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  • 找不到目标就报错,找的到目标就可以正常运行???



    • import sensor, image, time
      
      from pyb import UART
      
      import json
      
      # For color tracking to work really well you should ideally be in a very, very,
      
      # very, controlled enviroment where the lighting is constant...
      
      yellow_threshold   = (79, 43, -38, 73, 29, 102)
      
      # You may need to tweak the above settings for tracking green things...
      
      # Select an area in the Framebuffer to copy the color settings.
      
      
      
      sensor.reset() # Initialize the camera sensor.
      
      sensor.set_pixformat(sensor.RGB565) # use RGB565.
      
      sensor.set_framesize(sensor.QQVGA) # use QQVGA for speed.
      
      sensor.skip_frames(10) # Let new settings take affect.
      
      sensor.set_auto_whitebal(False) # turn this off.
      
      clock = time.clock() # Tracks FPS.
      
      
      
      uart = UART(3, 115200)
      
      def find_max(blobs):
      
          max_size=0
      
          for blob in blobs:
      
              if blob.pixels() > max_size:
      
                  max_blob=blob
      
                  max_size = blob.pixels()
      
          return max_blob
      
      
      
      while(True):
      
          img = sensor.snapshot() # Take a picture and return the image.
      
      
      
          blobs = img.find_blobs([yellow_threshold])
      
          if blobs:
      
              max_blob=find_max(blobs)
      
              #print('sum :', len(blobs))
      
              img.draw_rectangle(max_blob.rect())
      
              img.draw_cross(max_blob.cx(), max_blob.cy())
      
      
      
              output_str="[%d,%d]" % (max_blob.cx(),max_blob.cy()) #方式1
      
              #output_str=json.dumps([max_blob.cx(),max_blob.cy()]) #方式2
      
              #print('you send:',output_str)
      
              #uart.write(output_str+'\r\n')
      
      
      
      
          else:
      
              print('not found!')
      
          if max_blob.cx() > 70 and max_blob.cx() <85:
             if max_blob.cy() <80:
                uart.write('s')
                print('s')
             if max_blob.cy() >80:
                uart.write('t')
                print('t')
          if max_blob.cx() < 70:
             uart.write('l')
             print('l')
          if max_blob.cx() >85:
             uart.write('r')
             print('r')
      
      
      ![0_1558342482724_报错.png](https://fcdn.singtown.com/b9b0a8cc-b0bc-4313-b519-2e138364081c.png)