[UNIHIKER K10][Arduino IDE][C++] Line Tracking

1.Line Tracking Code Example

Before You Start:

• [UNIHIKER K10][Arduino IDE][C++] Overview and Setup
• Line Tracking Function Guide

1.1 Line Tracking and Output Relevant Data

Under the Line Tracking function, HUSKYLENS 2 can mark the trajectory of the route in the image and obtain the current route's length, angle, and X/Y components. When the route has branches, it can obtain the number of branches at the intersection and the corresponding data of each branch counterclockwise.

The example program is as follows:

#include "unihiker_k10.h"
#include "DFRobot_HuskylensV2.h"
// Create objects (Huskylens: line tracking; UNIHIKER K10: screen)
HuskylensV2  huskylens;
UNIHIKER_K10 k10;
uint8_t      screen_dir = 2;  // Screen display direction


// Main program initialization
void setup() {
  k10.begin();          // Initialize UNIHIKER K10
  Wire.begin();         // Initialize I2C communication

  // Wait for Huskylens connection (retry every 100ms)
  while (!huskylens.begin(Wire)) {
    delay(100);
  }

  k10.initScreen(screen_dir);       // Init screen with set direction
  k10.creatCanvas();                // Create drawing canvas
  huskylens.switchAlgorithm(ALGORITHM_LINE_TRACKING);  // Set to line tracking mode
}

void loop() {
  huskylens.getResult(ALGORITHM_LINE_TRACKING);  // Get latest line tracking data

  if (huskylens.available(ALGORITHM_LINE_TRACKING)) {
    // Store current branch data to simplify repeated calls
    auto currentBranch = huskylens.getCurrentBranch(ALGORITHM_LINE_TRACKING);
    
    // Display line tracking info (blue: 0x0000FF; font: eCNAndENFont24)
    k10.canvas->canvasText(String("Route angle: ") + String(RET_ITEM_NUM(currentBranch, Result, angle)), 0, 0, 0x0000FF, k10.canvas->eCNAndENFont24, 50, true);
    k10.canvas->canvasText(String("Route length: ") + String(RET_ITEM_NUM(currentBranch, Result, length)), 0, 30, 0x0000FF, k10.canvas->eCNAndENFont24, 50, true);
    k10.canvas->canvasText("X & Y components:", 0, 60, 0x0000FF, k10.canvas->eCNAndENFont24, 50, true);
    k10.canvas->canvasText(String(RET_ITEM_NUM(currentBranch, Result, xTarget)) + String(",") + String(RET_ITEM_NUM(currentBranch, Result, yTarget)), 0, 90, 0x0000FF, k10.canvas->eCNAndENFont24, 50, true);
    k10.canvas->canvasText(String("Junction branch ") , 0, 120, 0x0000FF, k10.canvas->eCNAndENFont24, 50, true);
    k10.canvas->canvasText( (String("count: ") +String(huskylens.getUpcomingBranchCount(ALGORITHM_LINE_TRACKING))), 0, 150, 0x0000FF, k10.canvas->eCNAndENFont24, 50, true);
    
  }

  k10.canvas->updateCanvas();  // Refresh screen
  delay(1000);                 // 1s delay for stable data reading
}

Running Result:As shown in the figure, align the HUSKYLENS 2 with the route map, and observe that the UNIHIKER K10 screen displays output data such as the current route length and angle. When the route consists of multiple branches,