OpenMV Vision Code for 2023 Season
This season we will talk to our OpenMV cameras through their UART 1 / Serial Port. We plan to use 230400 bits/second, N,8,1 communications format. Each message to and from the OpenMV camera will be a single line of text delimited by a newline character. Within each message, fields will be separated by the comma ',' character.
The target message is a message from the OpenMV to the RoboRio containing a set of detected target objects. Each detected object has four fields:
- Type - Meaning cone or cube
- X Image Coordinate
- Y Image Coordinate
- Confidence - Floating point 0 to 1 confidence in the detection
- Area - Area of the target in pixels for range estimation
Example message: "Cone, 100, 120, 0.5,100, Cube, 120, 150, 0.9, 200, Cone, 90, 80, 1.0, 101\n"
This represents detection of 3 game pieces. Two cones, one cube at different location and confidence levels.
We are using OpenMV H7 and H7 R2 cameras and the FTDI-232R-DS_TTL cable to transmit TTL-level (3.3V) serial data.
- The OpenMV pintout is here: https://cdn.shopify.com/s/files/1/0803/9211/files/cam-v4-pinout_b4fbafcb-fd48-4a86-926d-85c75c845b77.png?v=1591573979
- The FTDI cable pintout is here: https://ftdichip.com/wp-content/uploads/2021/02/DS_TTL-232R_CABLES.pdf
