Arduino处理通信重复操作

时间：2017-01-18 19:44:27

标签： image-processing arduino processing

我已经做了一个机器人手臂。我需要它来捕捉视频并检测蓝色和红色。并将蓝色对象向左移动，将红色对象向右移动。但问题是，无论何时找到一种颜色，它都应该发送一个字符＆＃39; 1＆＃39; （蓝色）和＆＃39; 2＆＃39;红色到串口。我的问题是， 首先，它需要花费大量时间来做出反应。 2.如果检测到红色。发送＆＃39; 2＆＃39;到串口。但它重复了这一行动。即使我改变了对象 3.或者如果它检测到红色。发送＆＃39; 1＆＃39;到串口。但它重复了这一行动。即使我改变对象。

正在成功检测到颜色。 请有人帮助我。我被困了很长时间。

我的处理代码：

import processing.video.*;

import processing.serial.*;

Serial myPort;  // Create object from Serial class
String portName;
Capture video;

color trackColorgreen,trackColorblue,trackColoryellow; 
float threshold = 20;
float distThreshold = 75;

ArrayList<Blob> blobgreen = new ArrayList<Blob>();
ArrayList<Blob> blobblue = new ArrayList<Blob>();
ArrayList<Blob> blobyellow = new ArrayList<Blob>();


void findcolorgreen()
{
for (int x = 0; x < video.width; x++ ) {
    for (int y = 0; y < video.height; y++ ) {
      int loc = x + y * video.width;
      // What is current color
      color currentColor = video.pixels[loc];
      float r1 = red(currentColor);
      float g1 = green(currentColor);
      float b1 = blue(currentColor);
      float r2 = red(trackColorgreen);
      float g2 = green(trackColorgreen);
      float b2 = blue(trackColorgreen);

      float d = distSq(r1, g1, b1, r2, g2, b2); 

      if (d < threshold*threshold) {

        boolean found = false;
        for (Blob b : blobgreen) {
          if (b.isNear(x, y)) {
            b.add(x, y);
            found = true;
            break;
          }
        }

        if (!found) {
          Blob b = new Blob(x, y);
          blobgreen.add(b);
         }
      }
    }
  }

}


void findcolorblue()
{
for (int x = 0; x < video.width; x++ ) {
    for (int y = 0; y < video.height; y++ ) {
      int loc = x + y * video.width;
      // What is current color
      color currentColor = video.pixels[loc];
      float r1 = red(currentColor);
      float g1 = green(currentColor);
      float b1 = blue(currentColor);
      float r2 = red(trackColorblue);
      float g2 = green(trackColorblue);
      float b2 = blue(trackColorblue);

      float d = distSq(r1, g1, b1, r2, g2, b2); 

      if (d < threshold*threshold) {

        boolean found = false;
        for (Blob b : blobblue) {
          if (b.isNear(x, y)) {
            b.add(x, y);
            found = true;
            break;
          }
        }

        if (!found) {
          Blob b = new Blob(x, y);
          blobblue.add(b);
         }
      }
    }
  }


}

void setup() {
  size(640, 360);
  String[] cameras = Capture.list();
  printArray(cameras);
  video = new Capture(this, cameras[3]);
  video.start();
  //trackColorgreen = color(11,77,28);
  trackColorgreen = color(159,211,207);
  //trackColorblue = color( 22,135,217);
  trackColorblue = color(195,173,175);
  //trackColoryellow = color(179,136,9);
 // trackColoryellow = color(221,228,125);
   portName = Serial.list()[0]; //change the 0 to a 1 or 2 etc. to match your port
  myPort = new Serial(this, portName, 9600);

}

void captureEvent(Capture video) {
  video.read();
}



void draw() {
  video.loadPixels();
  image(video, 0, 0);

  blobgreen.clear();

  blobyellow.clear();

  blobblue.clear();

  //threshold = map(mouseX, 0, width, 0, 100);
  threshold = 80;

  // Begin loop to walk through every pixel
  findcolorgreen();
  findcolorblue();


  if(blobgreen.size()==0 && blobblue.size()==0 && blobyellow.size()==0)myPort.write('0');


  for (Blob b : blobblue) {
    if (b.size() > 800) {
      b.show();
      myPort.write('1');
      delay(2000);
      println("blue");
    }
  }


  for (Blob b : blobgreen) {
    if (b.size() > 800) {
      b.show();
      myPort.write('2');
      delay(2000);
      println("green");
    }
  }

}


float distSq(float x1, float y1, float x2, float y2) {
  float d = (x2-x1)*(x2-x1) + (y2-y1)*(y2-y1);
  return d;
}


float distSq(float x1, float y1, float z1, float x2, float y2, float z2) {
  float d = (x2-x1)*(x2-x1) + (y2-y1)*(y2-y1) +(z2-z1)*(z2-z1);
  return d;
}

void mousePressed() {
  // Save color where the mouse is clicked in trackColor variable
  int loc = mouseX + mouseY*video.width;
  color trackColor = video.pixels[loc];

}



class Blob {
  float minx;
  float miny;
  float maxx;
  float maxy;

  Blob(float x, float y) {
    minx = x;
    miny = y;
    maxx = x;
    maxy = y;
  }

  void show() {
    stroke(0);
    fill(255);
    strokeWeight(2);
    rectMode(CORNERS);
    rect(minx, miny, maxx, maxy);
  }

  void add(float x, float y) {
    minx = min(minx, x);
    miny = min(miny, y);
    maxx = max(maxx, x);
    maxy = max(maxy, y);
  }

  float size() {
    return (maxx-minx)*(maxy-miny); 
  }

  boolean isNear(float x, float y) {
    float cx = (minx + maxx) / 2;
    float cy = (miny + maxy) / 2;

    float d = distSq(cx, cy, x, y);
    if (d < distThreshold*distThreshold) {
      return true;
    } else {
      return false;
    }
  }
}

Arduino代码：

#include <Servo.h>
Servo s2,s3,s4,s5,s6;
int pos; 
char val;

void setup() {
    s2.attach(3);
  s3.attach(4);  
  s4.attach(5);
  s5.attach(6);
  s6.attach(7);

  s2.write(90);
  s3.write(10);
  s4.write(100);
  s5.write(70);
  s6.write(15);


}



void grab()
{

 for(pos=15;pos<=85;pos+=1)
  {
    s6.write(pos);
    s5.write(85-pos);

    delay(20);
  }

  delay(50);



  // moving s3 forward
  for (pos = 10; pos <= 60; pos += 1) { 
    s3.write(pos);              
    delay(20);                  
  }


  delay(50);

  // moving s4 forward
   for (pos = 100; pos >= 80; pos -= 1) {     
    s4.write(pos);              
    delay(20);                  
  }



  delay(20);



  // moving s3 forward
  for (pos = 60; pos <= 70; pos += 1) { 
    s3.write(pos);              
    delay(20);                  
  }







  for(pos=85;pos>=15;pos-=1)
  {
    s6.write(pos);
    int x=-(pos-85);
    s5.write(x);
    delay(20);
  }
  s5.write(80);

  delay(20);





  //s3 initial

  // moving s3 forward
  for (pos = 70; pos >= 10; pos -= 1) { 
    s3.write(pos);              
    delay(20);                  
  }
  delay(20);

  // moving s4 forward
  for (pos = 80; pos <= 100; pos += 1) { 
    s4.write(pos);              
    delay(20);                  
  }

  delay(20);

}


void move_left()
{



  for (pos = 90; pos <= 180; pos += 1) { 

    s2.write(pos);
    delay(20);                      
  }

  delay(20);




  // moving s3 forward
  for (pos = 10; pos <= 60; pos += 1) { 
    s3.write(pos);              
    delay(20);                  
  }


  delay(20);

  // moving s4 forward
   for (pos = 100; pos >= 70; pos -= 1) { 

    s4.write(pos);              
    delay(20);                  
  }



delay(50);

  // moving s3 forward
  for (pos = 60; pos <= 70; pos += 1) { 
    s3.write(pos);              
    delay(20);                  
  }



  //expanding claw

  for(pos=15;pos<=85;pos+=1)
  {
    s6.write(pos);
    s5.write(85-pos);

    delay(20);
  }

  delay(20);


// moving s4 up
   for (pos = 70; pos <=110; pos += 1) { 

    s4.write(pos);              
    delay(20);                  
  }

delay(20);


  //s3 initial

  // moving s3 forward
  for (pos = 70; pos >= 10; pos -= 1) { 
    s3.write(pos);              
    delay(20);                  
  }
delay(20);

  // moving s4 forward
  for (pos = 110; pos >= 100; pos -= 1) { 
    s4.write(pos);              
    delay(20);                  
  }
delay(20);


  //For servo 1 rotation


  for (pos = 180; pos >= 90; pos -= 1) { 

    s2.write(pos);
    delay(20);                      
  }

delay(20);



  for(pos=85;pos>=15;pos-=1)
  {
    s6.write(pos);
    int x=-(pos-85);
    s5.write(x);
    delay(20);
  }
  s5.write(80);

  delay(20);


}


void move_right()
{


  for (pos = 90; pos >= 0; pos -= 1) { 

    s2.write(pos);
    delay(50);                      
  }

  delay(50);





  delay(50);

  // moving s3 forward
  for (pos = 10; pos <= 60; pos += 1) { 
    s3.write(pos);              
    delay(50);                  
  }


  delay(50);

  // moving s4 forward
   for (pos = 100; pos >= 70; pos -= 1) { 

    s4.write(pos);              
    delay(50);                  
  }



delay(50);

  // moving s3 forward
  for (pos = 60; pos <= 70; pos += 1) { 
    s3.write(pos);              
    delay(50);                  
  }



  //expanding claw

  for(pos=15;pos<=85;pos+=1)
  {
    s6.write(pos);
    s5.write(85-pos);

    delay(20);
  }

  delay(50);


// moving s4 up
   for (pos = 70; pos <=110; pos += 1) { 

    s4.write(pos);              
    delay(50);                  
  }

delay(50);
  // s3.write(10);
   //delay(500);
  //s4.write(100);


  //s3 initial

  // moving s3 forward
  for (pos = 70; pos >= 10; pos -= 1) { 
    s3.write(pos);              
    delay(50);                  
  }
delay(50);

  // moving s4 forward
  for (pos = 110; pos >= 100; pos -= 1) { 
    s4.write(pos);              
    delay(50);                  
  }
delay(50);


  //For servo 1 rotation



  for (pos = 0; pos <= 90; pos += 1) { 

    s2.write(pos);
    delay(50);                      
  }

  delay(50);

  for(pos=85;pos>=15;pos-=1)
  {
    s6.write(pos);
    int x=-(pos-85);
    s5.write(x);
    delay(20);
  }
  s5.write(80);

  delay(50);
}

void loop() {
 if (Serial.available()) 
   { 
     val = Serial.read(); // read it and store it in val

     if(val=='1')
     {
         grab();
         delay(200);
         move_left();
         delay(200);
     }


     else if(val=='2')
     {
         grab();
         delay(200);
         move_right();
         delay(200);

     }
   }
}

我的机器人：

https://drive.google.com/open?id=0B9JjLX3LHgUSSU40U3YzOU1LYXc

0 个答案:

没有答案
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