B Min, B Max)
# The below thresholds track in general red/green things. You may wish to tune them...
thresholds = [
(50, 60, 10, 127, 21, 85), # generic_red_thresholds
] # generic_blue_thresholds
# You may pass up to 16 thresholds above. However, it's not really possible to segment any
# scene with 16 thresholds before color thresholds start to overlap heavily.
uart = UART(3, 19200)
sensor.reset()
sensor.set_vflip(True)
sensor.set_hmirror(True)
sensor.set_transpose(False)
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()
# Only blobs that with more pixels than "pixel_threshold" and more area than "area_threshold" are
# returned by "find_blobs" below. Change "pixels_threshold" and "area_threshold" if you change the
# camera resolution. Don't set "merge=True" because that will merge blobs which we don't want here.
data = 6
while True:
clock.tick()
img = sensor.snapshot()
for blob in img.find_blobs(thresholds, pixels_threshold=200, area_threshold=200):
# These values depend on the blob not being circular - otherwise they will be shaky.
if blob.elongation() > 0.5:
img.draw_edges(blob.min_corners(), color=(255, 0, 0))
img.draw_line(blob.major_axis_line(), color=(0, 255, 0))
img.draw_line(blob.minor_axis_line(), color=(0, 0, 255))
# These values are stable all the time.
img.draw_rectangle(blob.rect())
#img.draw_cross(blob.cx(), blob.cy())
# Note - the blob rotation is unique to 0-180 only.
img.draw_keypoints(
[(blob.cx(), blob.cy(), int(math.degrees(blob.rotation())))], size=20
)
XStandort = 240;
YStandort = 0;
XTor = blob.cx()
YTor = blob.cy()
XEnde = XTor - XStandort
YEnde = YTor - YStandort
TorRichtung = (((math.atan2(XEnde, YEnde)) * 180) / math.pi) + 50
# UART 3, and baudrate.
uart.write(str(TorRichtung))
time.sleep(1)
And here’s my Arduino code running on my Teensy 4.1:
char Tor;
void setup() {
Serial.println("Starting ");
Serial.begin(115200);
Serial5.begin(19200);
}
void loop() {
if(Serial5.available()){
Tor = Serial5.read();
}
else{
Tor = 1;
}
Serial.println(Tor);
}