代码运行了几秒就画面卡住了是怎么回事？
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# open mv主代码 # 必须先扫描二维码，再识别颜色，返回抓取顺序 # uart 通讯 import sensor, image, time, pyb from pyb import UART ROI = (20, 120, 280, 100) red_threshold = (47, 68, 55, 103, 25, 63) # red_thresholds green_threshold = (45, 65, -50, -30, 0, 40)# green_thresholds blue_threshold = (28, 81, -52, 81, -29, -87)# blue_thresholds #红绿蓝色环阈值 objthresholds=[(42, 76, 5, 35, -3, 88), (53, 66, -23, -5, 17, -5), (49, 61, -12, 18, -27, -3)] graythreshold=[(100,255)]#二值化阈值 sensor.reset() sensor.set_pixformat(sensor.RGB565) sensor.set_framesize(sensor.QVGA) sensor.skip_frames(time = 2000) sensor.set_auto_gain(False) # must be turned off for color tracking sensor.set_auto_whitebal(False) # must be turned off for color tracking clock = time.clock() red_led = pyb.LED(1) green_led = pyb.LED(2) blue_led = pyb.LED(3) uart = pyb.UART(3,9600) uart.init(9600, bits=8, parity=0, stop=2, timeout_char = 500) clock = time.clock() qrcode1='' #后文第一层二维码所用参数 qrcode2='' #后文第二层二维码所用参数 RGB_Order_F1=['0','0','0'] #第一层物块的排列顺序 RGB_Order_F2=['0','0','0'] #第二层物块的排列顺序 qr_code_F1=['0','0','0'] #二维码要求第一层抓取的顺序,默认为RGB qr_code_F2=['0','0','0'] #二维码要求第二层抓取的顺序,默认为RGB sehuan_order_F1=['0','0','0']#第一层色环顺序 sehuan_order_F2=['0','0','0']#第二层色环顺序 Put_Order1=0#放置顺序参数（一层） Put_Order2=0#放置顺序参数（二层） put_place1=''#放置顺序参数（一层） put_place2=''#放置顺序参数（二层） put_number1=0#放置顺序参数（一层） put_number2=0#放置顺序参数（二层） a=0#a为将前三和后三个物块放置顺序整合的一个整数 r=0 g=0 b=0 flag=0 m=n=0#第一层二维码和物块顺序综合分析的抓取顺序所需参数 i=j=0#第二层二维码和物块顺序综合分析的抓取顺序所需参数 p=q=0#靶环顺序和分析放置顺序所需参数 first_one1=0 second_one1=0 #第一层二维码和物块顺序综合分析的抓取顺序所需参数 third_one1=0 first_one2=0 second_one2=0 #第二层二维码和物块顺序综合分析的抓取顺序所需参数 third_one2=0 first_one3=0 second_one3=0 #第一层靶环顺序和分析放置顺序所需参数 third_one3=0 first_one4=0 second_one4=0 #第二层靶环顺序和分析放置顺序所需参数 third_one4=0 #flag_w=1 flag_find_r1=0 flag_find_g1=0 flag_find_b1=0 flag_find_r2=0 flag_find_g2=0 flag_find_b2=0 flag_sehuan_r=0 flag_sehuan_g=0 flag_sehuan_b=0 order1=0 #寻找第一层色块的顺序所需参数 order2=0 #寻找第二层色块的顺序所需参数 sehuan=0#色环顺序 uart_receive=0 time.sleep(500) #接收数据定义 while(True): if uart.any(): uart_respond = uart.readline().decode() uart_receive = int(uart_respond) print(uart_receive) uart = pyb.UART(3,9600) clock = time.clock() uart.init(9600, bits=8, parity=0, stop=2, timeout_char = 500) ################################################################################################## #扫描二维码部分 qrcode1=0 qrcode2=0 #输入：uart输入1 #输出：二维码内容代码: 'a':123(搬运·顺序也如此) # 'b':132 # ‘c':213 # 'd’:231 # 'e':312 # 'f':321 ################################################################################################# while (uart_receive==1): img = sensor.snapshot() img.lens_corr(1.8) # strength of 1.8 is good for the 2.8mm lens. for code in img.find_qrcodes(): img.draw_rectangle(code.rect(), color = (255, 0, 0)) one,two=code.payload().split('+');#one和two分别对应第一次和第二次的抓取顺序 if one=='123': qrcode1='a' qr_code_F1=['R','G','B'] #uart.write('a') #print('a'); elif one=='132': qrcode1='b' qr_code_F1=['R','B','G'] #uart.write('b') #print('b'); elif one=='213': qrcode1='c' qr_code_F1=['G','R','B'] #uart.write('c') #print('c'); elif one=='231': qrcode1='d' qr_code_F1=['G','B','R'] #uart.write('d') #print('d'); elif one=='312': qrcode1='e' qr_code_F1=['B','R','G'] #uart.write('e') #print('e'); elif one=='321': qrcode1='f' qr_code_F1=['B','G','R'] #uart.write('f') #print('f'); if two=='123': qrcode2='g' qr_code_F2=['R','G','B'] #uart.write('g') #print('g'); elif two=='132': qrcode2='h' qr_code_F2=['R','B','G'] #uart.write('h') #print('h'); elif two=='213': qrcode2='i' qr_code_F2=['G','R','B'] #uart.write('i') #print('i'); elif one=='231': qrcode2='j' qr_code_F2=['G','B','R'] #uart.write('j') #print('j'); elif two=='312': qrcode2='k' qr_code_F2=['B','R','G'] #uart.write('k') #print('k'); elif two=='321': qrcode2='l' qr_code_F2=['B','G','R'] #uart.write('l') #print('l'); uart.write(qrcode1,qrcode2) print(qrcode1+qrcode2) print('扫描完毕') red_led.on() green_led.off() blue_led.off() uart_receive=0 ################################################################################################## #扫描二维码部分(第二层顺序) qrcode2=0 #输入：uart输入2 #输出：二维码内容代码: 'g':123(搬运·顺序也如此) # 'h':132 # 'i':213 # 'j':231 # 'k':312 # 'l':321 ################################################################################################# while (uart_receive==2): img = sensor.snapshot() img.lens_corr(1.8) # strength of 1.8 is good for the 2.8mm lens. for code in img.find_qrcodes(): img.draw_rectangle(code.rect(), color = (255, 0, 0)) one,two=code.payload().split('+');#one和two分别对应第一次和第二次的抓取顺序 if two=='123': qrcode2=1 qr_code_F2=['R','G','B'] uart.write('g') print('g'); elif two=='132': qrcode2=2 qr_code_F2=['R','B','G'] uart.write('h') print('h'); elif two=='213': qrcode2=3 qr_code_F2=['G','R','B'] uart.write('i') print('i'); elif one=='231': qrcode2=4 qr_code_F2=['G','B','R'] uart.write('j') print('j'); elif two=='312': qrcode2=5 qr_code_F2=['B','R','G'] uart.write('k') print('k'); elif two=='321': qrcode2=6 qr_code_F2=['B','G','R'] uart.write('l') print('l'); red_led.on() green_led.off() blue_led.off() uart_receive=0 ################################################################################################## #寻找第一层色块的顺序 order1=0 flag_find_r1=0 flag_find_g1=0 flag_find_b1=0 #输入：uart输入3 #输出：一层物块摆放顺序:一层：RGB_Order_F1=['R','G','B'](以其中一种可能性为例) ################################################################################################# while (uart_receive==3): img = sensor.snapshot().lens_corr(1.8) for blob in img.find_blobs([red_threshold], pixels_threshold=800, area_threshold=800): if flag_find_r1==0: img.draw_rectangle(blob.rect()) img.draw_cross(blob.cx(), blob.cy()) #r=blob.cx() RGB_Order_F1[order1]='R' order1=order1+1 flag_find_r1=1 red_led.on() green_led.off() blue_led.off() else: #pass print("i have already find the r") #print("1111111111111"); #print(r); for blob in img.find_blobs([green_threshold], pixels_threshold=200, area_threshold=200): if flag_find_g1==0: img.draw_rectangle(blob.rect()) img.draw_cross(blob.cx(), blob.cy()) #g=blob.cx() RGB_Order_F1[order1]='G' order1=order1+1 flag_find_g1=1 red_led.off() green_led.on() blue_led.off() else: #pass print("i have already find the g") #print("222222222222()"); #print(g); for blob in img.find_blobs([blue_threshold], pixels_threshold=200, area_threshold=200): if flag_find_b1==0: img.draw_rectangle(blob.rect()) img.draw_cross(blob.cx(), blob.cy()) #b=blob.cx() RGB_Order_F1[order1]='B' order1=order1+1 flag_find_b1=1 red_led.off() green_led.off() blue_led.on() else: #pass print("i have already find the b") #print("3333333333333"); #print(b); print(RGB_Order_F1) if order1==3 : uart_receive=0; ################################################################################################## #寻找第二层色块的顺序 order2=0 flag_find_r2=0 flag_find_g2=0 flag_find_b2=0 #输入：uart输入4 #输出：二层物块摆放顺序:二层：RGB_Order_F2=['R','G','B'](以其中一种可能性为例) ################################################################################################# while (uart_receive==4): img = sensor.snapshot().lens_corr(1.8) for blob in img.find_blobs([red_threshold], pixels_threshold=800, area_threshold=800): if flag_find_r2==0: img.draw_rectangle(blob.rect()) img.draw_cross(blob.cx(), blob.cy()) #r=blob.cx() RGB_Order_F2[order2]='R' order2=order2+1 flag_find_r2=1 red_led.on() green_led.off() blue_led.off() else: #pass print("i have already find the r") #print("1111111111111"); #print(r); for blob in img.find_blobs([green_threshold], pixels_threshold=200, area_threshold=200): if flag_find_g2==0: img.draw_rectangle(blob.rect()) img.draw_cross(blob.cx(), blob.cy()) #g=blob.cx() RGB_Order_F2[order2]='G' order2=order2+1 flag_find_g2=1 red_led.off() green_led.on() blue_led.off() else: #pass print("i have already find the g") #print("222222222222()"); #print(g); for blob in img.find_blobs([blue_threshold], pixels_threshold=200, area_threshold=200): if flag_find_b2==0: img.draw_rectangle(blob.rect()) img.draw_cross(blob.cx(), blob.cy()) #b=blob.cx() RGB_Order_F2[order2]='B' order2=order2+1 flag_find_b2=1 red_led.off() green_led.off() blue_led.on() else: #pass print("i have already find the b") #print("3333333333333"); #print(b); print(RGB_Order_F2) if order2==3 : uart_receive=0 ################################################################################################## #第一层二维码和物块顺序综合分析的抓取顺序 m=n=0 first_one1=0 second_one1=0 third_one1=0 #输入：uart输入5 #输出：实际动作顺序: 'p':实际动作：左 中 右 # 'q':实际动作：左 右 中 # 'r':实际动作：中 左 右 # 's':实际动作：中 右 左 # 't':实际动作：右 左 中 # 'u':实际动作：右 中 左 ################################################################################################# while(uart_receive==5): for m in range(3): for n in range(3): if(qr_code_F1[m]==RGB_Order_F1[n]): if m==0: first_one1=(m+1)*10+(n+1) elif m==1: second_one1=(m+1)*10+(n+1) elif m==2: third_one1=(m+1)*10+(n+1) Get_Order1=first_one1%10*100+second_one1%10*10+third_one1%10#抓取顺序 print(Get_Order1) print("Doen duibiwukuai") uart_receive=0 if Get_Order1==123:#抓取顺序为左,中,右 uart.write('g') #break elif Get_Order1==132:#抓取顺序为左,右,中 uart.write('h') #break elif Get_Order1==213:#抓取顺序为中,左,右 uart.write('i') #break elif Get_Order1==231:#抓取顺序为中,右,左 uart.write('j') #break elif Get_Order1==312:#抓取顺序为右,左,中 uart.write('k') #break elif Get_Order1==321:#抓取顺序为右,中,左 uart.write('l') ################################################################################################## #第二层二维码和物块顺序综合分析的抓取顺序 i=j=0 first_one2=0 second_one2=0 third_one2=0 #输入：uart输入6 #输出：实际动作顺序: 'p':实际动作：左 中 右 # 'q':实际动作：左 右 中 # 'r':实际动作：中 左 右 # 's':实际动作：中 右 左 # 't':实际动作：右 左 中 # 'u':实际动作：右 中 左 ################################################################################################# while(uart_receive==6): for i in range(3): for j in range(3): if(qr_code_F2[i]==RGB_Order_F2[j]): if i==0: first_one2=(i+1)*10+(j+1) elif i==1: second_one2=(i+1)*10+(j+1) elif i==2: third_one2=(i+1)*10+(j+1) Get_Order2=first_one2%10*100+second_one2%10*10+third_one2%10#抓取顺序 print(Get_Order2) print("Doen duibiwukuai") uart_receive=0 if Get_Order2==123:#抓取顺序为左,中,右 uart.write('g') #break elif Get_Order2==132:#抓取顺序为左,右,中 uart.write('h') #break elif Get_Order2==213:#抓取顺序为中,左,右 uart.write('i') #break elif Get_Order2==231:#抓取顺序为中,右,左 uart.write('j') #break elif Get_Order2==312:#抓取顺序为右,左,中 uart.write('k') #break elif Get_Order2==321:#抓取顺序为右,中,左 uart.write('l') ################################################################################################## #靶环顺序和分析放置顺序 a=0 sehuan=0#色环顺序 p=q=x=y=0 sehuan_order_F1=['0','0','0'] #输入：uart输入7 first_one3=0 second_one3=0 third_one3=0 #输出：靶环颜色: 'x':红色 Put_Order1=0 Put_Order2=0 # 'y':绿色 put_number1=0 put_number2=0 # 'z':蓝色 put_place1='' put_place2='' ################################################################################################## while(uart_receive==7): img = sensor.snapshot().lens_corr(1.8) img.binary([objthresholds[0]]) img.dilate(2) for blob in img.find_blobs(graythreshold, roi=ROI, pixels_threshold=200, area_threshold=200): if flag_sehuan_r==0: img.draw_rectangle(blob.rect()) img.draw_cross(blob.cx(), blob.cy()) #uart.write('x') flag_sehuan_r=1 sehuan_order_F1[sehuan]='R' sehuan+=1 print('x') red_led.on() green_led.off() blue_led.off() else: print("finded red_huan") img.binary([objthresholds[1]]) img.dilate(2) for blob in img.find_blobs(graythreshold, roi=ROI, pixels_threshold=200, area_threshold=200): if flag_sehuan_g==0: img.draw_rectangle(blob.rect()) img.draw_cross(blob.cx(), blob.cy()) #uart.write('y') c=0 sehuan_order_F1[sehuan]='G' flag_sehuan_g=1 sehuan+=1 #g=blob.cx() print('y') red_led.off() green_led.on() blue_led.off() else: print("fined green_huan") img.binary([objthresholds[2]]) img.dilate(2) for blob in img.find_blobs(graythreshold, roi=ROI,pixels_threshold=200, area_threshold=200): if flag_sehuan_b==0: img.draw_rectangle(blob.rect()) img.draw_cross(blob.cx(), blob.cy()) #uart.write('z') flag_sehuan_b=1 sehuan_order_F1[sehuan]='B' sehuan+=1 #b=blob.cx() print('z') red_led.off() green_led.off() blue_led.on() else: print("fined blue_huan") if sehuan==3: print(sehuan_order_F1) for p in range(3): for q in range(3): if(qr_code_F1[p]==sehuan_order_F1[q]): if p==0: first_one3=(p+1)*10+(q+1) elif p==1: second_one3=(p+1)*10+(q+1) elif p==2: third_one3=(p+1)*10+(q+1) Put_Order1=first_one3%10*100+second_one3%10*10+third_one3%10#放置顺序 #print(Put_Order1) #print("Doen duibisehuan") for x in range(3): for y in range(3): if(qr_code_F2[x]==sehuan_order_F1[y]): if x==0: first_one4=(x+1)*10+(y+1) elif x==1: second_one4=(x+1)*10+(y+1) elif x==2: third_one4=(x+1)*10+(y+1) Put_Order2=first_one4%10*100+second_one4%10*10+third_one4%10#放置顺序 #print(Put_Order2) #print("Doen duibisehuan") uart_receive=0 if Put_Order1==123:#放置顺序为左,中,右 put_number1=1 put_place1='m' #uart.write('m') #break elif Put_Order1==132:#放置顺序为左,右,中 put_number1=2 put_place1='n' #uart.write('n') #break elif Put_Order1==213:#放置顺序为中,左,右 put_number1=3 put_place1='o' #uart.write('o') #break elif Put_Order1==231:#放置顺序为中,右,左 put_number1=4 put_place1='p' #uart.write('p') #break elif Put_Order1==312:#放置顺序为右,左,中 put_number1=5 put_place1='q' #uart.write('q') #break elif Put_Order1==321:#放置顺序为右,中,左 put_number1=6 put_place1='r' #uart.write('r') if Put_Order2==123:#放置顺序为左,中,右 put_number2=1 put_place2='m' #uart.write('m') #break elif Put_Order2==132:#放置顺序为左,右,中 put_number2=2 put_place2='n' #uart.write('n') #break elif Put_Order2==213:#放置顺序为中,左,右 put_number2=3 put_place2='o' #uart.write('o') #break elif Put_Order2==231:#放置顺序为中,右,左 put_number2=4 put_place2='p' #uart.write('p') #break elif Put_Order2==312:#放置顺序为右,左,中 put_number2=5 put_place2='q' #uart.write('q') #break elif Put_Order2==321:#放置顺序为右,中,左 put_number2=6 put_place2='r' #uart.write('r') a=put_number1*10+put_number2#a为将前三和后三个物块放置顺序整合的一个整数 uart.write(a) print(a) while(uart_receive==8): print(clock.fps()); #pyb.hard_reset()
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看上去是哪里的逻辑卡住了，具体是哪里不知道。
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可能是大循环的问题吗
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应该是，你可以多加几个print看一下，
这个太长了，实在看不懂。。。