Openmv色块识别+STM32驱动云台色块追踪（免费）

资源内容介绍

"Openmv色块识别+STM32驱动云台色块追踪（免费）" 涉及到的核心技术是使用OpenMV摄像头进行色块识别，并通过STM32微控制器来驱动云台进行色块追踪。这个项目是基于开源硬件和软件的，旨在实现一种智能视觉导航系统，适合于机器人定位、物体跟踪等应用。【OpenMV色块识别】OpenMV是一款低成本、易于使用的嵌入式机器视觉模块，它内置了MicroPython环境，允许开发者使用Python语言编写机器视觉算法。在色块识别中，OpenMV可以捕获图像，通过颜色阈值、形状检测等算法对特定颜色的块进行定位。用户可能需要编写Python脚本来定义目标颜色范围，然后通过图像处理技术如灰度化、二值化和轮廓检测来提取色块。例如，`区域识别（无pid）.py`可能就是用于实现这一功能的代码，尽管没有PID控制，但依然能实现基本的色块识别和位置计算。【STM32驱动云台】STM32是意法半导体公司推出的基于ARM Cortex-M内核的微控制器系列，广泛应用于各种嵌入式系统。在这个项目中，STM32接收来自OpenMV的色块位置信息，然后通过控制电机或舵机来调整云台的角度，使得摄像头始终保持对色块的追踪。这通常涉及到串行通信协议如I2C、UART或SPI来传递数据，以及PID（比例-积分-微分）控制算法来实现精确的云台角度调整。虽然描述中提到"区域识别（无pid）.py"未使用PID，但在实际的云台追踪中，PID控制通常会提供更稳定、精确的追踪效果。【集成与应用】将OpenMV的色块识别与STM32的云台驱动相结合，可以创建一个自主寻迹的小型机器人。这样的系统可以应用于教育、娱乐甚至科研领域，比如自动跟随色标的无人机、机器人足球比赛中的目标识别等。开发者需要具备一定的Python编程基础，了解OpenMV库的使用，同时也要熟悉STM32的硬件接口和嵌入式软件开发。这个项目涉及的知识点包括：1. 机器视觉原理与OpenMV摄像头的使用2. Python编程，特别是图像处理和颜色识别3. STM32微控制器的硬件接口与嵌入式编程4. 串行通信协议如UART、SPI或I2C5. 云台驱动和电机控制6. 基于颜色的目标追踪算法7. 无PID的简易追踪策略对于想要深入学习这些技术的人来说，这个项目提供了一个很好的实践平台，可以结合提供的代码进行学习和改进。

/** ****************************************************************************** * @file stm32f10x_tim.c * @author MCD Application Team * @version V3.5.0 * @date 11-March-2011 * @brief This file provides all the TIM firmware functions. ****************************************************************************** * @attention * * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. * * <h2><center>© COPYRIGHT 2011 STMicroelectronics</center></h2> ****************************************************************************** */#include "stm32f10x_tim.h"#include "stm32f10x_rcc.h"/** @addtogroup STM32F10x_StdPeriph_Driver * @{ *//** @defgroup TIM * @brief TIM driver modules * @{ *//** @defgroup TIM_Private_TypesDefinitions * @{ *//** * @} *//** @defgroup TIM_Private_Defines * @{ */#define SMCR_ETR_Mask ((uint16_t)0x00FF) #define CCMR_Offset ((uint16_t)0x0018)#define CCER_CCE_Set ((uint16_t)0x0001) #define CCER_CCNE_Set ((uint16_t)0x0004) /** * @} *//** @defgroup TIM_Private_Macros * @{ *//** * @} *//** @defgroup TIM_Private_Variables * @{ *//** * @} *//** @defgroup TIM_Private_FunctionPrototypes * @{ */static void TI1_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection, uint16_t TIM_ICFilter);static void TI2_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection, uint16_t TIM_ICFilter);static void TI3_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection, uint16_t TIM_ICFilter);static void TI4_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection, uint16_t TIM_ICFilter);/** * @} *//** @defgroup TIM_Private_Macros * @{ *//** * @} *//** @defgroup TIM_Private_Variables * @{ *//** * @} *//** @defgroup TIM_Private_FunctionPrototypes * @{ *//** * @} *//** @defgroup TIM_Private_Functions * @{ *//** * @brief Deinitializes the TIMx peripheral registers to their default reset values. * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. * @retval None */void TIM_DeInit(TIM_TypeDef* TIMx){ assert_param(IS_TIM_ALL_PERIPH(TIMx)); if (TIMx == TIM1) { RCC_APB2PeriphResetCmd&#40;RCC_APB2Periph_TIM1, ENABLE&#41;; RCC_APB2PeriphResetCmd&#40;RCC_APB2Periph_TIM1, DISABLE&#41;; } else if (TIMx == TIM2) { RCC_APB1PeriphResetCmd&#40;RCC_APB1Periph_TIM2, ENABLE&#41;; RCC_APB1PeriphResetCmd&#40;RCC_APB1Periph_TIM2, DISABLE&#41;; } else if (TIMx == TIM3) { RCC_APB1PeriphResetCmd&#40;RCC_APB1Periph_TIM3, ENABLE&#41;; RCC_APB1PeriphResetCmd&#40;RCC_APB1Periph_TIM3, DISABLE&#41;; } else if (TIMx == TIM4) { RCC_APB1PeriphResetCmd&#40;RCC_APB1Periph_TIM4, ENABLE&#41;; RCC_APB1PeriphResetCmd&#40;RCC_APB1Periph_TIM4, DISABLE&#41;; } else if (TIMx == TIM5) { RCC_APB1PeriphResetCmd&#40;RCC_APB1Periph_TIM5, ENABLE&#41;; RCC_APB1PeriphResetCmd&#40;RCC_APB1Periph_TIM5, DISABLE&#41;; } else if (TIMx == TIM6) { RCC_APB1PeriphResetCmd&#40;RCC_APB1Periph_TIM6, ENABLE&#41;; RCC_APB1PeriphResetCmd&#40;RCC_APB1Periph_TIM6, DISABLE&#41;; } else if (TIMx == TIM7) { RCC_APB1PeriphResetCmd&#40;RCC_APB1Periph_TIM7, ENABLE&#41;; RCC_APB1PeriphResetCmd&#40;RCC_APB1Periph_TIM7, DISABLE&#41;; } else if (TIMx == TIM8) { RCC_APB2PeriphResetCmd&#40;RCC_APB2Periph_TIM8, ENABLE&#41;; RCC_APB2PeriphResetCmd&#40;RCC_APB2Periph_TIM8, DISABLE&#41;; } else if (TIMx == TIM9) { RCC_APB2PeriphResetCmd&#40;RCC_APB2Periph_TIM9, ENABLE&#41;; RCC_APB2PeriphResetCmd&#40;RCC_APB2Periph_TIM9, DISABLE&#41;; } else if (TIMx == TIM10) { RCC_APB2PeriphResetCmd&#40;RCC_APB2Periph_TIM10, ENABLE&#41;; RCC_APB2PeriphResetCmd&#40;RCC_APB2Periph_TIM10, DISABLE&#41;; } else if (TIMx == TIM11) { RCC_APB2PeriphResetCmd&#40;RCC_APB2Periph_TIM11, ENABLE&#41;; RCC_APB2PeriphResetCmd&#40;RCC_APB2Periph_TIM11, DISABLE&#41;; } else if (TIMx == TIM12) { RCC_APB1PeriphResetCmd&#40;RCC_APB1Periph_TIM12, ENABLE&#41;; RCC_APB1PeriphResetCmd&#40;RCC_APB1Periph_TIM12, DISABLE&#41;; } else if (TIMx == TIM13) { RCC_APB1PeriphResetCmd&#40;RCC_APB1Periph_TIM13, ENABLE&#41;; RCC_APB1PeriphResetCmd&#40;RCC_APB1Periph_TIM13, DISABLE&#41;; } else if (TIMx == TIM14) { RCC_APB1PeriphResetCmd&#40;RCC_APB1Periph_TIM14, ENABLE&#41;; RCC_APB1PeriphResetCmd&#40;RCC_APB1Periph_TIM14, DISABLE&#41;; } else if (TIMx == TIM15) { RCC_APB2PeriphResetCmd&#40;RCC_APB2Periph_TIM15, ENABLE&#41;; RCC_APB2PeriphResetCmd&#40;RCC_APB2Periph_TIM15, DISABLE&#41;; } else if (TIMx == TIM16) { RCC_APB2PeriphResetCmd&#40;RCC_APB2Periph_TIM16, ENABLE&#41;; RCC_APB2PeriphResetCmd&#40;RCC_APB2Periph_TIM16, DISABLE&#41;; } else { if (TIMx == TIM17) { RCC_APB2PeriphResetCmd&#40;RCC_APB2Periph_TIM17, ENABLE&#41;; RCC_APB2PeriphResetCmd&#40;RCC_APB2Periph_TIM17, DISABLE&#41;; } }}/** * @brief Initializes the TIMx Time Base Unit peripheral according to * the specified parameters in the TIM_TimeBaseInitStruct. * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. * @param TIM_TimeBaseInitStruct: pointer to a TIM_TimeBaseInitTypeDef * structure that contains the configuration information for the * specified TIM peripheral. * @retval None */void TIM_TimeBaseInit(TIM_TypeDef* TIMx, TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct){ uint16_t tmpcr1 = 0; assert_param(IS_TIM_ALL_PERIPH(TIMx)); assert_param(IS_TIM_COUNTER_MODE(TIM_TimeBaseInitStruct->TIM_CounterMode)); assert_param(IS_TIM_CKD_DIV(TIM_TimeBaseInitStruct->TIM_ClockDivision)); tmpcr1 = TIMx->CR1; if((TIMx == TIM1) || (TIMx == TIM8)|| (TIMx == TIM2) || (TIMx == TIM3)|| (TIMx == TIM4) || (TIMx == TIM5)) { tmpcr1 &= (uint16_t)(~((uint16_t)(TIM_CR1_DIR | TIM_CR1_CMS))); tmpcr1 |= (uint32_t)TIM_TimeBaseInitStruct->TIM_CounterMode; } if((TIMx != TIM6) && (TIMx != TIM7)) { tmpcr1 &= (uint16_t)(~((uint16_t)TIM_CR1_CKD)); tmpcr1 |= (uint32_t)TIM_TimeBaseInitStruct->TIM_ClockDivision; } TIMx->CR1 = tmpcr1; TIMx->ARR = TIM_TimeBaseInitStruct->TIM_Period ; TIMx->PSC = TIM_TimeBaseInitStruct->TIM_Prescaler; if ((TIMx == TIM1) || (TIMx == TIM8)|| (TIMx == TIM15)|| (TIMx == TIM16) || (TIMx == TIM17)) { TIMx->RCR = TIM_TimeBaseInitStruct->TIM_RepetitionCounter; } TIMx->EGR = TIM_PSCReloadMode_Immediate; }/** * @brief Initializes the TIMx Channel1 according to the specified * parameters in the TIM_OCInitStruct. * @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral. * @param TIM_OCInitStru