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主控MSP430F5529，电机驱动模块L298N，openMV摄像头
一、总体思路
使用openMV线性回归，然后使用pid输出，使用串口发送到MSP430，在经过处理输出PWM到车轮，实现循迹
二、openMV代码
THRESHOLD = (0, 20, -128, 127, -128, 127) # Grayscale threshold for dark things...
import sensor, image, time
from pyb import UART,LED
from pid import PID
import ustruct
rho_pid = PID(p=0.17, i=0 , d=0)#y=ax+b b截距
theta_pid = PID(p=0.001, i=0, d=0)#a斜率
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQQVGA) # 80x60 (4,800 pixels) - O(N^2) max = 2,3040,000.
sensor.skip_frames(time = 2000) # 跳过2s帧
clock = time.clock() # to process a frame sometimes.
uart = UART(3,115200) #定义串口3变量
uart.init(115200, bits=8, parity=None, stop=1) # init with given parameters
def sending_data(xw):
global uart;
data = ustruct.pack(" |