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我想跟踪面对安卓——我在电脑上用它——现在我想在安卓上。arduino 程序控制的平移和倾斜伺服系统。我必须只将一个字符示例“w”发送到 arduino，因此 arduino 使其 +1 移动伺服等。我无法将该字符发送到 arduino。

    public Mat onCameraFrame(CvCameraViewFrame inputFrame) {

    mRgba = inputFrame.rgba();
    mGray = inputFrame.gray();

    if (mAbsoluteFaceSize == 0) {
        int height = mGray.rows();
        if (Math.round(height * mRelativeFaceSize) > 0) {
            mAbsoluteFaceSize = Math.round(height * mRelativeFaceSize);
        }
        mNativeDetector.setMinFaceSize(mAbsoluteFaceSize);
    }

    MatOfRect faces = new MatOfRect();

    if (mDetectorType == JAVA_DETECTOR) {
        if (mJavaDetector != null)
            mJavaDetector.detectMultiScale(mGray, faces, 1.1, 2, 2, // TODO: objdetect.CV_HAAR_SCALE_IMAGE
                    new Size(mAbsoluteFaceSize, mAbsoluteFaceSize), new Size());
    }
    else if (mDetectorType == NATIVE_DETECTOR) {
        if (mNativeDetector != null)
            mNativeDetector.detect(mGray, faces);
    }
    else {
        Log.e(TAG, "Detection method is not selected!");
    }

    Rect[] facesArray = faces.toArray();

    for (int i = 0; i < facesArray.length; i++)
        Core.rectangle(mRgba, facesArray[i].tl(), facesArray[i].br(), FACE_RECT_COLOR, 3);
    for( int i=0; i<facesArray.length; i++ ) {
        rect( facesArray[i].x, facesArray[i].y, facesArray[i].width, facesArray[i].height ); 

    if(facesArray[i].x  < 640){
        arduinoPort.write("w");
    // println("left"); 
    //moutput.write("d");
        //mOutputStream.write("d".toString());  

   } 

    if(facesArray[i].x + facesArray[i].width > 1280){
        //println("right"); 
        arduinoPort.write("a");
       }

    if(facesArray[i].y + facesArray[i].height > 640){
        //println("bottom"); 
        arduinoPort.write("s");
       }

    if(facesArray[i].y < 320){
         //  println("top"); 
           arduinoPort.write("w");
          }

    if ((facesArray[i].x > 640) && (facesArray[i].x + facesArray[i].width < 1280)){
        //println("center"); 
           arduinoPort.write("z");

          }
    return mRgba;

这是一个arduino代码

    #include <Max3421e.h> 
    #include <Usb.h> 
    #include <AndroidAccessory.h> 
    #include <Servo.h> 

      Servo WristServo;  
      Servo BaseServo;
    int tilt = 90;
    int pan = 90;
    void setup() 
     { 
    Serial.begin(9600);
    WristServo.attach(11);
    BaseServo.attach(12);
    WristServo.write(tilt);  
    BaseServo.write(pan);  
 } 

 void loop() 
 { 
  if(Serial.available() > 0)  
 {
 int data = Serial.read();  
 switch(data)
 {

  case 'w' : if (pan > 0) {pan -=1;} break;
   case 's' : if (pan > 0) {pan +=1;} break;
 case 'a' : if (tilt < 180) {tilt -=1;} break;
 case 'd' : if (tilt > 0) {tilt +=1;} break;
  default  : break;
  }

  }

    WristServo.write(tilt);
   BaseServo.write(pan);

}
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