add lcd data print

track.py

@@ -19,13 +19,20 @@ QR_Flag = False
 #--------------LCD 滚动字符显示 START-----------------
 
 LCD_Current_Y = 0
+LCD_Text_Array = []
 
-def LCDDrawText(str_data):
+def LCDDrawText(str_data,_image):
     global LCD_Current_Y
-    lcd.draw_string(0, LCD_Current_Y, str_data, lcd.GREEN, lcd.BLACK)
+    global LCD_Text_Array
-    LCD_Current_Y += 15
+    if _image is not None:
-    if LCD_Current_Y >= 200:
+        lcd.display(_image)
-        LCD_Current_Y = 0
+    LCD_Text_Array.append(str_data)
+    for text in LCD_Text_Array:
+        lcd.draw_string(0, LCD_Current_Y, str_data, lcd.GREEN, lcd.BLACK)
+        LCD_Current_Y += 15
+        if LCD_Current_Y >= 200:
+            LCD_Current_Y = 0
+            del LCD_Text_Array[0]
 
 
 def LCDDrawTrackInfo(down_center,state_crossing,deflection_angle,_image):
@@ -103,7 +110,7 @@ def data_format_wrapper(down_center, state_crossing, deflection_angle):
     return bytes(send_data)
 
 
-def UsartSend(str_data):
+def UsartSend(str_data, _img):
     '''
     串口发送函数
     '''
@@ -301,9 +308,9 @@ def QR_Check():
 #---------------------MAIN-----------------------
 last_cx = 0
 last_cy = 0
-#Flag_track = False
+Flag_track = False
 #调试，使设备始终处于巡线模式
-Flag_track = True
+#Flag_track = True
 #将蓝灯引脚IO12配置到GPIO0，K210引脚支持任意配置
 fm.register(12, fm.fpioa.GPIO0)
 LED_B = GPIO(GPIO.GPIO0, GPIO.OUT) #构建LED对象
@@ -313,12 +320,14 @@ btn_debug = GPIO(GPIO.GPIO1, GPIO.IN)
 x_num = 0
 while True:
     LED_B.value(0) #点亮LED
+    # 拍摄图片
+    img = sensor.snapshot()
     # 串口数据接收处理
     data = uart.read(8)
     if data is not None:
-        print(data)
+        #LCDDrawText(data, img)
-        print(len(data))
+        #LCDDrawText(str(len(data)), img)
-        print(binascii.hexlify(data).decode('utf_8'))
+        LCDDrawText(binascii.hexlify(data).decode('utf_8'), img)
         if(len(data) >= 8):
             if((data[1] == 0x02)&(data[7] == 0xBB)):
                 # 巡线与控制舵机
@@ -363,8 +372,6 @@ while True:
                         QR_Flag = False
 
 
-    # 拍摄图片
-    img = sensor.snapshot()
     # 去除图像畸变
     #img.lens_corr(DISTORTION_FACTOR)
     # 二维码识别
@@ -378,6 +385,7 @@ while True:
             UsartSend(data_format_wrapper(down_center, state_crossing, deflection_angle))
             time.sleep_ms(10)
             is_need_send_data = False
+
     # 在LCD上显示
     #lcd.display(img)
     #按键KEY按下。开启或关闭调试，并退出所有任务。