_SKU_SEN0314__小MU视觉传感器 - jimaobian/DFRobotWikiCn GitHub Wiki

/*
****************************************************
* @brief MU Vision Sensor

 * @copyright   [DFRobot](http://www.dfrobot.com), 2016
 * @copyright   GNU Lesser General Public License

* @author [WWZ]([email protected])
* @version  V1.0
* @date  2019-03-11

* GNU Lesser General Public License.
* All above must be included in any redistribution
* ***************************************************
*/

#include <Wire.h>
#include "MuVisionSensor.h"
#include <SoftwareSerial.h>

//#define I2C_MODE
#define SERIAL_MODE
#define MU_ADDRESS    0x60
// change vision type here, VISION_TYPE:VISION_COLOR_DETECT
//                                      VISION_COLOR_RECOGNITION
//                                      VISION_BALL_DETECT
//                                      VISION_BODY_DETECT
//                                      VISION_SHAPE_CARD_DETECT
//                                      VISION_TRAFFIC_CARD_DETECT
//                                      VISION_NUM_CARD_DETECT
//#define VISION_TYPE     VISION_BALL_DETECT
//#define VISION_TYPE     VISION_BODY_DETECT
//#define VISION_TYPE     VISION_SHAPE_CARD_DETECT
#define VISION_TYPE     VISION_TRAFFIC_CARD_DETECT
//#define VISION_TYPE     VISION_NUM_CARD_DETECT
//#define VISION_TYPE     VISION_COLOR_DETECT
//#define VISION_TYPE     VISION_COLOR_RECOGNITION

#ifdef SERIAL_MODE
#define TX_PIN 2
#define RX_PIN 3
SoftwareSerial mySerial(RX_PIN, TX_PIN);
#endif
MuVisionSensor Mu(MU_ADDRESS);

void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);
  delay(500);

#ifdef I2C_MODE
  Wire.begin();
  Mu.begin(&Wire, kI2CMode);
#elif defined SERIAL_MODE
  mySerial.begin(9600);
  Mu.begin(&mySerial, kSerialMode);
#endif

  Mu.VisionBegin(VISION_TYPE);

  if (VISION_TYPE == VISION_COLOR_DETECT
      || VISION_TYPE == VISION_COLOR_RECOGNITION) {
    Mu.CameraSetAwb(kLockWhiteBalance); // lock AWB
    delay(1000);                        // waiting for AWB lock.
  if (VISION_TYPE == VISION_COLOR_DETECT
      || VISION_TYPE == VISION_COLOR_RECOGNITION) {
      Mu.write(VISION_TYPE, kXValue, 50);
      Mu.write(VISION_TYPE, kYValue, 50);
      Mu.write(VISION_TYPE, kWidthValue, 5);
      Mu.write(VISION_TYPE, kHeightValue, 5);
    }
  }
}

void loop() {
  // put your main code here, to run repeatedly:
  long time_start = millis();

  // read result
  if (Mu.GetValue(VISION_TYPE,kStatus)) {
    Serial.println("vision detected:");
    switch (VISION_TYPE) {
      case VISION_BALL_DETECT:
      case VISION_BODY_DETECT:
      case VISION_SHAPE_CARD_DETECT:
      case VISION_TRAFFIC_CARD_DETECT:
      case VISION_NUM_CARD_DETECT:
      case VISION_COLOR_DETECT:
        Serial.print("x = ");
        Serial.println(Mu.GetValue(VISION_TYPE, kXValue));
        Serial.print("y = ");
        Serial.println(Mu.GetValue(VISION_TYPE, kYValue));
        Serial.print("width = ");
        Serial.println(Mu.GetValue(VISION_TYPE, kWidthValue));
        Serial.print("height = ");
        Serial.println(Mu.GetValue(VISION_TYPE, kHeightValue));
        if (VISION_TYPE != VISION_COLOR_DETECT) {
          Serial.print("label = ");
          Serial.println(Mu.GetValue(VISION_TYPE, kLabel));
        } else {
          Serial.print("color = ");
          Serial.println(Mu.GetValue(VISION_TYPE, kLabel));
        }
        break;
      case VISION_COLOR_RECOGNITION:
        Serial.print("r = ");
        Serial.println(Mu.GetValue(VISION_TYPE, kRValue));
        Serial.print("g = ");
        Serial.println(Mu.GetValue(VISION_TYPE, kGValue));
        Serial.print("b = ");
        Serial.println(Mu.GetValue(VISION_TYPE, kBValue));
        Serial.print("color = ");
        Serial.println(Mu.GetValue(VISION_TYPE, kLabel));
        break;
      default:
        break;
    }
  } else {
    Serial.println("vision undetected.");
  }
  Serial.print("fps = ");
  Serial.println(1000/(millis()-time_start));
  Serial.println();
}

/*
****************************************************
* @brief MU Vision Sensor

 * @copyright   [DFRobot](http://www.dfrobot.com), 2016
 * @copyright   GNU Lesser General Public License

* @author [WWZ]([email protected])
* @version  V1.0
* @date  2019-03-11

* GNU Lesser General Public License.
* All above must be included in any redistribution
* ***************************************************
*/

#include <Wire.h>

#define MU_ADDRESS    0x60
#define PROTOCOL_VER  0x03
#define VISION_ID     0x03      // ball

// register define
#define REG_PROTOCOL_VER  0x01
#define REG_LED1_CONF     0x06
#define REG_LED2_CONF     0x07
#define REG_LED_LEVEL     0x08
#define REG_CAMERA_CONF1  0x10
#define REG_FRAME_CNT     0x1F
#define REG_VISION_ID     0x20
#define REG_VISION_CONF1  0x21
#define REG_PARAM_VALUE5  0x29
#define RESULT_NUM        0x34
#define RESULT_DATA1      0x40
#define RESULT_DATA2      0x41
#define RESULT_DATA3      0x42
#define RESULT_DATA4      0x43
#define RESULT_DATA5      0x44
// color
#define MU_COLOR_BLACK                0x01U
#define MU_COLOR_WHITE                0x02U
#define MU_COLOR_RED                  0x03U
#define MU_COLOR_YELLOW               0x04U
#define MU_COLOR_GREEN                0x05U
#define MU_COLOR_CYAN                 0x06U
#define MU_COLOR_BLUE                 0x07U
#define MU_COLOR_PURPLE               0x08U

int i2c_read8(uint8_t reg) {
  Wire.beginTransmission(MU_ADDRESS);
  Wire.write(reg);
  Wire.endTransmission();

  Wire.requestFrom(MU_ADDRESS, 1);
  return Wire.read();
}
void i2c_write8(const uint8_t reg, const uint8_t value) {
  Wire.beginTransmission(MU_ADDRESS);
  Wire.write(reg);
  Wire.write(value);
  Wire.endTransmission();
}

uint8_t reg[][2] = {
    { REG_VISION_ID,      VISION_ID }, // set vision type = vision_detect
    { REG_VISION_CONF1,   0x21 }, // vision begin
};
uint8_t frame_count_last = 0;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);
  Wire.begin();
  delay(500);

  if (i2c_read8(REG_PROTOCOL_VER) == PROTOCOL_VER) {
    Serial.println("device initialized.");
  } else {
    Serial.println("fail to initialize device! Please check protocol version.");
  }
  for (uint32_t i = 0; i < sizeof(reg)/2; ++i) {
    i2c_write8(reg[i][0], reg[i][1]);
  }
}

void loop() {
  // put your main code here, to run repeatedly:
  long time_start = millis();
  int frame_count = 0;
  // waiting for update
  do {
    frame_count = i2c_read8(REG_FRAME_CNT);
  } while(frame_count == frame_count_last);
  frame_count_last = frame_count;

  i2c_write8(REG_VISION_ID, VISION_ID);
  // read result
  if (i2c_read8(RESULT_NUM) > 0) {
    Serial.println("ball detected:");
    Serial.print("x = ");
    Serial.println(i2c_read8(RESULT_DATA1));
    Serial.print("y = ");
    Serial.println(i2c_read8(RESULT_DATA2));
    Serial.print("width = ");
    Serial.println(i2c_read8(RESULT_DATA3));
    Serial.print("height = ");
    Serial.println(i2c_read8(RESULT_DATA4));
    Serial.print("label = ");
    switch(i2c_read8(RESULT_DATA5)) {
      case 1:
        Serial.println("Ping-Pong ball");
        break;
      case 2:
        Serial.println("Tennis");
        break;
      default:
        break;
    }
  } else {
    Serial.println("ball undetected.");
  }
  Serial.print("fps = ");
  Serial.println(1000/(millis()-time_start));
  Serial.println();
}

/*
****************************************************
* @brief MU Vision Sensor

 * @copyright   [DFRobot](http://www.dfrobot.com), 2016
 * @copyright   GNU Lesser General Public License

* @author [WWZ]([email protected])
* @version  V1.0
* @date  2019-03-11

* GNU Lesser General Public License.
* All above must be included in any redistribution
* ***************************************************
*/

#include <Wire.h>

#define MU_ADDRESS    0x60
#define PROTOCOL_VER  0x03
#define VISION_ID     0x05      // body

// register define
#define REG_PROTOCOL_VER  0x01
#define REG_LED1_CONF     0x06
#define REG_LED2_CONF     0x07
#define REG_LED_LEVEL     0x08
#define REG_CAMERA_CONF1  0x10
#define REG_FRAME_CNT     0x1F
#define REG_VISION_ID     0x20
#define REG_VISION_CONF1  0x21
#define REG_PARAM_VALUE5  0x29
#define RESULT_NUM        0x34
#define RESULT_DATA1      0x40
#define RESULT_DATA2      0x41
#define RESULT_DATA3      0x42
#define RESULT_DATA4      0x43
#define RESULT_DATA5      0x44
// color
#define MU_COLOR_BLACK                0x01U
#define MU_COLOR_WHITE                0x02U
#define MU_COLOR_RED                  0x03U
#define MU_COLOR_YELLOW               0x04U
#define MU_COLOR_GREEN                0x05U
#define MU_COLOR_CYAN                 0x06U
#define MU_COLOR_BLUE                 0x07U
#define MU_COLOR_PURPLE               0x08U

int i2c_read8(uint8_t reg) {
  Wire.beginTransmission(MU_ADDRESS);
  Wire.write(reg);
  Wire.endTransmission();

  Wire.requestFrom(MU_ADDRESS, 1);
  return Wire.read();
}
void i2c_write8(const uint8_t reg, const uint8_t value) {
  Wire.beginTransmission(MU_ADDRESS);
  Wire.write(reg);
  Wire.write(value);
  Wire.endTransmission();
}

uint8_t reg[][2] = {
    { REG_VISION_ID,      VISION_ID }, // set vision type = vision_detect
    { REG_VISION_CONF1,   0x21 }, // vision begin
};
uint8_t frame_count_last = 0;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);
  Wire.begin();
  delay(500);

  if (i2c_read8(REG_PROTOCOL_VER) == PROTOCOL_VER) {
    Serial.println("device initialized.");
  } else {
    Serial.println("fail to initialize device! Please check protocol version.");
  }
  for (uint32_t i = 0; i < sizeof(reg)/2; ++i) {
    i2c_write8(reg[i][0], reg[i][1]);
  }
}

void loop() {
  // put your main code here, to run repeatedly:
  long time_start = millis();
  int frame_count = 0;
  // waiting for update
  do {
    frame_count = i2c_read8(REG_FRAME_CNT);
  } while(frame_count == frame_count_last);
  frame_count_last = frame_count;

  i2c_write8(REG_VISION_ID, VISION_ID);
  // read result
  if (i2c_read8(RESULT_NUM) > 0) {
    Serial.println("body detected:");
    Serial.print("x = ");
    Serial.println(i2c_read8(RESULT_DATA1));
    Serial.print("y = ");
    Serial.println(i2c_read8(RESULT_DATA2));
    Serial.print("width = ");
    Serial.println(i2c_read8(RESULT_DATA3));
    Serial.print("height = ");
    Serial.println(i2c_read8(RESULT_DATA4));
  } else {
    Serial.println("body undetected.");
  }
  Serial.print("fps = ");
  Serial.println(1000/(millis()-time_start));
  Serial.println();
}

/*
****************************************************
* @brief MU Vision Sensor

 * @copyright   [DFRobot](http://www.dfrobot.com), 2016
 * @copyright   GNU Lesser General Public License

* @author [WWZ]([email protected])
* @version  V1.0
* @date  2019-03-11

* GNU Lesser General Public License.
* All above must be included in any redistribution
* ***************************************************
*/

#include <Wire.h>

#define MU_ADDRESS    0x60
#define PROTOCOL_VER  0x03
#define VISION_ID     0x02

// register define
#define REG_PROTOCOL_VER  0x01
#define REG_LED1_CONF     0x06
#define REG_LED2_CONF     0x07
#define REG_LED_LEVEL     0x08
#define REG_CAMERA_CONF1  0x10
#define REG_FRAME_CNT     0x1F
#define REG_VISION_ID     0x20
#define REG_VISION_CONF1  0x21
#define REG_PARAM_VALUE1  0x25
#define REG_PARAM_VALUE2  0x26
#define REG_PARAM_VALUE3  0x27
#define REG_PARAM_VALUE4  0x28
#define RESULT_NUM        0x34
#define RESULT_DATA1      0x40
#define RESULT_DATA2      0x41
#define RESULT_DATA3      0x42
#define RESULT_DATA5      0x44
// color
#define MU_COLOR_BLACK                0x01U
#define MU_COLOR_WHITE                0x02U
#define MU_COLOR_RED                  0x03U
#define MU_COLOR_YELLOW               0x04U
#define MU_COLOR_GREEN                0x05U
#define MU_COLOR_CYAN                 0x06U
#define MU_COLOR_BLUE                 0x07U
#define MU_COLOR_PURPLE               0x08U

int i2c_read8(uint8_t reg) {
  Wire.beginTransmission(MU_ADDRESS);
  Wire.write(reg);
  Wire.endTransmission();

  Wire.requestFrom(MU_ADDRESS, 1);
  return Wire.read();
}
void i2c_write8(const uint8_t reg, const uint8_t value) {
  Wire.beginTransmission(MU_ADDRESS);
  Wire.write(reg);
  Wire.write(value);
  Wire.endTransmission();
}

uint8_t reg[][2] = {
//    { REG_LED_LEVEL,      0x00 }, // LED will be closed automatically in this vision type.
//    { REG_LED1_CONF,      0x00 }, // LED1 color
//    { REG_LED2_CONF,      0x00 }, // LED2 color
    { REG_CAMERA_CONF1,   0x30 }, // lock AWB
    { REG_VISION_ID,      VISION_ID }, // set vision type = vision_recognition
    { REG_PARAM_VALUE1,   50 }, // x
    { REG_PARAM_VALUE2,   50 }, // y
//    { REG_PARAM_VALUE3,   5 }, // width
//    { REG_PARAM_VALUE4,   5 }, // height
    { REG_VISION_CONF1,   0x21 }, // vision begin
};
uint8_t frame_count_last = 0;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);
  Wire.begin();
  delay(500);

  if (i2c_read8(REG_PROTOCOL_VER) == PROTOCOL_VER) {
    Serial.println("device initialized.");
  } else {
    Serial.println("fail to initialize device! Please check protocol version.");
  }
  for (uint32_t i = 0; i < sizeof(reg)/2; ++i) {
    i2c_write8(reg[i][0], reg[i][1]);
  }
  delay(1000); // waiting for AWB lock.
}

void loop() {
  // put your main code here, to run repeatedly:
  long time_start = millis();
  int frame_count = 0;
  // waiting for update
  do {
    frame_count = i2c_read8(REG_FRAME_CNT);
  } while(frame_count == frame_count_last);
  frame_count_last = frame_count;

  i2c_write8(REG_VISION_ID, VISION_ID);
  // read result
  if (i2c_read8(RESULT_NUM) > 0) {
    Serial.println("color detected:");
    Serial.print("color = (");
    Serial.print(i2c_read8(RESULT_DATA1));
    Serial.print(",");
    Serial.print(i2c_read8(RESULT_DATA2));
    Serial.print(",");
    Serial.print(i2c_read8(RESULT_DATA3));
    Serial.print(")\nlabel = ");
    switch (i2c_read8(RESULT_DATA5)) {
      case 0:
        Serial.println("unknow color");
        break;
      case 1:
        Serial.println("black");
        break;
      case 2:
        Serial.println("white");
        break;
      case 3:
        Serial.println("red");
        break;
      case 4:
        Serial.println("yellow");
        break;
      case 5:
        Serial.println("green");
        break;
      case 6:
        Serial.println("cyan");
        break;
      case 7:
        Serial.println("blue");
        break;
      case 8:
        Serial.println("violet");
        break;
      default:
        break;
    }
  } else {
    Serial.println("color undetected.");
  }
  Serial.print("fps = ");
  Serial.println(1000/(millis()-time_start));
  Serial.println();
}

/*
****************************************************
* @brief MU Vision Sensor

 * @copyright   [DFRobot](http://www.dfrobot.com), 2016
 * @copyright   GNU Lesser General Public License

* @author [WWZ]([email protected])
* @version  V1.0
* @date  2019-03-11

* GNU Lesser General Public License.
* All above must be included in any redistribution
* ***************************************************
*/

#include <Wire.h>

#define MU_ADDRESS    0x60
#define PROTOCOL_VER  0x03
#define VISION_ID     0x06      // shape card
//#define VISION_ID     0x07      // traffic card
//#define VISION_ID     0x08      // number card

// register define
#define REG_PROTOCOL_VER  0x01
#define REG_LED1_CONF     0x06
#define REG_LED2_CONF     0x07
#define REG_LED_LEVEL     0x08
#define REG_CAMERA_CONF1  0x10
#define REG_FRAME_CNT     0x1F
#define REG_VISION_ID     0x20
#define REG_VISION_CONF1  0x21
#define REG_PARAM_VALUE5  0x29
#define RESULT_NUM        0x34
#define RESULT_DATA1      0x40
#define RESULT_DATA2      0x41
#define RESULT_DATA3      0x42
#define RESULT_DATA4      0x43
#define RESULT_DATA5      0x44
// color
#define MU_COLOR_BLACK                0x01U
#define MU_COLOR_WHITE                0x02U
#define MU_COLOR_RED                  0x03U
#define MU_COLOR_YELLOW               0x04U
#define MU_COLOR_GREEN                0x05U
#define MU_COLOR_CYAN                 0x06U
#define MU_COLOR_BLUE                 0x07U
#define MU_COLOR_PURPLE               0x08U

int i2c_read8(uint8_t reg) {
  Wire.beginTransmission(MU_ADDRESS);
  Wire.write(reg);
  Wire.endTransmission();

  Wire.requestFrom(MU_ADDRESS, 1);
  return Wire.read();
}
void i2c_write8(const uint8_t reg, const uint8_t value) {
  Wire.beginTransmission(MU_ADDRESS);
  Wire.write(reg);
  Wire.write(value);
  Wire.endTransmission();
}

uint8_t reg[][2] = {
    { REG_VISION_ID,      VISION_ID }, // set vision type = vision_detect
    { REG_VISION_CONF1,   0x21 }, // vision begin
};
uint8_t frame_count_last = 0;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);
  Wire.begin();
  delay(500);

  if (i2c_read8(REG_PROTOCOL_VER) == PROTOCOL_VER) {
    Serial.println("device initialized.");
  } else {
    Serial.println("fail to initialize device! Please check protocol version.");
  }
  for (uint32_t i = 0; i < sizeof(reg)/2; ++i) {
    i2c_write8(reg[i][0], reg[i][1]);
  }
}

void loop() {
  // put your main code here, to run repeatedly:
  long time_start = millis();
  int frame_count = 0;
  // waiting for update
  do {
    frame_count = i2c_read8(REG_FRAME_CNT);
  } while(frame_count == frame_count_last);
  frame_count_last = frame_count;

  i2c_write8(REG_VISION_ID, VISION_ID);
  // read result
  if (i2c_read8(RESULT_NUM) > 0) {
    Serial.println("card detected:");
    Serial.print("x = ");
    Serial.println(i2c_read8(RESULT_DATA1));
    Serial.print("y = ");
    Serial.println(i2c_read8(RESULT_DATA2));
    Serial.print("width = ");
    Serial.println(i2c_read8(RESULT_DATA3));
    Serial.print("height = ");
    Serial.println(i2c_read8(RESULT_DATA4));
    Serial.print("label = ");
    Serial.println(i2c_read8(RESULT_DATA5));
  } else {
    Serial.println("card undetected.");
  }
  Serial.print("fps = ");
  Serial.println(1000/(millis()-time_start));
  Serial.println();
}