有哪位大神能告诉我这个问题怎么解决吗？在编译下载到OPENMV中时弹出的。

[bzvo]

import sensor, image, time

from pid import PID
from pyb import Servo

from pyb import UART
import json

pan_servo=Servo(1)   #下
tilt_servo=Servo(2)   #上

yellow_threshold  = (100, 0, -128, 53, 39, 127)

pan_pid = PID(p=0.07, i=0, imax=90) #脱机运行或者禁用图像传输，使用这个PID
tilt_pid = PID(p=0.05, i=0, imax=90) #脱机运行或者禁用图像传输，使用这个PID
#pan_pid = PID(p=0.1, i=0, imax=90)#在线调试使用这个PID
#tilt_pid = PID(p=0.1, i=0, imax=90)#在线调试使用这个PID

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.skip_frames(time =2800)
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # turn this off.
clock = time.clock() # Tracks FPS.

K=500#the value should be measured   #设定一个距离值，根据该距离值的像素值得到K值 K=20*25
uart = UART(3, 115200)
def find_max(blobs):          #寻找最大色块函数
    max_size=0
    for blob in blobs:
        if blob[2]*blob[3] > max_size:
            max_blob=blob
            max_size = blob[2]*blob[3]
    return max_blob


while(True):
    clock.tick() # Track elapsed milliseconds between snapshots().
    #img = sensor.snapshot() # Take a picture and return the image.
    img = sensor.snapshot().lens_corr(1.8)
    blobs = img.find_blobs([yellow_threshold])    #颜色识别
    for c in img.find_circles(threshold = 3500, x_margin = 10, y_margin = 10, r_margin = 10,
            r_min = 2, r_max = 100, r_step = 2):
        area = (c.x()-c.r(), c.y()-c.r(), 2*c.r(), 2*c.r())
        #area为识别到的圆的区域，即圆的外接矩形框
        statistics = img.get_statistics(roi=area)#像素颜色统计
    if 90<statistics.l_mode()<110 and -35<statistics.a_mode()<16 and -28<statistics.b_mode()<20:#if the circle is white
        img.draw_circle(c.x(), c.y(), c.r(), color = (255, 0, 0))#识别到的白色圆形用红色的矩形框出来
    else:
        img.draw_rectangle(area, color = (255, 255, 255))#将非黑、白色的圆用白色的矩形框出来
        
    if blobs:
        max_blob = find_max(blobs)           #判断最大的色块是哪个
        pan_error = max_blob.cx()-img.width()/2        #下面舵机的左右偏移量
        tilt_error = max_blob.cy()-img.height()/2       #上面舵机的上下偏移量

        #print("pan_error: ", pan_error)

        img.draw_rectangle(max_blob.rect()) # rect
        img.draw_cross(max_blob.cx(), max_blob.cy()) # 色块中心点cx, cy      #在寻找到的最大色块周围画矩形框

        print(pan_error,tilt_error)

        pan_output=pan_pid.get_pid(pan_error,1)/2
        tilt_output=tilt_pid.get_pid(tilt_error,1)     #PID参数
        #print("pan_output",pan_output)
        pan_servo.angle(pan_servo.angle()+pan_output)
        tilt_servo.angle(tilt_servo.angle()-tilt_output)    #舵机旋转的角度（控制舵机跟踪色块的中心坐标）

    if len(blobs) == 1:# Draw a rect around the blob.
            b = blobs[0]
            img.draw_rectangle(b[0:4]) # rect
            img.draw_cross(b[5], b[6]) # cx, cy
            Lm = (b[2]+b[3])/2   #小球的长加宽/2得到LM的值
            length = K/Lm
            print(length)

            head="00"
            output_str="[%d,%d,%.2f]" % (pan_error,tilt_error,length) #方式1
            print('you send:',output_str)
            uart.write(head+'\r\n')
            uart.write(output_str+'\r\n')
            uart.write(head+'\r\n')
    else:
        print('not found!')
        
:folded_hands: :folded_hands: :folded_hands: 

[kidswong999]

看上去缩进不对。

[bzvo]

对的，是缩进没对，谢谢啦