图像更改

app/main.c

@@ -23,14 +23,11 @@
  ********************************************************************************************************************/
 #include "gl_headfile.h"
 #include "by_rt_button.h"
-#include "by_fan_control.h"
 #include "./page/page.h"
 #include "jj_blueteeth.h"
 #include "jj_param.h"
 #include "./page/page_ui_widget.h"
 #include "by_buzzer.h"
-#include "jj_motion.h"
-#include "by_imu.h"
 int main(void)
 {
 
@@ -41,29 +38,19 @@ int main(void)
     ips200_init(IPS200_TYPE_SPI);
     by_gpio_init();
     by_exit_init();
-    by_pwm_init();
     jj_bt_init();
     by_buzzer_init();
-    while (imu660ra_init())
-        ;
     jj_param_eeprom_init();
     Page_Init();
-    sport_pid_init();
-    pit_ms_init(TIM6_PIT, 2);
-    pit_ms_init(TIM1_PIT, 2);
-    // gyroOffset_init();
+    
     while (1) {
         Page_Run();
         jj_bt_run();
         queue_pop_read();
-        bt_printf("hello:%f,%f\n",out_M,out_yaw);
         if (mt9v03x_finish_flag) {
             // 该操作消耗大概 1970 个 tick，折合约 110us
             memcpy(mt9v03x_image_copy[0], mt9v03x_image[0], (sizeof(mt9v03x_image_copy) / sizeof(uint8_t)));
-            //adaptiveThreshold((uint8_t*)mt9v03x_image_copy, (uint8_t*)mt9v03x_image_copy, 188, 120, 7, 17);
-            //ips200_show_gray_image(0, 0, mt9v03x_image_copy[0], MT9V03X_W, MT9V03X_H, MT9V03X_W, MT9V03X_H, 0);
             mt9v03x_finish_flag = 0;
-
             state_type = COMMON_STATE;
             img_processing();
             get_corners();
@@ -72,27 +59,13 @@ int main(void)
             ElementJudge();
             ElementRun();
             MidLineTrack();
-
+            ips200_show_float(0,180,pure_angle,2,2);
+            ips200_show_int(0, 200, track_type, 2);
+            ips200_show_int(0, 220, garage_type, 2);
+            ips200_show_int(0, 240, cross_type, 2);
+            ips200_show_int(0, 260, circle_type, 2);
         }
     }
 }
 
 
-
-void adaptiveThreshold(uint8_t* img_data, uint8_t* output_data, int width, int height, int block, uint8_t clip_value){
-  int half_block = block / 2;
-  for(int y=half_block; y<height-half_block; y++){
-    for(int x=half_block; x<width-half_block; x++){
-      // 计算局部阈值
-      int thres = 0;
-      for(int dy=-half_block; dy<=half_block; dy++){
-        for(int dx=-half_block; dx<=half_block; dx++){
-          thres += img_data[(x+dx)+(y+dy)*width];
-        }
-      }
-      thres = thres / (block * block) - clip_value;
-      // 进行二值化
-      output_data[x+y*width] = img_data[x+y*width]>thres ? 255 : 0;
-    }
-  }
-}