基于arduino的5路循迹小车（5）与OpenMV的串口通信进行图像识别_arduino用openmv循迹代码

基于arduino的5路循迹小车（5）与OpenMV的串口通信
进行图像识别，开发板控制舵机抓取物料
接第一篇链接 https://blog.csdn.net/weixin_45984029/article/details/103437347

1.硬件选用

OpenMV

2.接线

开发板与OpenMV的TX，RX交叉相连，VCC,GND对应相连

3.代码

arduino代码

#include <LobotServoController.h>

LobotServoController myse;

String comdata = "";

String data[4];//三个物块记录

String adata = ""; //大小控制
String bdata = "";
String cdata = "";

String aa="ZJGXDS01a";//大圆1
String ba="ZJGXDS02a";//大三角2
String ca="ZJGXDS03a";//大方3
String da="ZJGXDS04a";//大六边4
String ea="ZJGXDS05a";//大N5
String fa="ZJGXDS06a";//大星6

String ab="ZJGXDS01";//小圆7
String bb="ZJGXDS02";//小三角8
String cb="ZJGXDS03";//小方9
String db="ZJGXDS04";//小六边10
String eb="ZJGXDS05";//小N11
String fb="ZJGXDS06";//小星12

/**
* @par Copyright (C): 2010-2019, Shenzhen Yahboom Tech
* @file         tracking.c
* @author       Danny
* @version      V1.0
* @date         2017.07.26
* @brief        巡线实验
* @details
* @par History  见如下说明
*
*/
unsigned long time1;            //计时 

int Left_motor_go1 = 24;        //左电机前进 AIN1
int Left_motor_back1 = 25;      //左电机后退 AIN2

int Right_motor_go1 = 22;       //右电机前进 BIN1
int Right_motor_back1 = 23;     //右电机后退 BIN2

int Left_motor_pwm1 = 3;       //左电机控速 PWMA
int Right_motor_pwm1= 5;      //右电机控速 PWMB
int Left_motor_pwm2 = 4;       //左电机控速 PWMA
int Right_motor_pwm2= 6;    

int echoPin   = 32; //超声波
int trigPin   = 33;
unsigned int S;

int i;
int a;

int b;//物块记录

int e;
int f;
int s;

int G1 = 26;
int G2 = 27;
int G3 = 28;
int G4 = 29;
int G5 = 30;

//循迹红外引脚定义
//TrackSensorLeftPin1 TrackSensorLeftPin2 TrackSensorMid TrackSensorRightPin1 TrackSensorRightPin2 
//      A1                   A2                  A3                   A4                A5
const int TrackSensorLeftPin1  =  A1;  //定义第一个循迹红外传感器引脚为A1
const int TrackSensorLeftPin2  =  A2;  //定义第二个循迹红外传感器引脚为A2
const int TrackSensorMid = A3;       //定义第三个循迹红外传感器引脚为A3
const int TrackSensorRightPin1 =  A4;  //定义第四个循迹红外传感器引脚为A4
const int TrackSensorRightPin2 =  A5;  //定义第五个循迹红外传感器引脚为A5

// TrackSensorRightPin3 进行计数
//        A6              
const int TrackSensorRightPin3 =  A6;  //右主计数 

//定义各个循迹红外引脚采集的数据的变量
int SLL;
int SL;
int SM;
int SR;
int SRR;

//定义计数变量
int JS2;

/**
* Function       setup
* @author        Danny
* @date          2017.07.25
* @brief         初始化配置
* @param[in]     void
* @retval        void
* @par History   无
*/
void setup()
{
   
  Serial.begin(9600);//超声波
  Serial1.begin(9600);
  Serial3.begin(9600);
  pinMode(13,OUTPUT);
  
  digitalWrite(13,LOW);
  while(!Serial1);
  digitalWrite(13,HIGH);

  
  pinMode(trigPin, OUTPUT);
  pinMode(echoPin, INPUT);
  //初始化电机驱动IO口为输出方式
  pinMode(Left_motor_go1, OUTPUT);
  pinMode(Left_motor_back1, OUTPUT);
  pinMode(Right_motor_go1, OUTPUT);
  pinMode(Right_motor_back1, OUTPUT);

  //初始化语音输出
  pinMode(G1, OUTPUT);
  pinMode(G2, OUTPUT);
  pinMode(G3, OUTPUT);
  pinMode(G4, OUTPUT);
  pinMode(G5, OUTPUT);

  digitalWrite(G1, HIGH);
  digitalWrite(G2, HIGH);
  digitalWrite(G3, HIGH);
  digitalWrite(G4, HIGH);
  digitalWrite(G5, HIGH);

  //定义四路循迹红外传感器为输入接口
  pinMode(TrackSensorLeftPin1, INPUT);
  pinMode(TrackSensorLeftPin2, INPUT);
  pinMode(TrackSensorMid,INPUT);
  pinMode(TrackSensorRightPin1, INPUT);
  pinMode(TrackSensorRightPin2, INPUT);

  //定义计数传感器输入接口
  pinMode(TrackSensorRightPin3, INPUT);
  
  //四路循迹红外传感器初始化为高电平
  digitalWrite(TrackSensorLeftPin1, HIGH);
  digitalWrite(TrackSensorLeftPin2, HIGH);
  digitalWrite(TrackSensorMid,HIGH);
  digitalWrite(TrackSensorRightPin1, HIGH);
  digitalWrite(TrackSensorRightPin2, HIGH);
  
  digitalWrite(TrackSensorRightPin3, HIGH);

  digitalWrite(G1, LOW);
  delay(1500);//预热
  run(50,43);//起步
  delay(1000);
  myse.runActionGroup(102,1);//初始化舵机

  i = 0;
  e = 1;
  f = 1;
}



/**
* Function       run
* @author        Danny
* @date          2017.07.26
* @brief         小车前进
* @param[in1]    left_speed:左轮速度
* @param[in2]    right_speed:右轮速度
* @param[out]    void
* @retval        void
* @par History   无
*/
void run(int left_speed, int right_speed)
{
   
  //左电机前进
  digitalWrite(Left_motor_go1, LOW);   //左电机前进使能
  digitalWrite(Left_motor_back1, HIGH);  //左电机后退禁止
  analogWrite(Left_motor_pwm1, LOW);
  analogWrite(Left_motor_pwm2, left_speed);
  //右电机前进
  digitalWrite(Right_motor_go1, LOW);  //右电机前进使能
  digitalWrite(Right_motor_back1, HIGH); //右电机后退禁止
  analogWrite(Right_motor_pwm1, LOW);
  analogWrite(Right_motor_pwm2, right_speed);
}

/**
* Function       brake
* @author        Danny
* @date          2017.07.25
* @brief         小车刹车
* @param[in]     time:延时时间
* @param[out]    void
* @retval        void
* @par History   无
*/


void  left(int left_speed, int right_speed)
{
   
  //左电机停止
  digitalWrite(Left_motor_go1, HIGH);    //左电机前进禁止
  digitalWrite(Left_motor_back1,LOW);  //左电机后退禁止
  analogWrite(Left_motor_pwm2, left_speed);
  analogWrite(Left_motor_pwm1,LOW);

  //右电机前进
  digitalWrite(Right_motor_go1, LOW);  //右电机前进使能
  digitalWrite(Right_motor_back1, HIGH); //右电机后退禁止
  analogWrite(Right_motor_pwm2, LOW);
  analogWrite(Right_motor_pwm1, right_speed);
}


void right(int left_speed, int right_speed)
{
   
  //左电机前进
  digitalWrite(Left_motor_go1, LOW);   //左电机前进使能
  digitalWrite(Left_motor_back1, HIGH)
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