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标题: CodeMaster第2次任务--用语音报数实现 [打印本页]

作者: 总督 时间: 2019-9-28
标题: CodeMaster第2次任务--用语音报数实现
本帖最后由总督于 2019-9-28 23:57 编辑

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2.\u5177\u4f53\u662f\u901a\u8fc7\u6811\u8393\u6d3e3b+\u7684BCM\u6a21\u5f0f\u7684\u7b2c20\/21\/23\/24\/25\u53f7GPIO\u53e3\u8fde\u63a5pwm1-5\uff0c\u6bcf\u79d2\u68c0\u6d4b\u4e00\u6b21\u5404\u7aef\u53e3\u7684\u7535\u5e73\u72b6\u6001\u3002\u7a0b\u5e8f\u5982\u4e0b\uff1a","imgsrc":"static\/image\/text.jpg"},{"nameindex":"_1_3","type":1,"url":"","desc":"\uff081)\u6811\u8393\u6d3e\u6bb5\u7a0b\u5e8f\u5982\u4e0b\uff08\u914d\u5957\u7684\u58f0\u97f3\u6587\u4ef6\u53ef\u4ee5\u81ea\u5df1\u5f55\u5236\uff0c\u53ea\u8981\u662fMP3\u683c\u5f0f\u5c31\u884c\uff0c\u4e5f\u53ef\u4ee5\u5fae\u4fe1\u627e\u6211\u8981\uff09\uff1a\r\nimport RPi.GPIO as GPIO\r\nimport time\r\nimport os\r\n\r\nGPIO.setmode(GPIO.BCM)\r\nGPIO.setwarnings(False)\r\nGPIO.setup(20,GPIO.IN,pull_up_down=GPIO.PUD_DOWN)\r\nGPIO.setup(21,GPIO.IN,pull_up_down=GPIO.PUD_DOWN)\r\nGPIO.setup(23,GPIO.IN,pull_up_down=GPIO.PUD_DOWN)\r\nGPIO.setup(24,GPIO.IN,pull_up_down=GPIO.PUD_DOWN)\r\nGPIO.setup(25,GPIO.IN,pull_up_down=GPIO.PUD_DOWN)\r\ntime.sleep(0.5)\r\n\r\nwhile True: \r\n a=GPIO.input(20)\r\n b=GPIO.input(21)\r\n c=GPIO.input(23)\r\n d=GPIO.input(24)\r\n e=GPIO.input(25) \r\n \r\n if a==1 and b==0 and c==0 and d==0 and e==0:\r\n os.system('mpg321 .\/peiyin\/1.mp3 &')\r\n elif a==0 and b==1 and c==0 and d==0 and e==0:\r\n os.system('mpg321 .\/peiyin\/2.mp3 &')\r\n elif a==1 and b==1 and c==0 and d==0 and e==0:\r\n os.system('mpg321 .\/peiyin\/3.mp3 &')\r\n elif a==0 and b==0 and c==1 and d==0 and e==0:\r\n os.system('mpg321 .\/peiyin\/4.mp3 &')\r\n elif a==1 and b==0 and c==1 and d==0 and e==0:\r\n os.system('mpg321 .\/peiyin\/5.mp3 &') \r\n elif a==0 and b==1 and c==1 and d==0 and e==0:\r\n os.system('mpg321 .\/peiyin\/6.mp3 &') \r\n elif a==1 and b==1 and c==1 and d==0 and e==0:\r\n os.system('mpg321 .\/peiyin\/7.mp3 &') \r\n elif a==0 and b==0 and c==0 and d==1 and e==0:\r\n os.system('mpg321 .\/peiyin\/8.mp3 &') \r\n elif a==1 and b==0 and c==0 and d==1 and e==0:\r\n os.system('mpg321 .\/peiyin\/9.mp3 &') \r\n elif a==0 and b==1 and c==0 and d==1 and e==0:\r\n os.system('mpg321 .\/peiyin\/start.mp3 &')\r\n elif a==1 and b==1 and c==0 and d==1 and e==0:\r\n os.system('mpg321 .\/peiyin\/feibo.mp3 &') \r\n elif a==0 and b==0 and c==1 and d==1 and e==0:\r\n os.system('mpg321 .\/peiyin\/end.mp3 &') \r\n elif a==1 and b==0 and c==0 and d==0 and e==1:\r\n os.system('mpg321 .\/peiyin\/10.mp3 &')\r\n elif a==0 and b==1 and c==0 and d==0 and e==1:\r\n os.system('mpg321 .\/peiyin\/20.mp3 &')\r\n elif a==1 and b==1 and c==0 and d==0 and e==1:\r\n os.system('mpg321 .\/peiyin\/30.mp3 &')\r\n elif a==0 and b==0 and c==1 and d==0 and e==1:\r\n os.system('mpg321 .\/peiyin\/40.mp3 &')\r\n elif a==1 and b==0 and c==1 and d==0 and e==1:\r\n os.system('mpg321 .\/peiyin\/50.mp3 &') \r\n elif a==0 and b==1 and c==1 and d==0 and e==1:\r\n os.system('mpg321 .\/peiyin\/60.mp3 &') \r\n elif a==1 and b==1 and c==1 and d==0 and e==1:\r\n os.system('mpg321 .\/peiyin\/70.mp3 &') \r\n elif a==0 and b==0 and c==0 and d==1 and e==1:\r\n os.system('mpg321 .\/peiyin\/80.mp3 &') \r\n elif a==1 and b==0 and c==0 and d==1 and e==1:\r\n os.system('mpg321 .\/peiyin\/90.mp3 &')\r\n else:\r\n pass\r\n \r\n time.sleep(1)\r\n\uff082\uff09\u673a\u7532\u5927\u5e08\u7aef\u7a0b\u5e8f\u89c1\u540e\u7eed\u4ecb\u7ecd\r\n","imgsrc":"static\/image\/text.jpg"},{"nameindex":"_2_587148","type":2,"url":"201909\/28\/175135wsrtw6cxsxx93618.jpg","desc":"\u673a\u7532\u5927\u5e08\u626c\u58f0\u5668-2.5\u4e4b3.5mm\u8f6c\u63a5\u5934-3w\u529f\u653e\u8fde\u63a5\u56fe","imgsrc":"201909\/28\/175135wsrtw6cxsxx93618.jpg"},{"nameindex":"_1_4","type":1,"url":"","desc":"\u4e09\u3001 \u4efb\u52a1\u5b9e\u73b0\r\n1.\u63a7\u52361-5\u53f7pwm\u8f93\u51fa\u4e0d\u540c\u7684\u9ad8\u4f4e\u7535\u5e73\uff0c\u5b9e\u73b0\u4e0e\u6811\u8393\u6d3e\u7684\u5355\u5411\u901a\u4fe1\r\n2.\u751f\u6210\u6590\u6ce2\u90a3\u5951\u6570\u5217\uff0c\u6700\u5927\u4e0d\u8d85\u8fc7100\u3002\r\n3.\u8bc6\u522b0-9\u5341\u4e2a\u6807\u7b7e\uff0c\u8bb0\u5f55\u5404\u6807\u7b7e\u7684\u4f4d\u7f6e\uff08\u4f7f\u7528\u4e86\u4e24\u79cd\u65b9\u6cd5\uff1a\u4e00\u662f\u4f7f\u7528\u8bc6\u522b\u5e76\u7784\u51c6\u51fd\u6570\uff0c\u8fd9\u79cd\u65b9\u6cd5\u5bf9\u6807\u7b7e\u7684\u8d28\u91cf\u8981\u6c42\u8f83\u4f4e\uff0c\u540c\u7b49\u6761\u4ef6\u4e0b\u53ef\u8bc6\u522b\u7684\u6807\u7b7e\u5728\u7b2c\u4e8c\u79cd\u65b9\u6cd5\u4e2d\u5374\u4e0d\u80fd\u88ab\u8bc6\u522b\uff0c\u7f3a\u70b9\u662f\u901f\u5ea6\u6162\uff1b\u4e8c\u662f\u83b7\u53d6\u6574\u4f53\u8bc6\u522b\u5230\u7684\u89c6\u89c9\u6807\u7b7e\u4fe1\u606f\uff0c\u4f18\u70b9\u662f\u901f\u5ea6\u5feb\uff0c\u7f3a\u70b9\u662f\u9700\u8981\u5c06\u8bc6\u522b\u8ddd\u79bb\u8c03\u4e3a3m\uff0c\u6839\u636e\u5149\u7167\u6761\u4ef6\u9002\u5f53\u8c03\u6574\u66dd\u5149\u503c\u4e3a\u5927\u6216\u5c0f\uff0c\u6211\u5728\u5ba4\u5185\u706f\u5149\u6761\u4ef6\u4e0b\uff0c\u8bbe\u7f6e\u4e3a\u5927\u66dd\u5149\u503c\uff0c\u8c03\u6574\u673a\u7532\u5927\u5e08\u7684\u89d2\u5ea6\u9632\u6b62\u6807\u7b7e\u6b63\u597d\u5728\u53cd\u5149\u7684\u4f4d\u7f6e\u5b9e\u73b0\u4e8610\u4e2a\u6807\u7b7e\u7684\u4e00\u6b21\u8bc6\u522b\uff09\u3002\u7136\u540e\u5c06\u6807\u7b7e\u7684x\u3001y\u503c\u8f6c\u6362\u4e3a\u4e91\u53f0\u7684\u822a\u5411\u3001\u4fef\u4ef0\u89d2\uff0c\u4ece0-9\u5b58\u50a8\u5230angleList\u5217\u8868\u4e2d\u3002\u9700\u8981\u6ce8\u610f\u7684\u662f\u5bf9\u6807\u7b7e\u4fe1\u606f\u5217\u8868\uff0c\u901a\u8fc7index\u51fd\u6570\u5206\u522b\u627e\u5230id\u4e3a10-19\u7684\u7d22\u5f15\u4f4d\u7f6e\uff0c\u5c06\u4f1a\u4e0e\u7b2c\u4e00\u4e2a10\u91cd\u590d\uff0c\u9700\u8981\u5148\u628a\u7b2c\u4e00\u4e2a10\u503cpop\u6389\u3002\r\n4.\u5c04\u51fb\u51fd\u6570\uff0c\u4ece\u6590\u6ce2\u90a3\u5951\u6570\u5217\u4e2d\u4f9d\u6b21\u62ff\u51fa\u4e00\u9879\uff0c\u5c0f\u4e8e10\u65f6\u76f4\u63a5\u53d6\u51faangleList\u4e2d\u5b58\u50a8\u7684\u822a\u5411\u3001\u4fef\u4ef0\u89d2\uff0c\u5c06\u4e91\u53f0\u8c03\u6574\u5230\u8fd9\u4e2a\u4f4d\u7f6e\u5373\u53ef\uff1b\u5927\u4e8e10\u65f6\u901a\u8fc7\u6574\u53d6\u3001\u53d6\u4f59\u5206\u522b\u53d6\u51fa\u5341\u4f4d\u3001\u4e2a\u4f4d\u6309\u524d\u65b9\u6cd5\u8c03\u6574\u4e91\u53f0\u4f4d\u7f6e\u5373\u53ef\u3002\u8fd9\u91cc\u53d6\u4f59\u65f6\u6709\u4e2aBUG:\u5343\u4e07\u4e0d\u8981\u7528%\u53d6\u4f59\u7b26\u53f7\uff0c\u6709%\u7b26\u53f7\u5c06\u5bfc\u81f4\u5b58\u50a8\u7684\u7a0b\u5e8f\u518d\u6b21\u6253\u5f00\u65f6\u5c31\u7a7a\u767d\u4e86\uff0c\u65e0\u8bba\u662f\u5b58\u5230\u4e91\u4e0a\u8fd8\u662f\u672c\u5730\u3001\u6216\u662f\u751f\u6210\u4e86dsp\u6587\u4ef6\uff0c\u7edf\u7edf\u4e0d\u884c\uff01\uff01\u53ef\u7528\u4ee5\u4e0b\u53d8\u901a\u65b9\u6cd5\u8fdb\u884c\u53d6\u4f59\uff1aindex01=b\/\/10\uff1bindex02=b-index01*10\r\n","imgsrc":"static\/image\/text.jpg"},{"nameindex":"_2_587173","type":2,"url":"201909\/28\/214051gzn3hfhh2c9e7e2w.jpg","desc":"1-5#pwm\u3001\u5730\u7ebf\u63a5\u51fa\u56fe","imgsrc":"201909\/28\/214051gzn3hfhh2c9e7e2w.jpg"},{"nameindex":"_2_587175","type":2,"url":"201909\/28\/214109nnmua2n11dzaznzd.jpg","desc":"pwm\u4e0e\u6811\u8393\u6d3egpio\u3001\u5730\u7ebf\u8fde\u63a5\u56fe","imgsrc":"201909\/28\/214109nnmua2n11dzaznzd.jpg"},{"nameindex":"_2_587176","type":2,"url":"201909\/28\/214122d3bwwnf94n6443wz.jpg","desc":"\u8fd0\u884c\u65f6\u7684\u63a5\u7ebf\u56fe","imgsrc":"201909\/28\/214122d3bwwnf94n6443wz.jpg"},{"nameindex":"_3_1","type":3,"url":"http:\/\/v.qq.com\/iframe\/player.html?vid=z3002te7lnk&tiny=0&auto=0","desc":"FPV\u673a\u7532\u5927\u5e08\u81ea\u5e26\u5f55\u50cf\u7684\u8fd0\u884c\u6210\u529f","imgsrc":"static\/image\/video.jpg"},{"nameindex":"_3_2","type":3,"url":"http:\/\/v.qq.com\/iframe\/player.html?vid=g30022nzx69&tiny=0&auto=0","desc":"\u8fd0\u884c\u4e2d\u673a\u7532\u5927\u5e08\u72b6\u6001\u5f55\u50cf","imgsrc":"static\/image\/video.jpg"},{"nameindex":"_3_3","type":3,"url":"http:\/\/v.qq.com\/iframe\/player.html?vid=n300200f7j5&tiny=0&auto=0","desc":"app\u8c03\u8bd5\u622a\u5c4f\u5f55\u50cf\uff0c\u5173\u952e\u770b\u8c03\u8bd5\u8f93\u51fa\uff08\u6ce8\uff1a\u4e0e\u4e0a\u9762\u4e0d\u662f\u540c\u4e00\u6b21\u8fd0\u884c\uff0c\u6590\u6ce2\u90a3\u5951\u6570\u5217\u4e0d\u76f8\u540c\uff09","imgsrc":"static\/image\/video.jpg"},{"nameindex":"_1_5","type":1,"url":"","desc":"import random\r\nangleList=RmList()\r\nfeiboList=RmList()\r\ninfoList=RmList()\r\n\r\n#pwm\u8f93\u51fa\u540c\u6811\u8393\u6d3e\u901a\u4fe1\u51fd\u6570\r\ndef output_Pwm(num=0,flag=0):\r\n if num==0:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm1,0)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm2,0)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm3,0)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm4,0)\r\n if flag==0:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm5,0)\r\n else:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm5,100)\r\n elif num==1:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm1,100)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm2,0)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm3,0)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm4,0)\r\n if flag==0:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm5,0)\r\n else:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm5,100)\r\n elif num==2:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm1,0)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm2,100)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm3,0)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm4,0)\r\n if flag==0:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm5,0)\r\n else:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm5,100)\r\n elif num==3:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm1,100)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm2,100)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm3,0)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm4,0)\r\n if flag==0:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm5,0)\r\n else:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm5,100)\r\n elif num==4:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm1,0)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm2,0)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm3,100)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm4,0)\r\n if flag==0:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm5,0)\r\n else:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm5,100)\r\n elif num==5:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm1,100)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm2,0)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm3,100)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm4,0)\r\n if flag==0:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm5,0)\r\n else:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm5,100)\r\n elif num==6:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm1,0)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm2,100)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm3,100)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm4,0)\r\n if flag==0:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm5,0)\r\n else:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm5,100)\r\n elif num==7:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm1,100)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm2,100)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm3,100)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm4,0)\r\n if flag==0:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm5,0)\r\n else:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm5,100)\r\n elif num==8:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm1,0)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm2,0)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm3,0)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm4,100)\r\n if flag==0:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm5,0)\r\n else:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm5,100)\r\n elif num==9:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm1,100)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm2,0)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm3,0)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm4,100)\r\n if flag==0:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm5,0)\r\n else:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm5,100) \r\n elif num==10:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm1,0)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm2,100)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm3,0)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm4,100)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm5,0)\r\n elif num==11:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm1,100)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm2,100)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm3,0)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm4,100)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm5,0)\r\n elif num==12:\r\n chassis_ctrl.set_pwm_value(rm_define.pwm1,0)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm2,0)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm3,100)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm4,100)\r\n chassis_ctrl.set_pwm_value(rm_define.pwm5,0)\r\n else:\r\n pass\r\n \r\n#\u751f\u6210\u6590\u6ce2\u90a3\u5951\u6570\u5217\r\ndef make_Feibo():\r\n global feiboList\r\n feiboList.append(random.randint(1,5))\r\n feiboList.append(random.randint(1,5))\r\n output_Pwm(10,0)\r\n time.sleep(1)\r\n output_Pwm(0,0)\r\n time.sleep(2)\r\n output_Pwm(feiboList[1],0)\r\n time.sleep(1)\r\n output_Pwm(feiboList[2],0)\r\n time.sleep(1)\r\n output_Pwm(0,0)\r\n for i in range(3,12):\r\n a=feiboList[i-1]+feiboList[i-2]\r\n if a>100:break\r\n feiboList.append(a)\r\n \r\n#\u5b58\u50a8\u4e91\u53f0\u822a\u5411\u3001\u4fef\u4ef0\u89d2\u51fd\u6570\r\ndef storage_Angle():\r\n global angleList\r\n angleList.append(gimbal_ctrl.get_axis_angle(rm_define.gimbal_axis_yaw))\r\n angleList.append(gimbal_ctrl.get_axis_angle(rm_define.gimbal_axis_pitch))\r\n \r\n#\u65b9\u6cd5\u4e00\uff1a\u901a\u8fc7\u8bc6\u522b\u5e76\u7784\u51c6\u51fd\u6570\u83b7\u53d60-9\u6807\u7b7e\u4f4d\u7f6e\u4fe1\u606f\u7684\u51fd\u6570\r\ndef detect_Marker_0to9_by_aim():\r\n vision_ctrl.enable_detection(rm_define.vision_detection_marker)\r\n vision_ctrl.set_marker_detection_distance(2)\r\n gimbal_ctrl.set_rotate_speed(180)\r\n #try to use the number of enum\r\n '''for i in range(10,20):\r\n vision_ctrl.detect_marker_and_aim(i)\r\n time.sleep(0.2)\r\n storage_Angle()\r\n gimbal_ctrl.angle_ctrl(0,0)'''\r\n vision_ctrl.detect_marker_and_aim(rm_define.marker_number_zero)\r\n time.sleep(0.2)\r\n storage_Angle()\r\n gimbal_ctrl.angle_ctrl(0,0)\r\n vision_ctrl.detect_marker_and_aim(rm_define.marker_number_one)\r\n time.sleep(0.2)\r\n storage_Angle()\r\n gimbal_ctrl.angle_ctrl(0,0)\r\n vision_ctrl.detect_marker_and_aim(rm_define.marker_number_two)\r\n time.sleep(0.2)\r\n storage_Angle()\r\n gimbal_ctrl.angle_ctrl(0,0)\r\n vision_ctrl.detect_marker_and_aim(rm_define.marker_number_three)\r\n time.sleep(0.2)\r\n storage_Angle()\r\n gimbal_ctrl.angle_ctrl(0,0)\r\n vision_ctrl.detect_marker_and_aim(rm_define.marker_number_four)\r\n time.sleep(0.2)\r\n storage_Angle()\r\n gimbal_ctrl.angle_ctrl(0,0)\r\n vision_ctrl.detect_marker_and_aim(rm_define.marker_number_five)\r\n time.sleep(0.2)\r\n storage_Angle()\r\n gimbal_ctrl.angle_ctrl(0,0)\r\n vision_ctrl.detect_marker_and_aim(rm_define.marker_number_six)\r\n time.sleep(0.2)\r\n storage_Angle()\r\n gimbal_ctrl.angle_ctrl(0,0)\r\n vision_ctrl.detect_marker_and_aim(rm_define.marker_number_seven)\r\n time.sleep(0.2)\r\n storage_Angle()\r\n gimbal_ctrl.angle_ctrl(0,0)\r\n vision_ctrl.detect_marker_and_aim(rm_define.marker_number_eight)\r\n time.sleep(0.2)\r\n storage_Angle()\r\n gimbal_ctrl.angle_ctrl(0,0)\r\n vision_ctrl.detect_marker_and_aim(rm_define.marker_number_nine)\r\n time.sleep(0.2)\r\n storage_Angle()\r\n gimbal_ctrl.angle_ctrl(0,0)\r\n\r\n#\u65b9\u6cd5\u4e8c\uff1a\u901a\u8fc7\u4e00\u6b21\u6574\u4f53\u8bc6\u522b\u51fd\u6570\u83b7\u53d60-9\u6807\u7b7e\u4f4d\u7f6e\u4fe1\u606f\u7684\u51fd\u6570 \r\ndef detect_Marker_0to9_by_info():\r\n global infoList\r\n global angleList\r\n vision_ctrl.enable_detection(rm_define.vision_detection_marker)\r\n vision_ctrl.set_marker_detection_distance(3)\r\n media_ctrl.exposure_value_update(rm_define.exposure_value_large)\r\n time.sleep(2)\r\n while len(infoList)!=51:\r\n infoList=RmList(vision_ctrl.get_marker_detection_info())\r\n time.sleep(1)\r\n media_ctrl.play_sound(rm_define.media_sound_scanning) \r\n if len(infoList)==51:\r\n infoList.pop(1)\r\n for i in range(10,20):\r\n indexofi=infoList.index(i)\r\n angleList.append((infoList[indexofi+1]-0.5)*96)\r\n angleList.append((0.5-infoList[indexofi+2])*54) \r\n\r\n#\u5c04\u51fb\u51fd\u6570 \r\ndef shoot():\r\n global feiboList\r\n global angleList\r\n global infoList\r\n \r\n output_Pwm(11,0)\r\n time.sleep(1)\r\n output_Pwm(0,0)\r\n time.sleep(2)\r\n for i in range(1,len(feiboList)+1):\r\n b=feiboList[ i ] \r\n print(b)\r\n time.sleep(2)\r\n if b<10:\r\n gimbal_ctrl.angle_ctrl(angleList[b*2+1],angleList[b*2+2])\r\n led_ctrl.gun_led_on()\r\n output_Pwm(b,0)\r\n time.sleep(1)\r\n output_Pwm(0,0)\r\n led_ctrl.gun_led_off()\r\n else:\r\n index01=int(b\/\/10)\r\n index02=b-index01*10\r\n gimbal_ctrl.angle_ctrl(angleList[index01*2+1],angleList[index01*2+2])\r\n output_Pwm(index01,1)\r\n led_ctrl.gun_led_on()\r\n time.sleep(1)\r\n output_Pwm(0,0)\r\n led_ctrl.gun_led_off()\r\n gimbal_ctrl.angle_ctrl(angleList[index02*2+1],angleList[index02*2+2])\r\n output_Pwm(index02,0)\r\n led_ctrl.gun_led_on()\r\n time.sleep(1)\r\n output_Pwm(0,0)\r\n led_ctrl.gun_led_off()\r\n \r\ndef start():\r\n global feiboList\r\n global angleList\r\n global infoList \r\n \r\n media_ctrl.record(1)\r\n robot_ctrl.set_mode(rm_define.robot_mode_free)\r\n make_Feibo()\r\n print(feiboList)\r\n time.sleep(1)\r\n #detect_Marker_0to9_by_aim()\r\n detect_Marker_0to9_by_info()\r\n print(angleList)\r\n time.sleep(1)\r\n shoot()\r\n output_Pwm(12,0)\r\n time.sleep(1)\r\n output_Pwm(0,0)\r\n time.sleep(2)\r\n media_ctrl.record(0)","imgsrc":"static\/image\/text.jpg"},{"nameindex":"_1_6","type":1,"url":"","desc":"\u603b\u7ed3\uff1a\u57fa\u672c\u5b9e\u73b0\u4e86\u9884\u671f\u6548\u679c\uff0c\u4f46\u6709\u4e24\u65b9\u9762\u7684\u7f3a\u70b9\uff1a\u4e00\u662f\u4e3a\u7b49\u5f85\u6811\u8393\u6d3e\u8bfb\u6570\uff0c\u4e3b\u7a0b\u5e8f\u5fc5\u987b\u52a0sleep\u51fd\u6570\u7b49\u5f85\uff0c\u9020\u6210\u6574\u4f53\u770b\u6765\u6bd4\u8f83\u8fdf\u949d\uff1b\u4e8c\u662fpwm\u8f93\u51fa\u548c\u6811\u8393\u6d3e\u7684\u8f93\u5165\u4e0d\u5341\u5206\u7a33\u5b9a\uff0c\u867d\u7136\u8bbe\u7f6e\u4e86\u4e0b\u62c9\u7535\u963b\uff0c\u4f46\u65f6\u4e0d\u65f6\u7684\u4f1a\u6709\u4e2a\u522b\u610f\u5916\u7684\u4fe1\u53f7\u88ab\u6355\u6349\u5230\uff0c\u5c1a\u9700\u6539\u8fdb\u3002\r\n\u4e0d\u8db3\u4e4b\u5904\u6b22\u8fce\u6279\u8bc4\u6307\u6b63,\u4ea4\u6d41\u5b66\u4e60\uff01\uff01\uff01\u5fae\u4fe1\u53f7:cumtzd","imgsrc":"static\/image\/text.jpg"}]

作者: benq 时间: 2019-9-28
学习了

作者: boolrobot 时间: 2019-9-28
大神

作者: CPYCPY 时间: 2019-9-28

作者: bakedkids 时间: 2019-9-28
多面大神！

作者: Alfred888 时间: 2019-9-29
这个很有意思

作者: g1107 时间: 2019-9-29

厉害

作者: scratch 时间: 2019-9-29
是矿大的同学吗？

作者: 总督 时间: 2019-9-29

scratch9-29 09:33
是矿大的同学吗？

是啊02级的

作者: 哆来咪 时间: 2019-10-5
高阶玩家

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