第二次任务相对比较易于实现，各位机甲大师们已经很快很好的实现了斐波那契数列的生成、识别和打印，自己也就不在重复了。 本着大疆机甲大师“玩出名堂”的初衷，我考虑到能不能把生成的每个数字读出来呢？经过一番折腾，基本上实现了语音报数。以下分步骤进行详细解释，还真心希望小伙伴们不吝指出存在的不足、错误以及可以进一步完善提高的地方，在此先表示感谢了！ 一、任务二介绍 1.随机生成“1、2、3、4、5”中的任意两个数字，作为斐波那契数列的前两项（斐波那契数列：从第三项开始，当前项为前两项数字之和，即F(n)=F(n-1)+F(n-2)）。要求：生成的两个初始随机数需要有明显的指示信号（灯光闪烁或者云台摆动等）提示数值是多少。 2.根据上面产生的前两项生成斐波那契数列，要求最后一项小于100。 3.按照下图，以产生的两个数字中较小的一个，作为S1机器人的第一个击打目标，较大的作为第二个击打目标，两个数的和作为第三个击打目标，此后的击打目标按照类似斐波那契数列的规律进行计算。举个栗子，如果初始的两个数分别是2和3，则以2作为第一个击打目标，第二个击打目标为3，2+3 =5作为第三个击打目标，3+5 = 8作为第四个击打目标，以此类推。大于10的击打目标数字，以分别击打（十位和个位）两个数字进行组合完成。例如，数字34，则先击打3后紧接着击打4完成（*请注意，此处有先后顺序）；数字55，则连续击打5两次。每完成击打一个数字，需要有明显的提示信号（可自定义）。 4.参照斐波那契数列的规律，依次击打完成100以内的数字，即被认为完成编程任务，完成任务者加5分。 附：数字视觉标签下载地址，https://dl.djicdn.com/downloads/robomaster-s1/20190620/RoboMaster_S1_Vision_Markers_44pcs_15_15cm_upda ted.pdf

二、让机甲大师播放自定义的声音 S1并没有开发自定义声音的播放功能，只能自己想办法了！能不能把 S1的扬声器接到树莓派、arduino等外围智能设备播放呢？. 先拿手机试验一下…… S1的扬声器接口是2.5mm的，需要一个2.5到3.5mm的转换接头，网上几块钱一个，买来接上手机播放音乐基本听不到声音！！！应该是输出功率小了，再找一个PAM8403超微型数字功放板(3W)进行放大，网上几块钱一个，焊接、连接后如下图。注意，S1的2.5mm接头不能全部插到底，否则声音效果不好，可能是左右声道的原因，具体也没搞清楚，还请不吝赐教啊。 加上放大器后，把3.5mm接头插入树莓派，则可以用树莓派随意大声播放了！ 如何让S1控制树莓派播放特定声音呢？ 1.通信，没有开放！！pwm开放了，那么可以让树莓派GPIO口检测机甲大师的pwm口的高低电平实现简单的S1到树莓派的单向通信。利用5个pwm的高低电平实现2的5次共32种信号，树莓派根据不同的信号播放不同的声音，从而实现语音播报斐波那契数列。 2.具体是通过树莓派3b+的BCM模式的第20/21/23/24/25号GPIO口连接pwm1-5，每秒检测一次各端口的电平状态。程序如下：

（1)树莓派段程序如下（配套的声音文件可以自己录制，只要是MP3格式就行，也可以微信找我要）： import RPi.GPIO as GPIO import time import os GPIO.setmode(GPIO.BCM) GPIO.setwarnings(False) GPIO.setup(20,GPIO.IN,pull_up_down=GPIO.PUD_DOWN) GPIO.setup(21,GPIO.IN,pull_up_down=GPIO.PUD_DOWN) GPIO.setup(23,GPIO.IN,pull_up_down=GPIO.PUD_DOWN) GPIO.setup(24,GPIO.IN,pull_up_down=GPIO.PUD_DOWN) GPIO.setup(25,GPIO.IN,pull_up_down=GPIO.PUD_DOWN) time.sleep(0.5) while True: a=GPIO.input(20) b=GPIO.input(21) c=GPIO.input(23) d=GPIO.input(24) e=GPIO.input(25) if a==1 and b==0 and c==0 and d==0 and e==0: os.system('mpg321 ./peiyin/1.mp3 &') elif a==0 and b==1 and c==0 and d==0 and e==0: os.system('mpg321 ./peiyin/2.mp3 &') elif a==1 and b==1 and c==0 and d==0 and e==0: os.system('mpg321 ./peiyin/3.mp3 &') elif a==0 and b==0 and c==1 and d==0 and e==0: os.system('mpg321 ./peiyin/4.mp3 &') elif a==1 and b==0 and c==1 and d==0 and e==0: os.system('mpg321 ./peiyin/5.mp3 &') elif a==0 and b==1 and c==1 and d==0 and e==0: os.system('mpg321 ./peiyin/6.mp3 &') elif a==1 and b==1 and c==1 and d==0 and e==0: os.system('mpg321 ./peiyin/7.mp3 &') elif a==0 and b==0 and c==0 and d==1 and e==0: os.system('mpg321 ./peiyin/8.mp3 &') elif a==1 and b==0 and c==0 and d==1 and e==0: os.system('mpg321 ./peiyin/9.mp3 &') elif a==0 and b==1 and c==0 and d==1 and e==0: os.system('mpg321 ./peiyin/start.mp3 &') elif a==1 and b==1 and c==0 and d==1 and e==0: os.system('mpg321 ./peiyin/feibo.mp3 &') elif a==0 and b==0 and c==1 and d==1 and e==0: os.system('mpg321 ./peiyin/end.mp3 &') elif a==1 and b==0 and c==0 and d==0 and e==1: os.system('mpg321 ./peiyin/10.mp3 &') elif a==0 and b==1 and c==0 and d==0 and e==1: os.system('mpg321 ./peiyin/20.mp3 &') elif a==1 and b==1 and c==0 and d==0 and e==1: os.system('mpg321 ./peiyin/30.mp3 &') elif a==0 and b==0 and c==1 and d==0 and e==1: os.system('mpg321 ./peiyin/40.mp3 &') elif a==1 and b==0 and c==1 and d==0 and e==1: os.system('mpg321 ./peiyin/50.mp3 &') elif a==0 and b==1 and c==1 and d==0 and e==1: os.system('mpg321 ./peiyin/60.mp3 &') elif a==1 and b==1 and c==1 and d==0 and e==1: os.system('mpg321 ./peiyin/70.mp3 &') elif a==0 and b==0 and c==0 and d==1 and e==1: os.system('mpg321 ./peiyin/80.mp3 &') elif a==1 and b==0 and c==0 and d==1 and e==1: os.system('mpg321 ./peiyin/90.mp3 &') else: pass time.sleep(1) （2）机甲大师端程序见后续介绍

三、 任务实现 1.控制1-5号pwm输出不同的高低电平，实现与树莓派的单向通信 2.生成斐波那契数列，最大不超过100。 3.识别0-9十个标签，记录各标签的位置（使用了两种方法：一是使用识别并瞄准函数，这种方法对标签的质量要求较低，同等条件下可识别的标签在第二种方法中却不能被识别，缺点是速度慢；二是获取整体识别到的视觉标签信息，优点是速度快，缺点是需要将识别距离调为3m，根据光照条件适当调整曝光值为大或小，我在室内灯光条件下，设置为大曝光值，调整机甲大师的角度防止标签正好在反光的位置实现了10个标签的一次识别）。然后将标签的x、y值转换为云台的航向、俯仰角，从0-9存储到angleList列表中。需要注意的是对标签信息列表，通过index函数分别找到id为10-19的索引位置，将会与第一个10重复，需要先把第一个10值pop掉。 4.射击函数，从斐波那契数列中依次拿出一项，小于10时直接取出angleList中存储的航向、俯仰角，将云台调整到这个位置即可；大于10时通过整取、取余分别取出十位、个位按前方法调整云台位置即可。这里取余时有个BUG:千万不要用%取余符号，有%符号将导致存储的程序再次打开时就空白了，无论是存到云上还是本地、或是生成了dsp文件，统统不行！！可用以下变通方法进行取余：index01=b//10；index02=b-index01*10

import random angleList=RmList() feiboList=RmList() infoList=RmList() #pwm输出同树莓派通信函数 def output_Pwm(num=0,flag=0): if num==0: chassis_ctrl.set_pwm_value(rm_define.pwm1,0) chassis_ctrl.set_pwm_value(rm_define.pwm2,0) chassis_ctrl.set_pwm_value(rm_define.pwm3,0) chassis_ctrl.set_pwm_value(rm_define.pwm4,0) if flag==0: chassis_ctrl.set_pwm_value(rm_define.pwm5,0) else: chassis_ctrl.set_pwm_value(rm_define.pwm5,100) elif num==1: chassis_ctrl.set_pwm_value(rm_define.pwm1,100) chassis_ctrl.set_pwm_value(rm_define.pwm2,0) chassis_ctrl.set_pwm_value(rm_define.pwm3,0) chassis_ctrl.set_pwm_value(rm_define.pwm4,0) if flag==0: chassis_ctrl.set_pwm_value(rm_define.pwm5,0) else: chassis_ctrl.set_pwm_value(rm_define.pwm5,100) elif num==2: chassis_ctrl.set_pwm_value(rm_define.pwm1,0) chassis_ctrl.set_pwm_value(rm_define.pwm2,100) chassis_ctrl.set_pwm_value(rm_define.pwm3,0) chassis_ctrl.set_pwm_value(rm_define.pwm4,0) if flag==0: chassis_ctrl.set_pwm_value(rm_define.pwm5,0) else: chassis_ctrl.set_pwm_value(rm_define.pwm5,100) elif num==3: chassis_ctrl.set_pwm_value(rm_define.pwm1,100) chassis_ctrl.set_pwm_value(rm_define.pwm2,100) chassis_ctrl.set_pwm_value(rm_define.pwm3,0) chassis_ctrl.set_pwm_value(rm_define.pwm4,0) if flag==0: chassis_ctrl.set_pwm_value(rm_define.pwm5,0) else: chassis_ctrl.set_pwm_value(rm_define.pwm5,100) elif num==4: chassis_ctrl.set_pwm_value(rm_define.pwm1,0) chassis_ctrl.set_pwm_value(rm_define.pwm2,0) chassis_ctrl.set_pwm_value(rm_define.pwm3,100) chassis_ctrl.set_pwm_value(rm_define.pwm4,0) if flag==0: chassis_ctrl.set_pwm_value(rm_define.pwm5,0) else: chassis_ctrl.set_pwm_value(rm_define.pwm5,100) elif num==5: chassis_ctrl.set_pwm_value(rm_define.pwm1,100) chassis_ctrl.set_pwm_value(rm_define.pwm2,0) chassis_ctrl.set_pwm_value(rm_define.pwm3,100) chassis_ctrl.set_pwm_value(rm_define.pwm4,0) if flag==0: chassis_ctrl.set_pwm_value(rm_define.pwm5,0) else: chassis_ctrl.set_pwm_value(rm_define.pwm5,100) elif num==6: chassis_ctrl.set_pwm_value(rm_define.pwm1,0) chassis_ctrl.set_pwm_value(rm_define.pwm2,100) chassis_ctrl.set_pwm_value(rm_define.pwm3,100) chassis_ctrl.set_pwm_value(rm_define.pwm4,0) if flag==0: chassis_ctrl.set_pwm_value(rm_define.pwm5,0) else: chassis_ctrl.set_pwm_value(rm_define.pwm5,100) elif num==7: chassis_ctrl.set_pwm_value(rm_define.pwm1,100) chassis_ctrl.set_pwm_value(rm_define.pwm2,100) chassis_ctrl.set_pwm_value(rm_define.pwm3,100) chassis_ctrl.set_pwm_value(rm_define.pwm4,0) if flag==0: chassis_ctrl.set_pwm_value(rm_define.pwm5,0) else: chassis_ctrl.set_pwm_value(rm_define.pwm5,100) elif num==8: chassis_ctrl.set_pwm_value(rm_define.pwm1,0) chassis_ctrl.set_pwm_value(rm_define.pwm2,0) chassis_ctrl.set_pwm_value(rm_define.pwm3,0) chassis_ctrl.set_pwm_value(rm_define.pwm4,100) if flag==0: chassis_ctrl.set_pwm_value(rm_define.pwm5,0) else: chassis_ctrl.set_pwm_value(rm_define.pwm5,100) elif num==9: chassis_ctrl.set_pwm_value(rm_define.pwm1,100) chassis_ctrl.set_pwm_value(rm_define.pwm2,0) chassis_ctrl.set_pwm_value(rm_define.pwm3,0) chassis_ctrl.set_pwm_value(rm_define.pwm4,100) if flag==0: chassis_ctrl.set_pwm_value(rm_define.pwm5,0) else: chassis_ctrl.set_pwm_value(rm_define.pwm5,100) elif num==10: chassis_ctrl.set_pwm_value(rm_define.pwm1,0) chassis_ctrl.set_pwm_value(rm_define.pwm2,100) chassis_ctrl.set_pwm_value(rm_define.pwm3,0) chassis_ctrl.set_pwm_value(rm_define.pwm4,100) chassis_ctrl.set_pwm_value(rm_define.pwm5,0) elif num==11: chassis_ctrl.set_pwm_value(rm_define.pwm1,100) chassis_ctrl.set_pwm_value(rm_define.pwm2,100) chassis_ctrl.set_pwm_value(rm_define.pwm3,0) chassis_ctrl.set_pwm_value(rm_define.pwm4,100) chassis_ctrl.set_pwm_value(rm_define.pwm5,0) elif num==12: chassis_ctrl.set_pwm_value(rm_define.pwm1,0) chassis_ctrl.set_pwm_value(rm_define.pwm2,0) chassis_ctrl.set_pwm_value(rm_define.pwm3,100) chassis_ctrl.set_pwm_value(rm_define.pwm4,100) chassis_ctrl.set_pwm_value(rm_define.pwm5,0) else: pass #生成斐波那契数列 def make_Feibo(): global feiboList feiboList.append(random.randint(1,5)) feiboList.append(random.randint(1,5)) output_Pwm(10,0) time.sleep(1) output_Pwm(0,0) time.sleep(2) output_Pwm(feiboList[1],0) time.sleep(1) output_Pwm(feiboList[2],0) time.sleep(1) output_Pwm(0,0) for i in range(3,12): a=feiboList[i-1]+feiboList[i-2] if a>100:break feiboList.append(a) #存储云台航向、俯仰角函数 def storage_Angle(): global angleList angleList.append(gimbal_ctrl.get_axis_angle(rm_define.gimbal_axis_yaw)) angleList.append(gimbal_ctrl.get_axis_angle(rm_define.gimbal_axis_pitch)) #方法一：通过识别并瞄准函数获取0-9标签位置信息的函数 def detect_Marker_0to9_by_aim(): vision_ctrl.enable_detection(rm_define.vision_detection_marker) vision_ctrl.set_marker_detection_distance(2) gimbal_ctrl.set_rotate_speed(180) #try to use the number of enum '''for i in range(10,20): vision_ctrl.detect_marker_and_aim(i) time.sleep(0.2) storage_Angle() gimbal_ctrl.angle_ctrl(0,0)''' vision_ctrl.detect_marker_and_aim(rm_define.marker_number_zero) time.sleep(0.2) storage_Angle() gimbal_ctrl.angle_ctrl(0,0) vision_ctrl.detect_marker_and_aim(rm_define.marker_number_one) time.sleep(0.2) storage_Angle() gimbal_ctrl.angle_ctrl(0,0) vision_ctrl.detect_marker_and_aim(rm_define.marker_number_two) time.sleep(0.2) storage_Angle() gimbal_ctrl.angle_ctrl(0,0) vision_ctrl.detect_marker_and_aim(rm_define.marker_number_three) time.sleep(0.2) storage_Angle() gimbal_ctrl.angle_ctrl(0,0) vision_ctrl.detect_marker_and_aim(rm_define.marker_number_four) time.sleep(0.2) storage_Angle() gimbal_ctrl.angle_ctrl(0,0) vision_ctrl.detect_marker_and_aim(rm_define.marker_number_five) time.sleep(0.2) storage_Angle() gimbal_ctrl.angle_ctrl(0,0) vision_ctrl.detect_marker_and_aim(rm_define.marker_number_six) time.sleep(0.2) storage_Angle() gimbal_ctrl.angle_ctrl(0,0) vision_ctrl.detect_marker_and_aim(rm_define.marker_number_seven) time.sleep(0.2) storage_Angle() gimbal_ctrl.angle_ctrl(0,0) vision_ctrl.detect_marker_and_aim(rm_define.marker_number_eight) time.sleep(0.2) storage_Angle() gimbal_ctrl.angle_ctrl(0,0) vision_ctrl.detect_marker_and_aim(rm_define.marker_number_nine) time.sleep(0.2) storage_Angle() gimbal_ctrl.angle_ctrl(0,0) #方法二：通过一次整体识别函数获取0-9标签位置信息的函数 def detect_Marker_0to9_by_info(): global infoList global angleList vision_ctrl.enable_detection(rm_define.vision_detection_marker) vision_ctrl.set_marker_detection_distance(3) media_ctrl.exposure_value_update(rm_define.exposure_value_large) time.sleep(2) while len(infoList)!=51: infoList=RmList(vision_ctrl.get_marker_detection_info()) time.sleep(1) media_ctrl.play_sound(rm_define.media_sound_scanning) if len(infoList)==51: infoList.pop(1) for i in range(10,20): indexofi=infoList.index(i) angleList.append((infoList[indexofi+1]-0.5)*96) angleList.append((0.5-infoList[indexofi+2])*54) #射击函数 def shoot(): global feiboList global angleList global infoList output_Pwm(11,0) time.sleep(1) output_Pwm(0,0) time.sleep(2) for i in range(1,len(feiboList)+1): b=feiboList[ i ] print(b) time.sleep(2) if b<10: gimbal_ctrl.angle_ctrl(angleList[b*2+1],angleList[b*2+2]) led_ctrl.gun_led_on() output_Pwm(b,0) time.sleep(1) output_Pwm(0,0) led_ctrl.gun_led_off() else: index01=int(b//10) index02=b-index01*10 gimbal_ctrl.angle_ctrl(angleList[index01*2+1],angleList[index01*2+2]) output_Pwm(index01,1) led_ctrl.gun_led_on() time.sleep(1) output_Pwm(0,0) led_ctrl.gun_led_off() gimbal_ctrl.angle_ctrl(angleList[index02*2+1],angleList[index02*2+2]) output_Pwm(index02,0) led_ctrl.gun_led_on() time.sleep(1) output_Pwm(0,0) led_ctrl.gun_led_off() def start(): global feiboList global angleList global infoList media_ctrl.record(1) robot_ctrl.set_mode(rm_define.robot_mode_free) make_Feibo() print(feiboList) time.sleep(1) #detect_Marker_0to9_by_aim() detect_Marker_0to9_by_info() print(angleList) time.sleep(1) shoot() output_Pwm(12,0) time.sleep(1) output_Pwm(0,0) time.sleep(2) media_ctrl.record(0)

总结：基本实现了预期效果，但有两方面的缺点：一是为等待树莓派读数，主程序必须加sleep函数等待，造成整体看来比较迟钝；二是pwm输出和树莓派的输入不十分稳定，虽然设置了下拉电阻，但时不时的会有个别意外的信号被捕捉到，尚需改进。 不足之处欢迎批评指正,交流学习！！！微信号:cumtzd