message

______(2).ino

@@ -0,0 +1,293 @@
+#include <Arduino.h>
+#include <Wire.h>
+#include <Servo.h>
+double _ABVAR_1_i = 0.0 ;
+int a = 0;
+int b = 0;
+Servo servo_pin_4;
+//TCS230连接设置 
+const int s0 = A0; 
+const int s1 = A1; 
+const int s2 = A4; 
+const int s3 = A5; 
+const int out = 8; //10
+const int led = 7;
+// Variables 
+int red = 0; 
+int green = 0; 
+int blue = 0; 
+void trunleft();
+void trunright();
+void forward();
+void forward1();
+void forward2();//20
+void stop1();
+void color() ;
+int color_see();
+void zha_qi_qiu();
+const int zuo=3;
+const int you=17;
+int c=0;
+ int _ABVAR_2_a = 0;
+  int _ABVAR_3_b = 0;
+void setup()
+{
+    pinMode( zuo, INPUT);
+  pinMode( you, INPUT);
+  pinMode( 16, INPUT);
+  pinMode( 14, INPUT);
+  pinMode( 10, OUTPUT);
+  pinMode( 6, OUTPUT);
+  pinMode( 5, OUTPUT);
+  pinMode( 9, OUTPUT);
+  _ABVAR_1_i = 0.0 ;
+ 
+  servo_pin_4.attach(4);
+ 
+ pinMode(s0, OUTPUT); 
+ pinMode(s1, OUTPUT); 
+ pinMode(s2, OUTPUT); 
+ pinMode(s3, OUTPUT); 
+ pinMode(out, INPUT); 
+ pinMode(led, OUTPUT);
+ digitalWrite(s0, HIGH); 
+ digitalWrite(s1, HIGH); 
+
+}
+
+void loop()
+{
+ /* if(!(digitalRead(16)))
+ {
+   forward();
+ 
+ }
+ else*/ 
+  {if (( digitalRead(you) && digitalRead(zuo) ))
+  {
+    forward();
+  }
+  else
+  {
+    if (( !( digitalRead(you) ) && digitalRead(zuo) ))
+    {
+      trunright();
+    }
+    else
+    {
+      if (( digitalRead(you) && !( digitalRead(zuo) ) ))
+      {
+        trunleft();
+      }
+      else
+      {
+        if (( !( digitalRead(you) ) && !( digitalRead(zuo) ) ))
+        {
+          _ABVAR_1_i = ( _ABVAR_1_i + 1 ) ;
+          if (( ( _ABVAR_1_i ) == ( 1 ) ))
+          {
+            forward1();
+            delay( 3500 );
+          }
+          else
+          {
+            if (( ( _ABVAR_1_i ) == ( 2 ) ))
+            {
+              forward1_1();
+              delay( 3700 );
+            }
+            else
+            {
+              if (( ( _ABVAR_1_i ) == ( 3 ) ))
+             {   
+              stop1();
+                      digitalWrite(led, HIGH);
+                      delay(500);
+                      color();
+                      digitalWrite(led, LOW);
+                      if (red < blue && red < green)
+                      { 
+                        _ABVAR_2_a = 1;
+                //LcdDisplay(" - (Red Color)");
+                      } 
+                      else if (blue < red && blue < green) 
+                      { 
+                        _ABVAR_2_a = 2; 
+                //      LcdDisplay(" - (Blue Color)");
+                      } 
+                      else if (green < red && green < blue) 
+                      { 
+                        _ABVAR_2_a = 3; 
+                //      LcdDisplay(" - (Green Color)");
+                      }
+                      while(((_ABVAR_2_a)!= (_ABVAR_3_b)))
+                      {
+                        pan_duan_yan_se();
+                      }
+                      duo_ji();               
+              /*int j;
+              stop1();
+              a =( color_see());
+               for( j=1;j<=3;j++)
+               {
+                 forward2();
+              delay( 1000 );
+              stop1();
+              b = color_see();
+              if(a==b)
+              {  zha_qi_qiu() ;
+                 forward();
+                      delay(4000);
+                      stop1();
+                       delay(4000);}
+               }
+            //zha wan qi qiu   */         
+             }
+             
+             
+            }//three time
+          }//two time
+        }// one time
+      }
+    }
+  }
+  }
+}
+
+void forward()
+{
+  analogWrite(9 , 180);
+  analogWrite(10 , 0);
+  analogWrite(5 , 193);
+  analogWrite(6 , 0);
+}
+
+void trunleft()
+{
+  analogWrite(9 , 0);
+  analogWrite(10 , 120);
+  analogWrite(5 , 120);
+  analogWrite(6 , 0);
+}
+
+void forward2()
+{
+  analogWrite(9 , 100);
+  analogWrite(10 , 0);
+  analogWrite(5 , 110);
+  analogWrite(6 , 0);
+}
+void stop1()
+{
+  analogWrite(9 , 0);
+  analogWrite(10 , 0);
+  analogWrite(5 , 0);
+  analogWrite(6 , 0);
+}
+
+void forward1()
+{
+  analogWrite(9 , 200);
+  analogWrite(10 , 0);
+  analogWrite(5 , 200);
+  analogWrite(6 , 0);
+}
+void forward1_1()
+{
+  analogWrite(9 , 250);
+  analogWrite(10 , 0);
+  analogWrite(5 , 250);
+  analogWrite(6 , 0);
+}
+
+void trunright()
+{
+  analogWrite(9 , 120);
+  analogWrite(10 , 0);
+  analogWrite(5 , 0);
+  analogWrite(6 , 120);
+}
+/*int color_see()
+  {
+    delay(150);
+      digitalWrite(led, HIGH);
+      delay(150);
+      color();
+  
+    
+      if (red < blue && red < green)
+      { 
+        return 1;      
+      } 
+     
+      else if (blue < red && blue < green) 
+      { 
+        return 2; 
+      }      
+      else if (green < red && green < blue) 
+      { 
+       return 3; 
+      }         
+  }
+  */
+void color() 
+{ 
+ digitalWrite(s2, LOW); 
+ digitalWrite(s3, LOW); 
+ red = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH); 
+ digitalWrite(s3, HIGH); 
+ blue = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH); 
+ digitalWrite(s2, HIGH); 
+ green = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH); 
+}
+void duo_ji()
+{
+  for(int i=0;i<3;i++)
+{
+  servo_pin_4.write( 90 );
+  delay( 300 );
+  servo_pin_4.write( 180 );
+  delay( 600 );
+  servo_pin_4.write( 90 );
+  delay( 300 );
+}
+}
+void pan_duan_yan_se()
+{
+  forward();
+  delay(600);
+  stop1();
+  digitalWrite(led, HIGH);
+  delay(500);
+  color();
+  digitalWrite(led, LOW);
+  if (red < blue && red < green)
+  { 
+    _ABVAR_3_b = 1;
+//        LcdDisplay(" - (Red Color)");
+  } 
+ 
+  else if (blue < red && blue < green) 
+  { 
+    _ABVAR_3_b = 2; 
+//        LcdDisplay(" - (Blue Color)");
+  } 
+ 
+  else if (green < red && green < blue) 
+  { 
+    _ABVAR_3_b = 3; 
+//        LcdDisplay(" - (Green Color)");
+  }                       
+}
+/*void zha_qi_qiu()
+{
+for(int i=0;i<3;i++)
+{
+ servo_pin_4.write(90);
+ delay(1000);
+ servo_pin_4.write(150);
+ delay(1000);
+ servo_pin_4.write(90);
+ delay(1000);
+}
+}*/

face_con/PCA9685.py

@@ -0,0 +1,142 @@
+Skip to content
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+@aigy0828 
+v-thiennp12
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+palt-tilt-cam/PCA9685.py /
+@v-thiennp12
+v-thiennp12 Add files via upload
+Latest commit 99c7114 on 10 Aug 2020
+ History
+ 1 contributor
+99 lines (84 sloc)  3.24 KB
+   
+#!/usr/bin/python
+
+import time
+import math
+import smbus
+
+# ============================================================================
+# Raspi PCA9685 16-Channel PWM Servo Driver
+# ============================================================================
+
+class PCA9685:
+
+  # Registers/etc.
+  __SUBADR1            = 0x02
+  __SUBADR2            = 0x03
+  __SUBADR3            = 0x04
+  __MODE1              = 0x00
+  __MODE2              = 0x01
+  __PRESCALE           = 0xFE
+  __LED0_ON_L          = 0x06
+  __LED0_ON_H          = 0x07
+  __LED0_OFF_L         = 0x08
+  __LED0_OFF_H         = 0x09
+  __ALLLED_ON_L        = 0xFA
+  __ALLLED_ON_H        = 0xFB
+  __ALLLED_OFF_L       = 0xFC
+  __ALLLED_OFF_H       = 0xFD
+
+
+  def __init__(self, address=0x40, debug=False):
+    self.bus = smbus.SMBus(1)
+    self.address = address
+    self.debug = debug
+    if (self.debug):
+      print("Reseting PCA9685")
+    self.write(self.__MODE1, 0x00)
+    
+  def write(self, reg, value):
+    "Writes an 8-bit value to the specified register/address"
+    self.bus.write_byte_data(self.address, reg, value)
+    if (self.debug):
+      print("I2C: Write 0x%02X to register 0x%02X" % (value, reg))
+      
+  def read(self, reg):
+    "Read an unsigned byte from the I2C device"
+    result = self.bus.read_byte_data(self.address, reg)
+    if (self.debug):
+      print("I2C: Device 0x%02X returned 0x%02X from reg 0x%02X" % (self.address, result & 0xFF, reg))
+    return result
+    
+  def setPWMFreq(self, freq):
+    "Sets the PWM frequency"
+    prescaleval = 25000000.0    # 25MHz
+    prescaleval /= 4096.0       # 12-bit
+    prescaleval /= float(freq)
+    prescaleval -= 1.0
+    if (self.debug):
+      print("Setting PWM frequency to %d Hz" % freq)
+      print("Estimated pre-scale: %d" % prescaleval)
+    prescale = math.floor(prescaleval + 0.5)
+    if (self.debug):
+      print("Final pre-scale: %d" % prescale)
+
+    oldmode = self.read(self.__MODE1);
+    newmode = (oldmode & 0x7F) | 0x10        # sleep
+    self.write(self.__MODE1, newmode)        # go to sleep
+    self.write(self.__PRESCALE, int(math.floor(prescale)))
+    self.write(self.__MODE1, oldmode)
+    time.sleep(0.005)
+    self.write(self.__MODE1, oldmode | 0x80)
+    self.write(self.__MODE2, 0x04)
+
+  def setPWM(self, channel, on, off):
+    "Sets a single PWM channel"
+    self.write(self.__LED0_ON_L+4*channel, on & 0xFF)
+    self.write(self.__LED0_ON_H+4*channel, on >> 8)
+    self.write(self.__LED0_OFF_L+4*channel, off & 0xFF)
+    self.write(self.__LED0_OFF_H+4*channel, off >> 8)
+    if (self.debug):
+      print("channel: %d  LED_ON: %d LED_OFF: %d" % (channel,on,off))
+      
+  def setServoPulse(self, channel, pulse):
+    "Sets the Servo Pulse,The PWM frequency must be 50HZ"
+    pulse = pulse*4096/20000        #PWM frequency is 50HZ,the period is 20000us
+    self.setPWM(channel, 0, int(pulse))
+    
+  def setRotationAngle(self, channel, Angle): 
+    if(Angle >= 0 and Angle <= 180):
+        temp = Angle * (2000 / 180) + 501
+        self.setServoPulse(channel, temp)
+    else:
+        print("Angle out of range")
+        
+  def start_PCA9685(self):
+    self.write(self.__MODE2, 0x04)
+    #Just restore the stopped state that should be set for exit_PCA9685
+    
+  def exit_PCA9685(self):
+    self.write(self.__MODE2, 0x00)#Please use initialization or __MODE2 =0x04
+© 2021 GitHub, Inc.
+Terms
+Privacy
+Security
+Status
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+Contact GitHub
+Pricing
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+About
+Loading complete

face_con/bonjour.py

@@ -0,0 +1,10 @@
+import numpy
+
+class bonjour:
+    def __init__(self):
+        self.bonjour_text = ['bonjour x_x', 'salut !!!', 'ça va ?', 'vas-y ^^', 'chica', 'on your mark', 'hallo', 'another day in paradise !']
+        
+    def saysomething(self):
+        x = numpy.random.randint(len(self.bonjour_text))
+        bonjour_rand = self.bonjour_text[x]        
+        return bonjour_rand

face_con/cachecache.py

@@ -0,0 +1,10 @@
+import numpy
+
+class cachecache:
+    def __init__(self):
+        self.alltext = ['je suis fatigué là ..', 'je me cache', '', 'approches-toi', 'bella ciao', 'allez, je décolle', 'j"ai faim', 'on fait une pause ?']
+        
+    def saysomething(self):
+        x = numpy.random.randint(len(self.alltext))
+        text_rand = self.alltext[x]        
+        return text_rand

face_con/face.py

@@ -0,0 +1,267 @@
+import numpy
+import cv2
+import os
+import curses
+import time
+from PCA9685 import PCA9685
+from bonjour import bonjour
+from missing import missing
+from cachecache import cachecache
+# Load the cascade
+# ========================================================================
+# faceCascade = cv2.CascadeClassifier('data/haarcascade_frontalface_default.xml')
+# faceCascade.load('data/haarcascade_frontalface_default.xml')
+
+cascPath=os.path.dirname(cv2.__file__)+"/data/haarcascade_frontalface_default.xml"
+#cascPath=os.path.dirname(cv2.__file__)+"/data/haarcascade_eye_tree_eyeglasses.xml"
+
+faceCascade = cv2.CascadeClassifier(cascPath)
+# Read the input image
+print(cascPath)
+# Start video capture
+video_capture = cv2.VideoCapture(0)
+
+# font 
+font = cv2.FONT_HERSHEY_SIMPLEX  
+# org 
+org = (50, 50)   
+# fontScale 
+fontScale = 1   
+# Blue color in BGR 
+color = (255, 0, 0)   
+# Line thickness of 2 px 
+thickness = 2
+
+# ========================================================================
+sync_freq = 0 
+# ========================================================================
+# get the curses screen window
+# screen = curses.initscr()
+# # turn off input echoing
+# curses.noecho()
+# # respond to keys immediately (don't wait for enter)
+# curses.cbreak()
+# # map arrow keys to special values
+# screen.keypad(True)
+
+#setting start up serrvo positions
+# ========================================================================
+pwm = PCA9685()
+pwm.setPWMFreq(50)
+
+max_PAN      = 180
+max_TILT     = 145
+min_PAN      = 0
+min_TILT     = 0
+
+max_rate_TILT = 3
+max_rate_PAN  = 3
+    
+step_PAN     = 1
+step_TILT    = 1
+current_PAN  = 90
+current_TILT = 60
+pwm.setRotationAngle(1, current_PAN) #PAN    
+pwm.setRotationAngle(0, current_TILT) #TILT
+
+# pseudo-PID control
+k_PAN = 0.015
+k_TILT = -0.015
+
+kd_PAN = 0.095
+kd_TILT = -0.095
+
+error_acceptance = 15
+# ========================================================================
+previous_x = 0
+previous_y = 0
+
+previous_h = 0
+previous_w = 0                  
+
+delta_x = 0
+delta_y = 0
+
+previous_delta_x = 0
+previous_delta_y = 0
+
+delta_x_dot = 0
+delta_y_dot = 0
+
+rectangle_found = 0
+
+# make some fun
+bonjour = bonjour()
+missing = missing()
+cachecache = cachecache()
+
+bonjour_ind = 0
+missing_ind = 0
+cachecache_ind = 0
+
+#
+# main loop
+# ========================================================================
+# https://techvidvan.com/tutorials/face-recognition-project-python-opencv/
+
+try:
+    while True:
+
+        # Try to reduce lagging issues
+        if sync_freq == 0:
+            # Capture frame-by-frame
+            ret, frame = video_capture.read()
+            gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+            faces = faceCascade.detectMultiScale(gray,scaleFactor=1.2, minNeighbors=4, minSize=(30, 30), flags=cv2.CASCADE_SCALE_IMAGE)
+            
+        if sync_freq < 0:
+            sync_freq += 1
+            # stopping blinking rectangle
+#             if rectangle_found > 0:
+#                 cv2.rectangle(frame, (previous_x, previous_y), (x+previous_w, y+previous_h), (0, 255, 0), 2)            
+        #
+        else:            
+            sync_freq = 0
+            rectangle_found = 0
+            for (x, y, w, h) in faces:
+                cv2.rectangle(frame, (x, y), (x+w, y+h), (0, 255, 0), 2)
+                rectangle_found += 1
+                if rectangle_found == 1:                    
+                    print(' x y previous ', previous_x, previous_y)                    
+# ========================================================================================
+                    # stay away from me !
+#                     delta_x = previous_x - x
+#                     delta_y = previous_y - y
+
+                    # get in touch !                   
+                    
+                    delta_x = 300 - x
+                    delta_y = 200 - y
+                    
+                    
+                    delta_x_dot = delta_x - previous_delta_x
+                    delta_y_dot = delta_y - previous_delta_y
+                    
+# ========================================================================================
+                    # ignoring small error
+                    if abs(delta_x) < error_acceptance:
+                        delta_x     = 0
+                        delta_x_dot = 0
+                        
+                    if abs(delta_y) < error_acceptance:
+                        delta_y     = 0
+                        delta_y_dot = 0
+# ========================================================================================
+                    print(' x y new ', x, y)
+                    
+                    previous_x = x
+                    previous_y = y
+                    
+                    previous_h = h
+                    previous_w = w
+                    
+                    previous_delta_x = delta_x
+                    previous_delta_y = delta_y
+                    
+                    cv2.rectangle(frame, (x, y), (x+w, y+h), (0, 255, 0), 2)
+                    cv2.putText(frame, str(x) + " " + str(y), (x, y), font, fontScale, (75, 75, 0), thickness, cv2.LINE_AA)
+       
+        # wait for keypress
+        # ===========================================================
+        char = cv2.waitKey(20)
+        #print('key pressed', char)
+        
+        if char == ord('q'):
+            break
+        if char == ord('p'):
+            #if p is pressed take a photo!
+    #         camera.capture('image%s.jpg' % pic)
+    #         pic = pic +1
+    #         screen.addstr(0, 0, 'picture taken! ')
+            cv2.putText(frame, 'another day in paradise !', (50,50) , font, fontScale, color, thickness, cv2.LINE_AA)
+        elif char == 83:
+            current_PAN = max(min_PAN, current_PAN - step_PAN)
+            pwm.setRotationAngle(1, current_PAN) #PAN 
+            #time.sleep(0.001)
+            cv2.putText(frame, 'right ', (20, 20), font, fontScale, (0, 255, 0), thickness, cv2.LINE_AA) 
+            
+        elif char == 81:
+            current_PAN = min(max_PAN, current_PAN + step_PAN)
+            pwm.setRotationAngle(1, current_PAN) #PAN 
+            #time.sleep(0.001)
+            cv2.putText(frame, 'left ', (20, 20), font, fontScale, (0, 255, 0), thickness, cv2.LINE_AA)
+            
+        elif char == 82:
+            current_TILT = max(min_TILT, current_TILT - step_TILT)
+            pwm.setRotationAngle(0, current_TILT) #TILT 
+            #time.sleep(0.001)
+            cv2.putText(frame, 'up ', (20, 20), font, fontScale, (0, 255, 0), thickness, cv2.LINE_AA)
+            
+        elif char == 84:
+            current_TILT = min(max_TILT, current_TILT + step_TILT)
+            pwm.setRotationAngle(0, current_TILT) #TILT 
+            #time.sleep(0.001)            
+            cv2.putText(frame, 'down ', (20, 20), font, fontScale, (0, 255, 0), thickness, cv2.LINE_AA)
+            
+        elif rectangle_found > 0 and (abs(delta_x) < 500 and abs(delta_y) < 500) and char == -1:
+            # stay away
+#             k_PAN = -0.01
+#             k_TILT = +0.01
+            # get in touch            
+            print('pan tilt -- current ', current_PAN, current_TILT)
+
+            # pseu-do PID
+            delta_TILT = k_TILT * delta_y + kd_TILT * delta_y_dot
+            # rate-limiter
+            delta_TILT = min(abs(delta_TILT), max_rate_TILT)*numpy.sign(delta_TILT)
+            # noise exclude
+            if abs(delta_TILT) < step_TILT:
+                delta_TILT = 0
+            # here we go
+            current_TILT = current_TILT + delta_TILT
+
+            
+            if current_TILT > max_TILT:
+                current_TILT = max_TILT                
+            if current_TILT < min_TILT:                
+                current_TILT = min_TILT
+                
+            print('delta tilt ', delta_TILT)
+            # pseu-do PID
+            delta_PAN = k_PAN * delta_x + kd_PAN * delta_x_dot
+            # rate-limiter
+            delta_PAN = min(abs(delta_PAN), max_rate_PAN)*numpy.sign(delta_PAN)
+            # noise exclude
+            if abs(delta_PAN) < step_PAN:
+                delta_PAN = 0            
+            # here we go
+            
+            current_PAN = current_PAN + delta_PAN
+                
+            if current_PAN > max_PAN:
+                current_PAN = max_PAN                
+            if current_PAN < min_PAN:                
+                current_PAN = min_PAN           
+            
+            print('delta PAN ', delta_PAN)
+            
+            print('delta_x delta_y ', delta_x, delta_y)
+            
+            print('pan tilt -- new ', current_PAN, current_TILT)            
+            
+            pwm.setRotationAngle(1, current_PAN)
+            pwm.setRotationAngle(0, current_TILT)
+
+        elif char == -1:
+            cv2.putText(frame, 'on air !', (20, 20), font, fontScale, (0, 255, 0), thickness, cv2.LINE_AA)
+            #print('on air !')
+            
+        # Display the resulting frame
+        cv2.imshow('face_tracking', frame)            
+#             
+finally:
+    # shut down cleanly
+    pwm.exit_PCA9685()
+    
+    video_capture.release()
+    cv2.destroyAllWindows()

face_con/get0.py

@@ -0,0 +1,89 @@
+import curses
+import os
+import time
+import picamera
+
+#!/usr/bin/python
+import RPi.GPIO as GPIO
+from PCA9685 import PCA9685
+
+#setting up camera
+camera = picamera.PiCamera()
+camera.resolution = (512, 384)
+camera.start_preview()
+
+#flipping the camera for so its not upside down
+# camera.vflip = True
+# camera.hflip = True
+
+# get the curses screen window
+screen = curses.initscr()
+
+# turn off input echoing
+curses.noecho()
+
+# respond to keys immediately (don't wait for enter)
+curses.cbreak()
+
+# map arrow keys to special values
+screen.keypad(True)
+
+#setting start up serrvo positions
+
+pwm = PCA9685()
+pwm.setPWMFreq(50)
+
+max_PAN      = 180
+max_TILT     = 145
+min_PAN      = 0
+min_TILT     = 0
+    
+step_PAN     = 10
+step_TILT    = 10
+current_PAN  = 90
+current_TILT = 90
+pwm.setRotationAngle(1, current_PAN) #PAN    
+pwm.setRotationAngle(0, current_TILT) #TILT
+
+# print doesn't work with curses, use addstr instead
+pic = 1
+try:
+    while True:
+        char = screen.getch()
+        if char == ord('q'):
+            #if q is pressed quit
+            break
+        if char == ord('p'):
+            #if p is pressed take a photo!
+            camera.capture('image%s.jpg' % pic)
+            pic = pic +1
+            screen.addstr(0, 0, 'picture taken! ')
+            
+        elif char == curses.KEY_RIGHT:
+            screen.addstr(0, 0, 'right ')
+            current_PAN = max(min_PAN, current_PAN - step_PAN)
+            pwm.setRotationAngle(1, current_PAN) #PAN 
+            time.sleep(0.001)
+            
+        elif char == curses.KEY_LEFT:
+            screen.addstr(0, 0, 'left ')
+            current_PAN = min(max_PAN, current_PAN + step_PAN)
+            pwm.setRotationAngle(1, current_PAN) #PAN 
+            time.sleep(0.001)
+            
+        elif char == curses.KEY_UP:
+            screen.addstr(0, 0, 'up ')
+            current_TILT = max(min_TILT, current_TILT - step_TILT)
+            pwm.setRotationAngle(0, current_TILT) #TILT 
+            time.sleep(0.001)
+            
+        elif char == curses.KEY_DOWN:
+            screen.addstr(0, 0, 'up ')
+            current_TILT = min(max_TILT, current_TILT + step_TILT)
+            pwm.setRotationAngle(0, current_TILT) #TILT 
+            time.sleep(0.001)
+finally:
+    # shut down cleanly
+    pwm.exit_PCA9685()
+    curses.nocbreak(); screen.keypad(0); curses.echo()
+    curses.endwin()

face_con/missing.py

@@ -0,0 +1,10 @@
+import numpy
+
+class missing:
+    def __init__(self):
+        self.alltext = ['ne pars pas', 'what do you mean ?', 'on est en agile là !', 'approches-toi ^ ^', 'un café ?', 'qu"est-ce qu"il fait beau aujourd"hui !', 'il est trop froid ?']
+        
+    def saysomething(self):
+        x = numpy.random.randint(len(self.alltext))
+        text_rand = self.alltext[x]        
+        return text_rand

ok.py

@@ -0,0 +1,16 @@
+import time
+import Adafruit_PCA9685             # 调用PCA9685模块
+
+pwm = Adafruit_PCA9685.PCA9685()
+# 设置最大最小脉冲长度
+servo_min =  90  # 4096的最小脉冲长度
+servo_max = 640  # 4096的最大脉冲长度
+servo_mid = 365  # 4096的中间脉冲长度
+# 设置频率为60
+pwm.set_pwm_freq(60)
+print('Moving servo on, press Ctrl-C to quit...')
+while True:
+    pwm.set_pwm(0, 0, servo_min)
+    time.sleep(1)
+    pwm.set_pwm(0, 0, servo_max)
+    time.sleep(1)

sketch_oct24a/sketch_oct24a.ino

@@ -0,0 +1,302 @@
+  #include <Servo.h>
+  #include"LedControl.h"
+  LedControl lc=LedControl(12,11,13,1);
+  double _ABVAR_1_i = 0 ;
+  Servo servo_pin_4;
+  const int s0 = A3; 
+  const int s1 = A4; 
+  const int s2 = A1; 
+  const int s3 = A5; 
+  const int out = 8; 
+  const int led = 7;
+  int red = 0; 
+  int green = 0; 
+  int blue = 0; 
+  int _ABVAR_2_a = 0;
+  int _ABVAR_3_b = 0;
+  
+  void trunright();
+  void trunleft();
+  void stop();
+  void duo_ji();
+  void forwoard_drop();
+  void forwoard_rise();
+  void back();
+  void forwoard();
+  void color();
+  void pan_duan_yan_se();
+  void led_left();
+  void led_right();
+  void led_forword();
+
+  void setup()
+  {
+    pinMode(16 , INPUT);
+    pinMode(14, INPUT);
+    pinMode( 9 , OUTPUT);
+    pinMode( 10 , OUTPUT);
+    pinMode( 5 , OUTPUT);
+    pinMode( 6 , OUTPUT);
+    servo_pin_4.attach(4);
+    _ABVAR_1_i = 0 ;
+    pinMode(s0, OUTPUT); 
+    pinMode(s1, OUTPUT); 
+    pinMode(s2, OUTPUT); 
+    pinMode(s3, OUTPUT); 
+    pinMode(out, INPUT); 
+    pinMode(led, OUTPUT);
+    digitalWrite(s0, HIGH); 
+    digitalWrite(s1, HIGH); 
+    lc.shutdown(0,false);
+    lc.setIntensity(0,8);
+    lc.clearDisplay(0);
+    lc.setRow(0,0,0xff);
+    lc.setRow(0,1,0xff);
+     lc.setRow(0,2,0xff);
+     lc.setRow(0,3,0xff);
+     lc.setRow(0,4,0xff);
+     lc.setRow(0,5,0xff);
+     lc.setRow(0,6,0xff);
+     lc.setRow(0,7,0xff);
+  }
+
+void loop()
+{ 
+  if (( digitalRead(14) && digitalRead(16) ))
+  {
+    forwoard();
+  }
+  else
+  {
+    if (( !( digitalRead(14) ) && digitalRead(16) ))
+    {
+      
+     
+      trunright();
+      
+    }
+    else
+    {
+      if (( digitalRead(14) && !( digitalRead(16) ) ))
+      {
+ 
+        trunleft();
+      }
+      else
+      {
+        if (( !( digitalRead(14) ) && !( digitalRead(16) ) ))
+        {
+                _ABVAR_1_i = ( _ABVAR_1_i + 1 ) ;
+                if (( ( _ABVAR_1_i ) == ( 1 ) ))
+                {
+                  forwoard_rise();
+                  delay( 3000 );
+                  forwoard();
+                  delay( 1700 );
+                }      
+                else
+                {
+                  if (( ( _ABVAR_1_i ) == ( 2 ) ))
+                  {
+                    forwoard_rise();
+                    delay(3000);
+                    forwoard();
+                    delay( 500 );
+                  }
+                    if (( ( _ABVAR_1_i ) == ( 3 ) ))
+                    {
+                      stop();
+                      digitalWrite(led, HIGH);
+                      delay(500);
+                      color();
+                      digitalWrite(led, LOW);
+                      if (red < blue && red < green)
+                      { 
+                        _ABVAR_2_a = 1;
+                //LcdDisplay(" - (Red Color)");
+                      } 
+                      else if (blue < red && blue < green) 
+                      { 
+                        _ABVAR_2_a = 2; 
+                //      LcdDisplay(" - (Blue Color)");
+                      } 
+                      else if (green < red && green < blue) 
+                      { 
+                        _ABVAR_2_a = 3; 
+                //      LcdDisplay(" - (Green Color)");
+                      }
+                      while(((_ABVAR_2_a)!= (_ABVAR_3_b)))
+                      {
+                        pan_duan_yan_se();
+                      }
+                      duo_ji();
+                     }
+                  }
+                }
+              }
+            }
+          }
+        }
+
+void trunright()
+{
+  led_right();
+  analogWrite(9 , 200);
+  analogWrite(10 , 0);
+  analogWrite(5 , 0);
+  analogWrite(6 , 200);
+}
+
+void stop()
+{
+  digitalWrite( 9 , LOW );
+  digitalWrite( 10 , LOW );
+  digitalWrite( 5 , LOW );
+  digitalWrite( 6 , LOW );
+}
+
+void forwoard_drop()
+{
+  analogWrite(9 , 100);
+  analogWrite(10 , 0);
+  analogWrite(5 , 100);
+  analogWrite(6 , 0);
+  led_forword();
+}
+
+void duo_ji()
+{
+  servo_pin_4.write( 90  );
+  delay( 300 );
+  servo_pin_4.write(360 );
+  delay( 600 );
+  servo_pin_4.write( 0  );
+  delay( 300 );
+}
+
+void trunleft()
+{
+  analogWrite(9 , 0);
+  analogWrite(10 , 200);
+  analogWrite(5 , 200);
+  analogWrite(6 , 0);
+  led_left();
+}
+
+void forwoard()
+{
+  analogWrite(9 , 200);
+  analogWrite(10 , 0);
+  analogWrite(5 , 200);
+  analogWrite(6 , 0);
+  led_forword();
+}
+
+void back()
+{
+  analogWrite(9 , 0);
+  analogWrite(10 , 120);
+  analogWrite(5 , 0);
+  analogWrite(6 , 120);
+}
+
+void forwoard_rise()
+{
+  analogWrite(9 , 255);
+  analogWrite(10 , 0);
+  analogWrite(5 , 255);
+  analogWrite(6 , 0);
+  led_forword();
+}
+
+void forwoard_rise1()
+{
+  analogWrite(9 , 210);
+  analogWrite(10 , 0);
+  analogWrite(5 , 255);
+  analogWrite(6 , 0);
+  led_forword();
+}
+
+void color() 
+{ 
+ digitalWrite(s2, LOW); 
+ digitalWrite(s3, LOW); 
+ //count OUT, pRed, RED 
+ red = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH); 
+ digitalWrite(s3, HIGH); 
+ //count OUT, pBLUE, BLUE 
+ blue = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH); 
+ digitalWrite(s2, HIGH); 
+ //count OUT, pGreen, GREEN 
+ green = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH); 
+}
+void pan_duan_yan_se()
+{
+  forwoard();
+  delay(600);
+  stop();
+  digitalWrite(led, HIGH);
+  delay(500);
+  color();
+  digitalWrite(led, LOW);
+  if (red < blue && red < green)
+  { 
+    _ABVAR_3_b = 1;
+//        LcdDisplay(" - (Red Color)");
+  } 
+ 
+  else if (blue < red && blue < green) 
+  { 
+    _ABVAR_3_b = 2; 
+//        LcdDisplay(" - (Blue Color)");
+  } 
+ 
+  else if (green < red && green < blue) 
+  { 
+    _ABVAR_3_b = 3; 
+//        LcdDisplay(" - (Green Color)");
+  }                       
+}
+void led_right()
+{
+
+          lc.setRow(0,0,0x00);
+    lc.setRow(0,1,0x08);
+     lc.setRow(0,2,0x04);
+     lc.setRow(0,3,0x02);
+     lc.setRow(0,4,0x8f);
+     lc.setRow(0,5,0x02);
+     lc.setRow(0,6,0x04);
+     lc.setRow(0,7,0x08);
+
+}
+void led_left()
+{
+
+       
+     lc.setRow(0,0,0x00);
+     lc.setRow(0,1,0x10);
+     lc.setRow(0,2,0x20);
+     lc.setRow(0,3,0x40);
+     lc.setRow(0,4,0xfe);
+     lc.setRow(0,5,0x40);
+     lc.setRow(0,6,0x20);
+     lc.setRow(0,7,0x10);
+}
+void led_forword()
+{
+       
+     lc.setRow(0,0,0x08);
+     lc.setRow(0,1,0x1c);
+     lc.setRow(0,2,0x2a);
+     lc.setRow(0,3,0x49);
+     lc.setRow(0,4,0x08);
+     lc.setRow(0,5,0x08);
+     lc.setRow(0,6,0x08);
+     lc.setRow(0,7,0x08);  
+
+}
+ 
+
+ 

sketch_oct27a/sketch_oct27a.ino

@@ -0,0 +1,259 @@
+#include <Servo.h>
+
+int _ABVAR_1_i = 0 ;
+Servo servo_pin_4;
+const int s0 = A3; 
+const int s1 = A4; 
+const int s2 = A1; 
+const int s3 = A5; 
+const int out = 8; 
+const int led = 7;
+const int xun_ji1 = A2;
+const int xun_ji2 = 3; 
+const int xun_ji3 = A0;
+int red = 0; 
+int green = 0; 
+int blue = 0; 
+int _ABVAR_2_a = 0;
+int _ABVAR_3_b = 0;
+
+void trunright();
+void trunleft();
+void stop();
+void duo_ji();
+void forwoard_drop();
+void forwoard_rise();
+void back();
+void forwoard();
+void color();
+void pan_duan_yan_se();
+
+void setup()
+{
+  pinMode(xun_ji1 , INPUT);
+  pinMode( xun_ji2, INPUT);
+  pinMode( xun_ji3, INPUT);
+  pinMode( 10, OUTPUT);
+  pinMode( 6, OUTPUT);
+  pinMode( 5, OUTPUT);
+  pinMode( 9, OUTPUT);
+  pinMode( 9 , OUTPUT);
+  pinMode( 10 , OUTPUT);
+  pinMode( 5 , OUTPUT);
+  pinMode( 6 , OUTPUT);
+  servo_pin_4.attach(4);
+  _ABVAR_1_i = 0 ;
+  pinMode(s0, OUTPUT); 
+  pinMode(s1, OUTPUT); 
+  pinMode(s2, OUTPUT); 
+  pinMode(s3, OUTPUT); 
+  pinMode(out, INPUT); 
+  pinMode(led, OUTPUT);
+  digitalWrite(s0, HIGH); 
+  digitalWrite(s1, HIGH); 
+}
+
+void loop()
+{
+  if (( ( digitalRead(xun_ji3) && digitalRead(xun_ji1) ) && digitalRead(xun_ji2) ))
+  {
+    back();
+  }
+  else
+  {
+    if (( ( digitalRead(xun_ji3) && digitalRead(xun_ji2) ) && !( digitalRead(xun_ji1) ) ))
+    {
+      trunleft();
+    }
+    else
+    {
+      if (( ( digitalRead(xun_ji3) && digitalRead(xun_ji1) ) && !( digitalRead(xun_ji2) ) ))
+      {
+        forwoard();
+      }
+      else
+      {
+        if (( digitalRead(xun_ji3) && ( !( digitalRead(xun_ji2) ) && !( digitalRead(xun_ji1) ) ) ))
+        {
+          trunleft();
+        }
+        else
+        {
+          if (( !( digitalRead(xun_ji3) ) && ( digitalRead(xun_ji2) && digitalRead(xun_ji1) ) ))
+          {
+            trunright();
+          }
+          else
+          {
+            if (( ( !( digitalRead(xun_ji3) ) && !( digitalRead(xun_ji2) ) ) && digitalRead(xun_ji1) ))
+            {
+              trunright();
+            }
+            else
+            {
+              if (( ( !( digitalRead(xun_ji3) ) && !( digitalRead(xun_ji2) ) ) && !( digitalRead(xun_ji1) ) ))
+              {
+                _ABVAR_1_i = ( _ABVAR_1_i + 1 ) ;
+                if (( ( _ABVAR_1_i ) == ( 1 ) ))
+                {
+                  forwoard();
+                  delay( 7000 );
+                }
+                else
+                {
+                  if (( ( _ABVAR_1_i ) == ( 2 ) ))
+                  {
+                    forwoard_rise();
+                    delay( 3000 );
+                    forwoard();
+                    delay( 500 );
+                  }
+                  else
+                  {
+                    if (( ( _ABVAR_1_i ) == ( 3 ) ))
+                    {
+                      stop();
+                      digitalWrite(led, HIGH);
+                      delay(500);
+                      color();
+                      digitalWrite(led, LOW);
+                      if (red < blue && red < green)
+                      { 
+                        _ABVAR_2_a = 1;
+                //LcdDisplay(" - (Red Color)");
+                      } 
+                      else if (blue < red && blue < green) 
+                      { 
+                        _ABVAR_2_a = 2; 
+                //      LcdDisplay(" - (Blue Color)");
+                      } 
+                      else if (green < red && green < blue) 
+                      { 
+                        _ABVAR_2_a = 3; 
+                //      LcdDisplay(" - (Green Color)");
+                      }
+                      while(((_ABVAR_2_a)!= (_ABVAR_3_b)))
+                      {
+                        pan_duan_yan_se();
+                      }
+                      duo_ji();
+                     }
+                  }
+                }
+              }
+            }
+          }
+        }
+      }
+    }
+  }
+}
+      
+void trunright()
+{
+  analogWrite(9 , 180);
+  analogWrite(10 , 0);
+  analogWrite(5 , 0);
+  analogWrite(6 , 180);
+}
+
+void stop()
+{
+  digitalWrite( 9 , LOW );
+  digitalWrite( 10 , LOW );
+  digitalWrite( 5 , LOW );
+  digitalWrite( 6 , LOW );
+}
+
+void forwoard_drop()
+{
+  analogWrite(9 , 80);
+  analogWrite(10 , 0);
+  analogWrite(5 , 80);
+  analogWrite(6 , 0);
+}
+
+void duo_ji()
+{
+  servo_pin_4.write( 90 );
+  delay( 300 );
+  servo_pin_4.write( 180 );
+  delay( 600 );
+  servo_pin_4.write( 90 );
+  delay( 300 );
+}
+
+void trunleft()
+{
+  analogWrite(9 , 0);
+  analogWrite(10 , 180);
+  analogWrite(5 , 180);
+  analogWrite(6 , 0);
+}
+
+void forwoard()
+{
+  analogWrite(9 , 200);
+  analogWrite(10 , 0);
+  analogWrite(5 , 200);
+  analogWrite(6 , 0);
+}
+
+void back()
+{
+  analogWrite(9 , 0);
+  analogWrite(10 , 120);
+  analogWrite(5 , 0);
+  analogWrite(6 , 120);
+}
+
+void forwoard_rise()
+{
+  analogWrite(9 , 255);
+  analogWrite(10 , 0);
+  analogWrite(5 , 255);
+  analogWrite(6 , 0);
+}
+
+void color() 
+{ 
+ digitalWrite(s2, LOW); 
+ digitalWrite(s3, LOW); 
+ //count OUT, pRed, RED 
+ red = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH); 
+ digitalWrite(s3, HIGH); 
+ //count OUT, pBLUE, BLUE 
+ blue = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH); 
+ digitalWrite(s2, HIGH); 
+ //count OUT, pGreen, GREEN 
+ green = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH); 
+}
+void pan_duan_yan_se()
+{
+  forwoard();
+  delay(600);
+  stop();
+  digitalWrite(led, HIGH);
+  delay(500);
+  color();
+  digitalWrite(led, LOW);
+  if (red < blue && red < green)
+  { 
+    _ABVAR_3_b = 1;
+//        LcdDisplay(" - (Red Color)");
+  } 
+ 
+  else if (blue < red && blue < green) 
+  { 
+    _ABVAR_3_b = 2; 
+//        LcdDisplay(" - (Blue Color)");
+  } 
+ 
+  else if (green < red && green < blue) 
+  { 
+    _ABVAR_3_b = 3; 
+//        LcdDisplay(" - (Green Color)");
+  }                       
+}
+
+   

tensorlayer3

@@ -0,0 +1 @@
+Subproject commit e935b759bff26425b8485dde0faa74697b65f951

wpa_supplicant.conf

@@ -0,0 +1,15 @@
+country=CN
+ctrl_interface=DIR=/var/run/wpa_supplicant GROUP=netdev
+update_config=1
+ 
+network={
+ssid="CMCC-vEuN"
+psk="Wa2YUnYS"
+priority=2
+}
+ 
+network={
+ssid="HONOR20PRO"
+psk="123456789"
+priority=1
+}

代码/css.txt

@@ -0,0 +1,50 @@
+#capture{
+    position: absolute;
+    right: 190px;
+    bottom: -40px;
+
+}
+
+#video{
+    position: absolute;
+    right: 0;
+    top: 0;
+    width: 480px;
+    height: 320px;
+    autoplay:ture;
+}
+
+#img{
+    position: absolute;
+    left: 0;
+    top: 0;
+    width: 480px;
+    height: 320px;
+}
+
+.auto{
+    position: absolute;
+    left: 50%;
+    top: 50%;
+    height: 320px;
+    margin-top: -160px;
+}
+
+#sure{
+    position: absolute;
+    left: 210px;
+    bottom: -40px;
+}
+
+button{
+    cursor: pointer;
+    margin: 0 auto;
+    border: 1px solid #f0f0f0;
+    background: #5CACEE;
+    color: #FFF;
+    width: 100px;
+    height: 36px;
+    line-height: 36px;
+    border-radius: 8px;
+    text-align: center;
+}

代码/mask_face.py

@@ -0,0 +1,39 @@
+# 导入必要的库
+import cv2
+import paddlehub as  hub
+
+# 加载Paddlehub人脸检测模型
+mask_detector = hub.Module(name="pyramidbox_lite_mobile_mask")
+face_detector = hub.Module(name="pyramidbox_lite_mobile")
+
+cap = cv2.VideoCapture(0,cv2.CAP_DSHOW)
+while True:
+    # 从摄像头读取图片
+    sucess, img = cap.read()
+    # os.environ["CUDA_VISIBLE_DEVICES"] = "0,1,2,3"
+    result_1 = mask_detector.face_detection(images=[img])
+    result_2 = face_detector.face_detection(images=[img])
+    print(result_1)
+    # 遍历结果并绘制矩形框
+    if result_2[0]['data'] != [] and result_1[0]['data'][0]['label'] == 'MASK':
+        for face_1 in result_1[0]['data']:
+            # 将Dict形式的key-value对转换成变量形式
+            locals().update(face_1)
+            print('bbox:', [left, top, right, bottom])
+            cv2.rectangle(img, tuple([left, top]), tuple([right, bottom]), (0, 255, 127), 2)
+    else:
+        for face_2 in result_2[0]['data']:
+            locals().update(face_2)
+            cv2.rectangle(img, tuple([left, top]), tuple([right, bottom]), (0, 0,205), 2)
+
+    # 显示图像
+    cv2.imshow("img", img)
+    # 保持画面的持续。
+    k = cv2.waitKey(1)
+    if k == 27:
+        # 通过esc键退出摄像
+        cv2.destroyAllWindows()
+        break
+
+# 关闭摄像头
+cap.release()

代码/web.html

@@ -0,0 +1,89 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <meta http-equiv="X-UA-Compatible" content="ie=edge">
+    <title>网页调取摄像头</title>
+    <link rel="stylesheet" href="video%20pro.css">
+</head>
+
+<body>
+<div class="auto">
+    <video id="video" autoplay></video>
+    <canvas id="canvas" width="480" height="320" style="display: none;"></canvas>
+    <img src="./body_default.png" id="img" style="margin-left: 20px;">
+    <div>
+        <button id="capture" title="点击进行拍照">拍照</button>
+    </div>
+    <div>
+        <button id="sure" title="是否用这张图片进行验证">确认</button>
+    </div>
+</div>
+
+
+<script>
+    var file ,stream;
+    //访问用户媒体设备的兼容方法
+    function getUserMedia(constraints, success, error) {
+        if (navigator.mediaDevices.getUserMedia) {
+            //最新的标准API
+            navigator.mediaDevices.getUserMedia(constraints).then(success).catch(error);
+        }  else if (navigator.getUserMedia) {
+            //旧版API
+            navigator.getUserMedia(constraints, success, error);
+        }
+    }
+
+    let video = document.getElementById('video');
+    let canvas = document.getElementById('canvas');
+    let context = canvas.getContext('2d');
+
+    function success(stream) {
+        //兼容webkit核心浏览器
+        let CompatibleURL = window.URL || window.webkitURL;
+        //将视频流设置为video元素的源
+        console.log(stream);
+        stream = stream;
+        //video.src = CompatibleURL.createObjectURL(stream);
+        video.srcObject = stream;
+        video.play();
+    }
+
+    function error(error) {
+        console.log(`访问用户媒体设备失败${error.name}, ${error.message}`);
+    }
+
+    if (navigator.mediaDevices.getUserMedia || navigator.getUserMedia || navigator.webkitGetUserMedia || navigator.mozGetUserMedia) {
+        //调用用户媒体设备, 访问摄像头
+        getUserMedia({video : {width: 480, height: 320}}, success, error);
+    } else {
+        alert('不支持访问用户媒体');
+    }
+    // base64转文件
+
+    document.getElementById('capture').addEventListener('click', function () {
+        context.drawImage(video, 0, 0, 480, 320);
+        // 获取图片base64链接
+        var image = canvas.toDataURL('image/png');
+        // 定义一个img
+        var img = document.getElementById("img");
+        //设置属性和src
+        //img.id = "imgBoxxx";
+        img.src = image;
+        //将图片添加到页面中
+        //document.body.appendChild(img);
+        function dataURLtoFile(dataurl, filename) {
+            var arr = dataurl.split(','), mime = arr[0].match(/:(.*?);/)[1],
+                bstr = atob(arr[1]), n = bstr.length, u8arr = new Uint8Array(n);
+            while (n--) {
+                u8arr[n] = bstr.charCodeAt(n);
+            }
+            file = new File([u8arr], filename, {type: mime});
+            return new File([u8arr], filename, {type: mime});
+        }
+        console.log(dataURLtoFile(image, 'aa.png'));
+    })
+</script>
+</body>
+</html>
+

代码/web.txt

@@ -0,0 +1,89 @@
+<!DOCTYPE html>
+<html lang="en">
+<head>
+    <meta charset="UTF-8">
+    <meta http-equiv="X-UA-Compatible" content="ie=edge">
+    <title>网页调取摄像头</title>
+    <link rel="stylesheet" href="video%20pro.css">
+</head>
+
+<body>
+<div class="auto">
+    <video id="video" autoplay></video>
+    <canvas id="canvas" width="480" height="320" style="display: none;"></canvas>
+    <img src="./body_default.png" id="img" style="margin-left: 20px;">
+    <div>
+        <button id="capture" title="点击进行拍照">拍照</button>
+    </div>
+    <div>
+        <button id="sure" title="是否用这张图片进行验证">确认</button>
+    </div>
+</div>
+
+
+<script>
+    var file ,stream;
+    //访问用户媒体设备的兼容方法
+    function getUserMedia(constraints, success, error) {
+        if (navigator.mediaDevices.getUserMedia) {
+            //最新的标准API
+            navigator.mediaDevices.getUserMedia(constraints).then(success).catch(error);
+        }  else if (navigator.getUserMedia) {
+            //旧版API
+            navigator.getUserMedia(constraints, success, error);
+        }
+    }
+
+    let video = document.getElementById('video');
+    let canvas = document.getElementById('canvas');
+    let context = canvas.getContext('2d');
+
+    function success(stream) {
+        //兼容webkit核心浏览器
+        let CompatibleURL = window.URL || window.webkitURL;
+        //将视频流设置为video元素的源
+        console.log(stream);
+        stream = stream;
+        //video.src = CompatibleURL.createObjectURL(stream);
+        video.srcObject = stream;
+        video.play();
+    }
+
+    function error(error) {
+        console.log(`访问用户媒体设备失败${error.name}, ${error.message}`);
+    }
+
+    if (navigator.mediaDevices.getUserMedia || navigator.getUserMedia || navigator.webkitGetUserMedia || navigator.mozGetUserMedia) {
+        //调用用户媒体设备, 访问摄像头
+        getUserMedia({video : {width: 480, height: 320}}, success, error);
+    } else {
+        alert('不支持访问用户媒体');
+    }
+    // base64转文件
+
+    document.getElementById('capture').addEventListener('click', function () {
+        context.drawImage(video, 0, 0, 480, 320);
+        // 获取图片base64链接
+        var image = canvas.toDataURL('image/png');
+        // 定义一个img
+        var img = document.getElementById("img");
+        //设置属性和src
+        //img.id = "imgBoxxx";
+        img.src = image;
+        //将图片添加到页面中
+        //document.body.appendChild(img);
+        function dataURLtoFile(dataurl, filename) {
+            var arr = dataurl.split(','), mime = arr[0].match(/:(.*?);/)[1],
+                bstr = atob(arr[1]), n = bstr.length, u8arr = new Uint8Array(n);
+            while (n--) {
+                u8arr[n] = bstr.charCodeAt(n);
+            }
+            file = new File([u8arr], filename, {type: mime});
+            return new File([u8arr], filename, {type: mime});
+        }
+        console.log(dataURLtoFile(image, 'aa.png'));
+    })
+</script>
+</body>
+</html>
+

国际青年人工智能大赛/新建文本文档 (2).txt

@@ -0,0 +1,302 @@
+  #include <Servo.h>
+  #include"LedControl.h"
+  LedControl lc=LedControl(12,11,13,1);
+  double _ABVAR_1_i = 0 ;
+  Servo servo_pin_4;
+  const int s0 = A3; 
+  const int s1 = A4; 
+  const int s2 = A1; 
+  const int s3 = A5; 
+  const int out = 8; 
+  const int led = 7;
+  int red = 0; 
+  int green = 0; 
+  int blue = 0; 
+  int _ABVAR_2_a = 0;
+  int _ABVAR_3_b = 0;
+  
+  void trunright();
+  void trunleft();
+  void stop();
+  void duo_ji();
+  void forwoard_drop();
+  void forwoard_rise();
+  void back();
+  void forwoard();
+  void color();
+  void pan_duan_yan_se();
+  void led_left();
+  void led_right();
+  void led_forword();
+
+  void setup()
+  {
+    pinMode(16 , INPUT);
+    pinMode(14, INPUT);
+    pinMode( 9 , OUTPUT);
+    pinMode( 10 , OUTPUT);
+    pinMode( 5 , OUTPUT);
+    pinMode( 6 , OUTPUT);
+    servo_pin_4.attach(4);
+    _ABVAR_1_i = 0 ;
+    pinMode(s0, OUTPUT); 
+    pinMode(s1, OUTPUT); 
+    pinMode(s2, OUTPUT); 
+    pinMode(s3, OUTPUT); 
+    pinMode(out, INPUT); 
+    pinMode(led, OUTPUT);
+    digitalWrite(s0, HIGH); 
+    digitalWrite(s1, HIGH); 
+    lc.shutdown(0,false);
+    lc.setIntensity(0,8);
+    lc.clearDisplay(0);
+    lc.setRow(0,0,0xff);
+    lc.setRow(0,1,0xff);
+     lc.setRow(0,2,0xff);
+     lc.setRow(0,3,0xff);
+     lc.setRow(0,4,0xff);
+     lc.setRow(0,5,0xff);
+     lc.setRow(0,6,0xff);
+     lc.setRow(0,7,0xff);
+  }
+
+void loop()
+{ 
+  if (( digitalRead(14) && digitalRead(16) ))
+  {
+    forwoard();
+  }
+  else
+  {
+    if (( !( digitalRead(14) ) && digitalRead(16) ))
+    {
+      
+     
+      trunright();
+      
+    }
+    else
+    {
+      if (( digitalRead(14) && !( digitalRead(16) ) ))
+      {
+ 
+        trunleft();
+      }
+      else
+      {
+        if (( !( digitalRead(14) ) && !( digitalRead(16) ) ))
+        {
+                _ABVAR_1_i = ( _ABVAR_1_i + 1 ) ;
+                if (( ( _ABVAR_1_i ) == ( 1 ) ))
+                {
+                  forwoard_rise();
+                  delay( 3000 );
+                  forwoard();
+                  delay( 1700 );
+                }      
+                else
+                {
+                  if (( ( _ABVAR_1_i ) == ( 2 ) ))
+                  {
+                    forwoard_rise();
+                    delay(3000);
+                    forwoard();
+                    delay( 500 );
+                  }
+                    if (( ( _ABVAR_1_i ) == ( 3 ) ))
+                    {
+                      stop();
+                      digitalWrite(led, HIGH);
+                      delay(500);
+                      color();
+                      digitalWrite(led, LOW);
+                      if (red < blue && red < green)
+                      { 
+                        _ABVAR_2_a = 1;
+                //LcdDisplay(" - (Red Color)");
+                      } 
+                      else if (blue < red && blue < green) 
+                      { 
+                        _ABVAR_2_a = 2; 
+                //      LcdDisplay(" - (Blue Color)");
+                      } 
+                      else if (green < red && green < blue) 
+                      { 
+                        _ABVAR_2_a = 3; 
+                //      LcdDisplay(" - (Green Color)");
+                      }
+                      while(((_ABVAR_2_a)!= (_ABVAR_3_b)))
+                      {
+                        pan_duan_yan_se();
+                      }
+                      duo_ji();
+                     }
+                  }
+                }
+              }
+            }
+          }
+        }
+
+void trunright()
+{
+  led_right();
+  analogWrite(9 , 200);
+  analogWrite(10 , 0);
+  analogWrite(5 , 0);
+  analogWrite(6 , 200);
+}
+
+void stop()
+{
+  digitalWrite( 9 , LOW );
+  digitalWrite( 10 , LOW );
+  digitalWrite( 5 , LOW );
+  digitalWrite( 6 , LOW );
+}
+
+void forwoard_drop()
+{
+  analogWrite(9 , 100);
+  analogWrite(10 , 0);
+  analogWrite(5 , 100);
+  analogWrite(6 , 0);
+  led_forword();
+}
+
+void duo_ji()
+{
+  servo_pin_4.write( 90  );
+  delay( 300 );
+  servo_pin_4.write(360 );
+  delay( 600 );
+  servo_pin_4.write( 0  );
+  delay( 300 );
+}
+
+void trunleft()
+{
+  analogWrite(9 , 0);
+  analogWrite(10 , 200);
+  analogWrite(5 , 200);
+  analogWrite(6 , 0);
+  led_left();
+}
+
+void forwoard()
+{
+  analogWrite(9 , 200);
+  analogWrite(10 , 0);
+  analogWrite(5 , 200);
+  analogWrite(6 , 0);
+  led_forword();
+}
+
+void back()
+{
+  analogWrite(9 , 0);
+  analogWrite(10 , 120);
+  analogWrite(5 , 0);
+  analogWrite(6 , 120);
+}
+
+void forwoard_rise()
+{
+  analogWrite(9 , 255);
+  analogWrite(10 , 0);
+  analogWrite(5 , 255);
+  analogWrite(6 , 0);
+  led_forword();
+}
+
+void forwoard_rise1()
+{
+  analogWrite(9 , 210);
+  analogWrite(10 , 0);
+  analogWrite(5 , 255);
+  analogWrite(6 , 0);
+  led_forword();
+}
+
+void color() 
+{ 
+ digitalWrite(s2, LOW); 
+ digitalWrite(s3, LOW); 
+ //count OUT, pRed, RED 
+ red = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH); 
+ digitalWrite(s3, HIGH); 
+ //count OUT, pBLUE, BLUE 
+ blue = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH); 
+ digitalWrite(s2, HIGH); 
+ //count OUT, pGreen, GREEN 
+ green = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH); 
+}
+void pan_duan_yan_se()
+{
+  forwoard();
+  delay(600);
+  stop();
+  digitalWrite(led, HIGH);
+  delay(500);
+  color();
+  digitalWrite(led, LOW);
+  if (red < blue && red < green)
+  { 
+    _ABVAR_3_b = 1;
+//        LcdDisplay(" - (Red Color)");
+  } 
+ 
+  else if (blue < red && blue < green) 
+  { 
+    _ABVAR_3_b = 2; 
+//        LcdDisplay(" - (Blue Color)");
+  } 
+ 
+  else if (green < red && green < blue) 
+  { 
+    _ABVAR_3_b = 3; 
+//        LcdDisplay(" - (Green Color)");
+  }                       
+}
+void led_right()
+{
+
+          lc.setRow(0,0,0x00);
+    lc.setRow(0,1,0x08);
+     lc.setRow(0,2,0x04);
+     lc.setRow(0,3,0x02);
+     lc.setRow(0,4,0x8f);
+     lc.setRow(0,5,0x02);
+     lc.setRow(0,6,0x04);
+     lc.setRow(0,7,0x08);
+
+}
+void led_left()
+{
+
+       
+     lc.setRow(0,0,0x00);
+     lc.setRow(0,1,0x10);
+     lc.setRow(0,2,0x20);
+     lc.setRow(0,3,0x40);
+     lc.setRow(0,4,0xfe);
+     lc.setRow(0,5,0x40);
+     lc.setRow(0,6,0x20);
+     lc.setRow(0,7,0x10);
+}
+void led_forword()
+{
+       
+     lc.setRow(0,0,0x08);
+     lc.setRow(0,1,0x1c);
+     lc.setRow(0,2,0x2a);
+     lc.setRow(0,3,0x49);
+     lc.setRow(0,4,0x08);
+     lc.setRow(0,5,0x08);
+     lc.setRow(0,6,0x08);
+     lc.setRow(0,7,0x08);
+
+}
+ 
+
+ 

探索者机器人--太原学院/源程序.txt

@@ -0,0 +1,223 @@
+  #include <Servo.h>
+  int _ABVAR_1_i = 0 ;
+  Servo servo_pin_4;
+  const int s0 = A0; 
+  const int s1 = A1; 
+  const int s2 = A4; 
+  const int s3 = A5; 
+  const int out = 8; 
+  const int led = 7;
+  const int xun_ji1 = 3;
+  const int xun_ji2 = A3; 
+  const int xun_ji3 = A2;
+  int red = 0; 
+  int green = 0; 
+  int blue = 0; 
+  int _ABVAR_2_a = 0;
+  int _ABVAR_3_b = 0;
+  
+  void trunright();
+  void trunleft();
+  void stop();
+  void duo_ji();
+  void forwoard_drop();
+  void forwoard_rise();
+  void back();
+  void forwoard();
+  void color();
+  void pan_duan_yan_se();
+
+  void setup()
+  {
+    pinMode(xun_ji1 , INPUT);
+    pinMode( xun_ji2, INPUT);
+    pinMode( xun_ji3, INPUT);
+    pinMode( 10, OUTPUT);
+    pinMode( 6, OUTPUT);
+    pinMode( 5, OUTPUT);
+    pinMode( 9, OUTPUT);
+    pinMode( 9 , OUTPUT);
+    pinMode( 10 , OUTPUT);
+    pinMode( 5 , OUTPUT);
+    pinMode( 6 , OUTPUT);
+    servo_pin_4.attach(4);
+    _ABVAR_1_i = 0 ;
+    pinMode(s0, OUTPUT); 
+    pinMode(s1, OUTPUT); 
+    pinMode(s2, OUTPUT); 
+    pinMode(s3, OUTPUT); 
+    pinMode(out, INPUT); 
+    pinMode(led, OUTPUT);
+    digitalWrite(s0, HIGH); 
+    digitalWrite(s1, HIGH); 
+  }
+
+void loop()
+{
+  if (( ( digitalRead(xun_ji3) && digitalRead(xun_ji1) ) && digitalRead(xun_ji2) ))
+  {
+    back();
+  }
+  else
+  {
+    if (( ( digitalRead(xun_ji3) && digitalRead(xun_ji2) ) && !( digitalRead(xun_ji1) ) ))
+    {
+      trunright();
+    }
+    else
+    {
+      if (( ( digitalRead(xun_ji3) && digitalRead(xun_ji1) ) && !( digitalRead(xun_ji2) ) ))
+      {
+        forwoard();
+      }
+      else
+      {
+        if (( digitalRead(xun_ji3) && ( !( digitalRead(xun_ji2) ) && !( digitalRead(xun_ji1) ) ) ))
+        {
+          trunright();
+        }
+        else
+        {
+          if (( !( digitalRead(xun_ji3) ) && ( digitalRead(xun_ji2) && digitalRead(xun_ji1) ) ))
+          {
+            trunleft();
+          }
+          else
+          {
+            if (( ( !( digitalRead(xun_ji3) ) && !( digitalRead(xun_ji2) ) ) && digitalRead(xun_ji1) ))
+            {
+              trunleft();
+            }
+            else
+           { 
+                    if (( ( _ABVAR_1_i ) == ( 1 ) ))//小车开始识别色牌
+                    {
+                      stop();
+                      digitalWrite(led, HIGH);
+                      delay(500);
+                      color();
+                      digitalWrite(led, LOW);
+                      if (red < blue && red < green)
+                      { 
+                        _ABVAR_2_a = 1;
+                //LcdDisplay(" - (Red Color)");
+                      } 
+                      else if (blue < red && blue < green) 
+                      { 
+                        _ABVAR_2_a = 2; 
+                //      LcdDisplay(" - (Blue Color)");
+                      } 
+                      else if (green < red && green < blue) 
+                      { 
+                        _ABVAR_2_a = 3; 
+                //      LcdDisplay(" - (Green Color)");
+                      }
+                      while(((_ABVAR_2_a)!= (_ABVAR_3_b)))
+                      {
+                        pan_duan_yan_se();
+                      }
+                      stop();
+                     }
+                  }
+                }
+              }
+            }
+          }
+        }
+  }
+      
+void trunright()
+{
+  analogWrite(9 , 180);
+  analogWrite(10 , 0);
+  analogWrite(5 , 0);
+  analogWrite(6 , 0);
+}
+
+void stop()
+{
+  digitalWrite( 9 , LOW );
+  digitalWrite( 10 , LOW );
+  digitalWrite( 5 , LOW );
+  digitalWrite( 6 , LOW );
+}
+
+void forwoard_drop()
+{
+  analogWrite(9 , 80);
+  analogWrite(10 , 0);
+  analogWrite(5 , 80);
+  analogWrite(6 , 0);
+}
+void trunleft()
+{
+  analogWrite(9 , 0);
+  analogWrite(10 , 0);
+  analogWrite(5 , 180);
+  analogWrite(6 , 0);
+}
+
+void forwoard()
+{
+  analogWrite(9 , 180);
+  analogWrite(10 , 0);
+  analogWrite(5 , 180);
+  analogWrite(6 , 0);
+}
+
+void back()
+{
+  analogWrite(9 , 0);
+  analogWrite(10 , 120);
+  analogWrite(5 , 0);
+  analogWrite(6 , 120);
+}
+
+void forwoard_rise()
+{
+  analogWrite(9 , 255);
+  analogWrite(10 , 0);
+  analogWrite(5 , 255);
+  analogWrite(6 , 0);
+}
+
+void color() 
+{ 
+ digitalWrite(s2, LOW); 
+ digitalWrite(s3, LOW); 
+ //count OUT, pRed, RED 
+ red = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH); 
+ digitalWrite(s3, HIGH); 
+ //count OUT, pBLUE, BLUE 
+ blue = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH); 
+ digitalWrite(s2, HIGH); 
+ //count OUT, pGreen, GREEN 
+ green = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH); 
+}
+void pan_duan_yan_se()
+{
+  forwoard();
+  delay(600);
+  stop();
+  digitalWrite(led, HIGH);
+  delay(500);
+  color();
+  digitalWrite(led, LOW);
+  if (red < blue && red < green)
+  { 
+    _ABVAR_3_b = 1;
+//        LcdDisplay(" - (Red Color)");
+  } 
+ 
+  else if (blue < red && blue < green) 
+  { 
+    _ABVAR_3_b = 2; 
+//        LcdDisplay(" - (Blue Color)");
+  } 
+ 
+  else if (green < red && green < blue) 
+  { 
+    _ABVAR_3_b = 3; 
+//        LcdDisplay(" - (Green Color)");
+  }                       
+}

新建文本文档 (2).txt

@@ -0,0 +1,12 @@
+项目进展情况：
+1.通过查找获取了两套数据集：
+
+（1）武汉大学开源的口罩遮挡人脸数据集：Real-World Masked Face Dataset，简称 RMFD。
+
+（2）亚洲人脸数据集
+
+该两套数据集都提供了人脸图片集和对应带口罩的数据集，与该项目的训练所需的数据相关。
+
+2.选用百度飞桨开源的PaddlePaddle深度学习框架进行模型搭建，PaddlePaddle 是一个​易用、高效、灵活、可扩展的深度学习框架。并且有很多成熟的预训练模型。
+
+3.通过走访人员聚集场所，结合当下疫情形式，

新建文本文档 (3).txt

@@ -0,0 +1,261 @@
+#include <Servo.h>
+
+int _ABVAR_1_i = 0 ;
+Servo servo_pin_4;
+const int s0 = A3; 
+const int s1 = A4; 
+const int s2 = A1; 
+const int s3 = A5; 
+const int out = 8; 
+const int led = 7;
+const int xun_ji1 = A2;
+const int xun_ji2 = 3; 
+const int xun_ji3 = A0;
+int red = 0; 
+int green = 0; 
+int blue = 0; 
+int _ABVAR_2_a = 0;
+int _ABVAR_3_b = 0;
+
+void trunright();
+void trunleft();
+void stop();
+void duo_ji();
+void forwoard_drop();
+void forwoard_rise();
+void back();
+void forwoard();
+void color();
+void pan_duan_yan_se();
+
+void setup()
+{
+  pinMode(xun_ji1 , INPUT);
+  pinMode( xun_ji2, INPUT);
+  pinMode( xun_ji3, INPUT);
+  pinMode( 10, OUTPUT);
+  pinMode( 6, OUTPUT);
+  pinMode( 5, OUTPUT);
+  pinMode( 9, OUTPUT);
+  pinMode( 9 , OUTPUT);
+  pinMode( 10 , OUTPUT);
+  pinMode( 5 , OUTPUT);
+  pinMode( 6 , OUTPUT);
+  servo_pin_4.attach(4);
+  _ABVAR_1_i = 0 ;
+  pinMode(s0, OUTPUT); 
+  pinMode(s1, OUTPUT); 
+  pinMode(s2, OUTPUT); 
+  pinMode(s3, OUTPUT); 
+  pinMode(out, INPUT); 
+  pinMode(led, OUTPUT);
+  digitalWrite(s0, HIGH); 
+  digitalWrite(s1, HIGH); 
+}
+
+void loop()
+{
+  if (( ( digitalRead(xun_ji3) && digitalRead(xun_ji1) ) && digitalRead(xun_ji2) ))
+  {
+    back();
+  }
+  else
+  {
+    if (( ( digitalRead(xun_ji3) && digitalRead(xun_ji2) ) && !( digitalRead(xun_ji1) ) ))
+    {
+      trunleft();
+    }
+    else
+    {
+      if (( ( digitalRead(xun_ji3) && digitalRead(xun_ji1) ) && !( digitalRead(xun_ji2) ) ))
+      {
+        forwoard();
+      }
+      else
+      {
+        if (( digitalRead(xun_ji3) && ( !( digitalRead(xun_ji2) ) && !( digitalRead(xun_ji1) ) ) ))
+        {
+          trunleft();
+        }
+        else
+        {
+          if (( !( digitalRead(xun_ji3) ) && ( digitalRead(xun_ji2) && digitalRead(xun_ji1) ) ))
+          {
+            trunright();
+          }
+          else
+          {
+            if (( ( !( digitalRead(xun_ji3) ) && !( digitalRead(xun_ji2) ) ) && digitalRead(xun_ji1) ))
+            {
+              trunright();
+            }
+            else
+            {
+              if (( ( !( digitalRead(xun_ji3) ) && !( digitalRead(xun_ji2) ) ) && !( digitalRead(xun_ji1) ) ))
+              {
+                _ABVAR_1_i = ( _ABVAR_1_i + 1 ) ;
+                if (( ( _ABVAR_1_i ) == ( 1 ) ))
+                {
+                  forwoard_rise();
+                  delay( 1500 );
+                  forwoard();
+                  delay( 5000 );
+                }
+                else
+                {
+                  if (( ( _ABVAR_1_i ) == ( 2 ) ))
+                  {
+                    forwoard_rise();
+                    delay( 3000 );
+                    forwoard();
+                    delay( 500 );
+                  }
+                  else
+                  {
+                    if (( ( _ABVAR_1_i ) == ( 3 ) ))
+                    {
+                      stop();
+                      digitalWrite(led, HIGH);
+                      delay(500);
+                      color();
+                      digitalWrite(led, LOW);
+                      if (red < blue && red < green)
+                      { 
+                        _ABVAR_2_a = 1;
+                //LcdDisplay(" - (Red Color)");
+                      } 
+                      else if (blue < red && blue < green) 
+                      { 
+                        _ABVAR_2_a = 2; 
+                //      LcdDisplay(" - (Blue Color)");
+                      } 
+                      else if (green < red && green < blue) 
+                      { 
+                        _ABVAR_2_a = 3; 
+                //      LcdDisplay(" - (Green Color)");
+                      }
+                      while(((_ABVAR_2_a)!= (_ABVAR_3_b)))
+                      {
+                        pan_duan_yan_se();
+                      }
+                      duo_ji();
+                     }
+                  }
+                }
+              }
+            }
+          }
+        }
+      }
+    }
+  }
+}
+      
+void trunright()
+{
+  analogWrite(9 , 180);
+  analogWrite(10 , 0);
+  analogWrite(5 , 0);
+  analogWrite(6 , 0);
+}
+
+void stop()
+{
+  digitalWrite( 9 , LOW );
+  digitalWrite( 10 , LOW );
+  digitalWrite( 5 , LOW );
+  digitalWrite( 6 , LOW );
+}
+
+void forwoard_drop()
+{
+  analogWrite(9 , 80);
+  analogWrite(10 , 0);
+  analogWrite(5 , 80);
+  analogWrite(6 , 0);
+}
+
+void duo_ji()
+{
+  servo_pin_4.write( 90 );
+  delay( 300 );
+  servo_pin_4.write( 180 );
+  delay( 600 );
+  servo_pin_4.write( 90 );
+  delay( 300 );
+}
+
+void trunleft()
+{
+  analogWrite(9 , 0);
+  analogWrite(10 , 0);
+  analogWrite(5 , 180);
+  analogWrite(6 , 0);
+}
+
+void forwoard()
+{
+  analogWrite(9 , 180);
+  analogWrite(10 , 0);
+  analogWrite(5 , 180);
+  analogWrite(6 , 0);
+}
+
+void back()
+{
+  analogWrite(9 , 0);
+  analogWrite(10 , 120);
+  analogWrite(5 , 0);
+  analogWrite(6 , 120);
+}
+
+void forwoard_rise()
+{
+  analogWrite(9 , 255);
+  analogWrite(10 , 0);
+  analogWrite(5 , 255);
+  analogWrite(6 , 0);
+}
+
+void color() 
+{ 
+ digitalWrite(s2, LOW); 
+ digitalWrite(s3, LOW); 
+ //count OUT, pRed, RED 
+ red = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH); 
+ digitalWrite(s3, HIGH); 
+ //count OUT, pBLUE, BLUE 
+ blue = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH); 
+ digitalWrite(s2, HIGH); 
+ //count OUT, pGreen, GREEN 
+ green = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH); 
+}
+void pan_duan_yan_se()
+{
+  forwoard();
+  delay(600);
+  stop();
+  digitalWrite(led, HIGH);
+  delay(500);
+  color();
+  digitalWrite(led, LOW);
+  if (red < blue && red < green)
+  { 
+    _ABVAR_3_b = 1;
+//        LcdDisplay(" - (Red Color)");
+  } 
+ 
+  else if (blue < red && blue < green) 
+  { 
+    _ABVAR_3_b = 2; 
+//        LcdDisplay(" - (Blue Color)");
+  } 
+ 
+  else if (green < red && green < blue) 
+  { 
+    _ABVAR_3_b = 3; 
+//        LcdDisplay(" - (Green Color)");
+  }                       
+}
+
+   

新建文本文档 (4).txt

@@ -0,0 +1,185 @@
+C3560 Boot Loader (C3560-HBOOT-M) Version 12.2(25r)SEC, RELEASE SOFTWARE (fc4)
+cisco WS-C3560-24PS (PowerPC405) processor (revision P0) with 122880K/8184K bytes of memory.
+3560-24PS starting...
+Base ethernet MAC Address: 000C.851A.E348
+Xmodem file system is available.
+Initializing Flash...
+flashfs[0]: 3 files, 0 directories
+flashfs[0]: 0 orphaned files, 0 orphaned directories
+flashfs[0]: Total bytes: 64016384
+flashfs[0]: Bytes used: 8918011
+flashfs[0]: Bytes available: 55098373
+flashfs[0]: flashfs fsck took 1 seconds.
+...done Initializing Flash.
+
+Boot Sector Filesystem (bs:) installed, fsid: 3
+Parameter Block Filesystem (pb:) installed, fsid: 4
+
+
+Loading "flash:/c3560-advipservicesk9-mz.122-37.SE1.bin"...
+########################################################################## [OK]
+              Restricted Rights Legend
+
+Use, duplication, or disclosure by the Government is
+subject to restrictions as set forth in subparagraph
+(c) of the Commercial Computer Software - Restricted
+Rights clause at FAR sec. 52.227-19 and subparagraph
+(c) (1) (ii) of the Rights in Technical Data and Computer
+Software clause at DFARS sec. 252.227-7013.
+
+           cisco Systems, Inc.
+           170 West Tasman Drive
+           San Jose, California 95134-1706
+
+
+
+
+Cisco IOS Software, C3560 Software (C3560-ADVIPSERVICESK9-M), Version 12.2(37)SE1, RELEASE SOFTWARE (fc1)
+Copyright (c) 1986-2007 by Cisco Systems, Inc.
+Compiled Thu 05-Jul-07 22:22 by pt_team
+Image text-base: 0x00003000, data-base: 0x01500000
+
+
+
+POST: CPU MIC register Tests : Begin
+POST: CPU MIC register Tests : End, Status Passed
+
+POST: PortASIC Memory Tests : Begin
+POST: PortASIC Memory Tests : End, Status Passed
+
+POST: CPU MIC interface Loopback Tests : Begin
+POST: CPU MIC interface Loopback Tests : End, Status Passed
+
+POST: PortASIC RingLoopback Tests : Begin
+POST: PortASIC RingLoopback Tests : End, Status Passed
+
+POST: Inline Power Controller Tests : Begin
+POST: Inline Power Controller Tests : End, Status Passed
+
+POST: PortASIC CAM Subsystem Tests : Begin
+POST: PortASIC CAM Subsystem Tests : End, Status Passed
+
+POST: PortASIC Port Loopback Tests : Begin
+POST: PortASIC Port Loopback Tests : End, Status Passed
+
+Waiting for Port download...Complete
+ --More-- 
+This product contains cryptographic features and is subject to United
+States and local country laws governing import, export, transfer and
+use. Delivery of Cisco cryptographic products does not imply
+third-party authority to import, export, distribute or use encryption.
+Importers, exporters, distributors and users are responsible for
+compliance with U.S. and local country laws. By using this product you
+agree to comply with applicable laws and regulations. If you are unable
+to comply with U.S. and local laws, return this product immediately.
+
+A summary of U.S. laws governing Cisco cryptographic products may be found at:
+http://www.cisco.com/wwl/export/crypto/tool/stqrg.html
+
+If you require further assistance please contact us by sending email to
+export@cisco.com.
+
+
+cisco WS-C3560-24PS (PowerPC405) processor (revision P0) with 122880K/8184K bytes of memory.
+Processor board ID CAT1037RJF7
+24 FastEthernet/IEEE 802.3 interface(s)
+2 Gigabit Ethernet/IEEE 802.3 interface(s)
+
+63488K bytes of flash-simulated non-volatile configuration memory.
+Base ethernet MAC Address       : 000C.851A.E348
+Motherboard assembly number     : 73-9673-09
+Power supply part number        : 341-0029-05
+Motherboard serial number       : CAT103758VY
+Power supply serial number      : DTH1036C7UB
+Model revision number           : P0
+Motherboard revision number     : A0
+Model number                    : WS-C3560-24PS-E
+System serial number            : CAT1037RJF7
+Top Assembly Part Number        : 800-26380-04
+Top Assembly Revision Number    : B0
+Version ID                      : V06
+CLEI Code Number                : COM1100ARC
+Hardware Board Revision Number  : 0x01
+
+
+Switch   Ports  Model              SW Version              SW Image
+------   -----  -----              ----------              ----------
+*    1   26     WS-C3560-24PS      12.2(37)SE1             C3560-ADVIPSERVICESK
+
+Cisco IOS Software, C3560 Software (C3560-ADVIPSERVICESK9-M), Version 12.2(37)SE1, RELEASE SOFTWARE (fc1)
+Copyright (c) 1986-2007 by Cisco Systems, Inc.
+Compiled Thu 05-Jul-07 22:22 by pt_team
+
+Press RETURN to get started!
+
+
+%LINK-5-CHANGED: Interface FastEthernet0/1, changed state to up
+
+%LINEPROTO-5-UPDOWN: Line protocol on Interface FastEthernet0/1, changed state to up
+
+%LINEPROTO-5-UPDOWN: Line protocol on Interface FastEthernet0/1, changed state to down
+
+%LINEPROTO-5-UPDOWN: Line protocol on Interface FastEthernet0/1, changed state to up
+
+Switch>en
+Switch#conf t
+Enter configuration commands, one per line.  End with CNTL/Z.
+Switch(config)#int f0/1
+Switch(config-if)#switch trunk encap dot1q
+Switch(config-if)#switch mode trunk
+Switch(config-if)#exit
+Switch(config)#exit
+Switch#
+%SYS-5-CONFIG_I: Configured from console by console
+
+Switch#conf t
+Enter configuration commands, one per line.  End with CNTL/Z.
+Switch(config)#vlan 10
+Switch(config-vlan)#vlan 20
+Switch(config-vlan)#vlan 30
+Switch(config-vlan)#eixt
+                     ^
+% Invalid input detected at '^' marker.
+	
+Switch(config-vlan)#ex
+Switch(config)#int vlan 10
+Switch(config-if)#
+%LINK-5-CHANGED: Interface Vlan10, changed state to up
+
+%LINEPROTO-5-UPDOWN: Line protocol on Interface Vlan10, changed state to up
+
+Switch(config-if)#ip address 192.168.10.254 255.255.255.0
+Switch(config-if)#no shutdown
+Switch(config-if)#int vlan 20
+Switch(config-if)#
+%LINK-5-CHANGED: Interface Vlan20, changed state to up
+
+%LINEPROTO-5-UPDOWN: Line protocol on Interface Vlan20, changed state to up
+
+Switch(config-if)#ip address 192.168.20.254 255.255.255.0
+Switch(config-if)#no shutdown
+Switch(config-if)#int vlan 30
+Switch(config-if)#
+%LINK-5-CHANGED: Interface Vlan30, changed state to up
+
+%LINEPROTO-5-UPDOWN: Line protocol on Interface Vlan30, changed state to up
+
+Switch(config-if)#ip address 192.168.30.254 255.255.255.0
+Switch(config-if)#no shutdown
+Switch(config-if)#exit
+Switch(config)#ip routing
+Switch(config)#int f0/2
+Switch(config-if)#no switch
+Switch(config-if)#ip address 10.1.1.1 255.255.255.0
+Switch(config-if)#no shutdown
+Switch(config-if)#router rip
+Switch(config-router)#no auto-summary
+Switch(config-router)#network 192.168.10.0
+Switch(config-router)#network 192.168.20.0
+Switch(config-router)#network 192.168.30.0
+Switch(config-router)#network 10.1.1.0
+Switch(config-router)#
+Switch#
+%SYS-5-CONFIG_I: Configured from console by console
+
+Switch#

新建文本文档 .txt

@@ -0,0 +1,41 @@
+sudo apt-get update && sudo apt-get upgrade
+
+sudo apt-get install build-essential cmake pkg-config
+
+sudo apt-get install libjpeg-dev libtiff5-dev libjasper-dev libpng-dev
+
+sudo apt-get install libavcodec-dev libavformat-dev libswscale-dev libv4l-dev
+
+sudo apt-get install libxvidcore-dev libx264-dev
+
+sudo apt-get install libfontconfig1-dev libcairo2-dev
+sudo apt-get install libgdk-pixbuf2.0 -dev libpango1.0 -dev
+sudo apt-get install libgtk2.0 -dev libgtk- 3 -dev
+sudo apt-get install libatlas-base-dev gfortran
+
+sudo apt-get install libhdf5-dev libhdf5-serial-dev libhdf5-103
+sudo apt-get install libqtgui4 libqtwebkit4 libqt4-test python3-pyqt5
+
+sudo apt-get install python3-dev
+
+wget https://bootstrap.pypa.io/get-pip.py
+sudo python get-pip.py
+sudo python3 get-pip.py
+sudo rm -rf ~/.cache/pip
+
+sudo pip install virtualenv virtualenvwrapper
+
+nano ~/.bashrc
+
+# virtualenv and virtualenvwrapper
+export WORKON_HOME=$HOME/.virtualenvs
+export VIRTUALENVWRAPPER_PYTHON=/usr/bin/python3
+source /usr/local/bin/virtualenvwrapper.sh
+
+source ~/.bashrc
+
+mkvirtualenv cv -p python3
+
+pip install "picamera[array]"
+
+pip install opencv-contrib-python

新建文本文档.txt

@@ -0,0 +1,261 @@
+#include <Servo.h>
+
+int _ABVAR_1_i = 0 ;
+Servo servo_pin_4;
+const int s0 = A3; 
+const int s1 = A4; 
+const int s2 = A1; 
+const int s3 = A5; 
+const int out = 8; 
+const int led = 7;
+const int xun_ji1 = A2;
+const int xun_ji2 = 3; 
+const int xun_ji3 = A0;
+int red = 0; 
+int green = 0; 
+int blue = 0; 
+int _ABVAR_2_a = 0;
+int _ABVAR_3_b = 0;
+
+void trunright();
+void trunleft();
+void stop();
+void duo_ji();
+void forwoard_drop();
+void forwoard_rise();
+void back();
+void forwoard();
+void color();
+void pan_duan_yan_se();
+
+void setup()
+{
+  pinMode(xun_ji1 , INPUT);
+  pinMode( xun_ji2, INPUT);
+  pinMode( xun_ji3, INPUT);
+  pinMode( 10, OUTPUT);
+  pinMode( 6, OUTPUT);
+  pinMode( 5, OUTPUT);
+  pinMode( 9, OUTPUT);
+  pinMode( 9 , OUTPUT);
+  pinMode( 10 , OUTPUT);
+  pinMode( 5 , OUTPUT);
+  pinMode( 6 , OUTPUT);
+  servo_pin_4.attach(4);
+  _ABVAR_1_i = 0 ;
+  pinMode(s0, OUTPUT); 
+  pinMode(s1, OUTPUT); 
+  pinMode(s2, OUTPUT); 
+  pinMode(s3, OUTPUT); 
+  pinMode(out, INPUT); 
+  pinMode(led, OUTPUT);
+  digitalWrite(s0, HIGH); 
+  digitalWrite(s1, HIGH); 
+}
+
+void loop()
+{
+  if (( ( digitalRead(xun_ji3) && digitalRead(xun_ji1) ) && digitalRead(xun_ji2) ))
+  {
+    back();
+  }
+  else
+  {
+    if (( ( digitalRead(xun_ji3) && digitalRead(xun_ji2) ) && !( digitalRead(xun_ji1) ) ))
+    {
+      trunleft();
+    }
+    else
+    {
+      if (( ( digitalRead(xun_ji3) && digitalRead(xun_ji1) ) && !( digitalRead(xun_ji2) ) ))
+      {
+        forwoard();
+      }
+      else
+      {
+        if (( digitalRead(xun_ji3) && ( !( digitalRead(xun_ji2) ) && !( digitalRead(xun_ji1) ) ) ))
+        {
+          trunleft();
+        }
+        else
+        {
+          if (( !( digitalRead(xun_ji3) ) && ( digitalRead(xun_ji2) && digitalRead(xun_ji1) ) ))
+          {
+            trunright();
+          }
+          else
+          {
+            if (( ( !( digitalRead(xun_ji3) ) && !( digitalRead(xun_ji2) ) ) && digitalRead(xun_ji1) ))
+            {
+              trunright();
+            }
+            else
+            {
+              if (( ( !( digitalRead(xun_ji3) ) && !( digitalRead(xun_ji2) ) ) && !( digitalRead(xun_ji1) ) ))
+              {
+                _ABVAR_1_i = ( _ABVAR_1_i + 1 ) ;
+                if (( ( _ABVAR_1_i ) == ( 1 ) ))
+                {
+                  forwoard_rise();
+                  delay( 1500 );
+                  forwoard();
+                  delay( 5000 );
+                }
+                else
+                {
+                  if (( ( _ABVAR_1_i ) == ( 2 ) ))
+                  {
+                    forwoard_rise();
+                    delay( 3000 );
+                    forwoard();
+                    delay( 500 );
+                  }
+                  else
+                  {
+                    if (( ( _ABVAR_1_i ) == ( 3 ) ))
+                    {
+                      stop();
+                      digitalWrite(led, HIGH);
+                      delay(500);
+                      color();
+                      digitalWrite(led, LOW);
+                      if (red < blue && red < green)
+                      { 
+                        _ABVAR_2_a = 1;
+                //LcdDisplay(" - (Red Color)");
+                      } 
+                      else if (blue < red && blue < green) 
+                      { 
+                        _ABVAR_2_a = 2; 
+                //      LcdDisplay(" - (Blue Color)");
+                      } 
+                      else if (green < red && green < blue) 
+                      { 
+                        _ABVAR_2_a = 3; 
+                //      LcdDisplay(" - (Green Color)");
+                      }
+                      while(((_ABVAR_2_a)!= (_ABVAR_3_b)))
+                      {
+                        pan_duan_yan_se();
+                      }
+                      duo_ji();
+                     }
+                  }
+                }
+              }
+            }
+          }
+        }
+      }
+    }
+  }
+}
+      
+void trunright()
+{
+  analogWrite(9 , 180);
+  analogWrite(10 , 0);
+  analogWrite(5 , 0);
+  analogWrite(6 , 0);
+}
+
+void stop()
+{
+  digitalWrite( 9 , LOW );
+  digitalWrite( 10 , LOW );
+  digitalWrite( 5 , LOW );
+  digitalWrite( 6 , LOW );
+}
+
+void forwoard_drop()
+{
+  analogWrite(9 , 80);
+  analogWrite(10 , 0);
+  analogWrite(5 , 80);
+  analogWrite(6 , 0);
+}
+
+void duo_ji()
+{
+  servo_pin_4.write( 90 );
+  delay( 300 );
+  servo_pin_4.write( 180 );
+  delay( 600 );
+  servo_pin_4.write( 90 );
+  delay( 300 );
+}
+
+void trunleft()
+{
+  analogWrite(9 , 0);
+  analogWrite(10 , 0);
+  analogWrite(5 , 180);
+  analogWrite(6 , 0);
+}
+
+void forwoard()
+{
+  analogWrite(9 , 180);
+  analogWrite(10 , 0);
+  analogWrite(5 , 180);
+  analogWrite(6 , 0);
+}
+
+void back()
+{
+  analogWrite(9 , 0);
+  analogWrite(10 , 120);
+  analogWrite(5 , 0);
+  analogWrite(6 , 120);
+}
+
+void forwoard_rise()
+{
+  analogWrite(9 , 255);
+  analogWrite(10 , 0);
+  analogWrite(5 , 255);
+  analogWrite(6 , 0);
+}
+
+void color() 
+{ 
+ digitalWrite(s2, LOW); 
+ digitalWrite(s3, LOW); 
+ //count OUT, pRed, RED 
+ red = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH); 
+ digitalWrite(s3, HIGH); 
+ //count OUT, pBLUE, BLUE 
+ blue = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH); 
+ digitalWrite(s2, HIGH); 
+ //count OUT, pGreen, GREEN 
+ green = pulseIn(out, digitalRead(out) == HIGH ? LOW : HIGH); 
+}
+void pan_duan_yan_se()
+{
+  forwoard();
+  delay(600);
+  stop();
+  digitalWrite(led, HIGH);
+  delay(500);
+  color();
+  digitalWrite(led, LOW);
+  if (red < blue && red < green)
+  { 
+    _ABVAR_3_b = 1;
+//        LcdDisplay(" - (Red Color)");
+  } 
+ 
+  else if (blue < red && blue < green) 
+  { 
+    _ABVAR_3_b = 2; 
+//        LcdDisplay(" - (Blue Color)");
+  } 
+ 
+  else if (green < red && green < blue) 
+  { 
+    _ABVAR_3_b = 3; 
+//        LcdDisplay(" - (Green Color)");
+  }                       
+}
+
+ 

镜像说明.txt

@@ -0,0 +1,2 @@
+deb http://mirrors.tuna.tsinghua.edu.cn/raspbian/raspbian/ buster main non-free contrib
+deb-src http://mirrors.tuna.tsinghua.edu.cn/raspbian/raspbian/ buster main non-free contrib