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    • import sensor, image, time, math, pyb
      from pyb import Pin
      from pyb import LED
      from pyb import UART
      thresholds = [(23, 50, -2, 75, -28, 59),
      			 (17, 57, -53, -11, -17, 33),
      			 (8, 43, -15, 28, -53, 2)]
      p_in1 = Pin('P7', Pin.IN, Pin.PULL_UP)
      p_in2 = Pin('P8', Pin.IN, Pin.PULL_UP)
      p_in3 = Pin('P6', Pin.IN, Pin.PULL_UP)
      sss=100
      vvv=0
      zzz=0
      aa = [0 for x in range(0,6)]
      bb = [0 for x in range(0,6)]
      cc = [0 for x in range(0,6)]
      dd = [0 for x in range(0,6)]
      count = 0
      jiaodu1=0
      jiaodu2=0
      x1=0
      x2=0
      cccx=0
      cccy=0
      uart = UART(3, 9600)
      uart.init(9600, bits=8, parity=None, stop=1)
      uartp = UART(1, 9600)
      uartp.init(9600, bits=8, parity=None, stop=1)
      A0=bytearray([0xFF,0x09,0x00,0x00,0x00])
      A1=bytearray([0xFF,0x09,0x00,0x01,0x00])
      A2=bytearray([0xFF,0x09,0x00,0x02,0x00])
      A3=bytearray([0xFF,0x09,0x00,0x03,0x00])
      A4=bytearray([0xFF,0x09,0x00,0x04,0x00])
      A5=bytearray([0xFF,0x09,0x00,0x05,0x00])
      A6=bytearray([0xFF,0x09,0x00,0x06,0x00])
      A7=bytearray([0xFF,0x09,0x00,0x07,0x00])
      A8=bytearray([0xFF,0x09,0x00,0x08,0x00])
      A9=bytearray([0xFF,0x09,0x00,0x09,0x00])
      A10=bytearray([0xFF,0x09,0x00,0x0a,0x00])
      A11=bytearray([0xFF,0x09,0x00,0x0b,0x00])
      A12=bytearray([0xFF,0x09,0x00,0x0c,0x00])
      A13=bytearray([0xFF,0x09,0x00,0x0d,0x00])
      A14=bytearray([0xFF,0x09,0x00,0x0e,0x00])
      A15=bytearray([0xFF,0x09,0x00,0x0f,0x00])
      A16=bytearray([0xFF,0x01,0x00,0xe8,0x03])
      A17=bytearray([0xFF,0x01,0x01,0xe8,0x03])
      A18=bytearray([0xFF,0x01,0x02,0xe8,0x03])
      A19=bytearray([0xFF,0x01,0x04,0xdc,0x05])
      A20=bytearray([0xFF,0x02,0x00,0xa5,0x03])
      A21=bytearray([0xFF,0x02,0x01,0x6c,0x05])
      A50=bytearray([0xFF,0x02,0x02,0xe5,0x08])
      A22=bytearray([0xFF,0x02,0x00,0xbb,0x03])
      A23=bytearray([0xFF,0x02,0x01,0x8e,0x04])
      A24=bytearray([0xFF,0x02,0x02,0x3f,0x08])
      A25=bytearray([0xFF,0x02,0x01,0x41,0x03])
      A26=bytearray([0xFF,0x02,0x02,0x54,0x09])
      A27=bytearray([0xFF,0x02,0x01,0xc6,0x04])
      A28=bytearray([0xFF,0x02,0x00,0x14,0x03])
      A29=bytearray([0xFF,0x02,0x01,0x41,0x03])
      A30=bytearray([0xFF,0x02,0x02,0xc4,0x09])
      A31=bytearray([0xFF,0x02,0x01,0x1f,0x04])
      A32=bytearray([0xFF,0x02,0x02,0x54,0x09])
      A33=bytearray([0xFF,0x02,0x00,0x63,0x02])
      A34=bytearray([0xFF,0x02,0x01,0x09,0x03])
      A35=bytearray([0xFF,0x02,0x02,0x54,0x09])
      A36=bytearray([0xFF,0x02,0x01,0x41,0x03])
      A37=bytearray([0xFF,0x02,0x01,0x84,0x03])
      A38=bytearray([0xFF,0x02,0x00,0x6d,0x04])
      A39=bytearray([0xFF,0x02,0x01,0x1f,0x04])
      A40=bytearray([0xFF,0x02,0x02,0xae,0x08])
      A41=bytearray([0xFF,0x02,0x00,0x14,0x03])
      A42=bytearray([0xFF,0x02,0x02,0x54,0x09])
      A60=bytearray([0xFF,0x02,0x04,0x09,0x03])
      A61=bytearray([0xFF,0x02,0x01,0x29,0x06])
      A62=bytearray([0xFF,0x02,0x02,0xfd,0x04])
      A63=bytearray([0xFF,0x02,0x00,0xbb,0x03])
      A64=bytearray([0xFF,0x02,0x00,0x83,0x05])
      A65=bytearray([0xFF,0x02,0x01,0xdc,0x04])
      A66=bytearray([0xFF,0x02,0x02,0x82,0x06])
      A80=bytearray([0xFF,0x02,0x02,0xba,0x06])
      A81=bytearray([0xFF,0x02,0x02,0xdb,0x06])
      A82=bytearray([0xFF,0x02,0x01,0xa5,0x03])
      A83=bytearray([0xFF,0x02,0x01,0xdc,0x03])
      A84=bytearray([0xFF,0x02,0x01,0x9a,0x03])
      A88='t0.txt="43214444321"'
      A89='t0.txt="43124444312"'
      A90='t0.txt="42134444213"'
      A91='t0.txt="42314444231"'
      A92='t0.txt="41234444123"'
      A93='t0.txt="41324444132"'
      A100='t0.txt='
      A99=bytearray([0xFF,0xFF,0xFF])
      while(True):
      	value1 = p_in1.value()
      	value2 = p_in2.value()
      	value3 = p_in3.value()
      	pyb.delay(2000)
      	if sss==100:
      		uart.write(A0)
      		sss=0
      		print(sss)
      	while(value1 ==0 and value2 ==0 and value3 ==0 and sss==0 ):
      		value1 = p_in1.value()
      		value2 = p_in2.value()
      		value3 = p_in3.value()
      		pyb.delay (200)
      		print(sss)
      	while(value1 ==1 and value2 ==1 and value3 ==1 and sss==0 ):
      		led = LED(2)
      		led.toggle()
      		led.on()
      		uart.write(A16)
      		uart.write(A17)
      		uart.write(A18)
      		uart.write(A19)
      		uart.write(A38)
      		uart.write(A20)
      		uart.write(A21)
      		uart.write(A50)
      		sss=1
      		print(sss)
      		while(sss==1):
      			sensor.reset()
      			sensor.set_pixformat(sensor.GRAYSCALE)
      			sensor.set_framesize(sensor.VGA)
      			sensor.set_windowing((400, 400))
      			sensor.skip_frames(time = 200)
      			sensor.set_auto_gain(False)
      			clock = time.clock()
      			clock.tick()
      			img = sensor.snapshot()
      			for code in img.find_qrcodes():
      				img.draw_rectangle(code.rect(), color = 127)
      				aa=code.payload()
      				print(aa)
      				sensor.skip_frames(10)
      				uart.write(A0)
      				if (aa[0]=='3' and aa[1]=='2' and aa[2]=='1'):
      					uartp.write(A88)
      					pyb.delay(500)
      					uartp.write(A99)
      				if aa[0]=='3' and aa[1]=='1' and aa[2]=='2':
      					uartp.write(A89)
      					pyb.delay(500)
      					uartp.write(A99)
      				if aa[0]=='2' and aa[1]=='1' and aa[2]=='3':
      					uartp.write(A90)
      					pyb.delay(500)
      					uartp.write(A99)
      				if aa[0]=='2' and aa[1]=='3' and aa[2]=='1':
      					uartp.write(A91)
      					pyb.delay(500)
      					uartp.write(A99)
      				if aa[0]=='1' and aa[1]=='2' and aa[2]=='3':
      					uartp.write(A92)
      					pyb.delay(500)
      					uartp.write(A99)
      				if aa[0]=='1' and aa[1]=='3' and aa[2]=='2':
      					uartp.write(A93)
      					pyb.delay(500)
      					uartp.write(A99)
      				sss=2
      				print(sss)
      	while(sss==2):
      	   value1 = p_in1.value()
      	   value2 = p_in2.value()
      	   value3 = p_in3.value()
      	   print(sss)
      	   if value1 == 1 and  value2 == 0 and value3 == 0 and sss==2 :
      			uart.write(A33)
      			pyb.delay(1500)
      			uart.write(A31)
      			pyb.delay(500)
      			uart.write(A32)
      			pyb.delay(500)
      			uart.write(A34)
      			uart.write(A35)
      			pyb.delay(6000)
      			led = LED(1)
      			led.toggle()
      			led.on()
      			sensor.reset()
      			sensor.set_pixformat(sensor.RGB565)
      			sensor.set_framesize(sensor.QVGA)
      			sensor.skip_frames(time = 2000)
      			sensor.set_auto_gain(False)
      			sensor.set_auto_whitebal(False)
      			n=0
      			codem = 0
      			pixelsm = 0
      			codemlist = [0 for x in range(0,5)]
      			while (sss==2):
      				img = sensor.snapshot()
      				clock = time.clock()
      				clock.tick()
      				for blob in img.find_blobs(thresholds, pixels_threshold=3000, area_threshold=3000):
      					img.draw_rectangle(blob.rect())
      					img.draw_cross(blob.cx(), blob.cy())
      					img.draw_keypoints([(blob.cx(), blob.cy(), int(math.degrees(blob.rotation())))], size=20)
      					if blob.pixels() > pixelsm:
      						pixelsm = blob.pixels ()
      						codem = blob.code()
      				print(codem)
      				print(pixelsm)
      				codemlist[n] = codem
      				n=n+1
      				if n==5 and  codemlist[0] == codemlist[1] == codemlist[2] == codemlist[3] == codemlist[4]:
      					bb[count] = codemlist[4]
      					if bb[count]==4:
      						bb[count]='3'
      					if bb[count]==2:
      						bb[count]='2'
      					if bb[count]==1:
      						bb[count]='1'
      					n=0
      					codemlist = [0 for x in range(0,5)]
      					print(bb[0])
      					sss=3
      				if n==5:
      					n=0
      	if sss==3:
      		uart.write(A27)
      		pyb.delay(500)
      		uart.write(A28)
      		pyb.delay(500)
      		uart.write(A29)
      		uart.write(A30)
      		pyb.delay(5000)
      		count=1
      		sss=4
      	if value1 == 1 and  value2 == 0 and value3 == 0 and sss==4:
      		led = LED(1)
      		led.toggle()
      		led.on()
      		sensor.reset()
      		sensor.set_pixformat(sensor.RGB565)
      		sensor.set_framesize(sensor.QVGA)
      		sensor.skip_frames(time = 2000)
      		sensor.set_auto_gain(False,value=100)
      		sensor.set_auto_whitebal(False,value=100)
      		codem = 0
      		pixelsm = 0
      		codemlist = [0 for x in range(0,5)]
      		n=0
      		while (sss==4):
      			img = sensor.snapshot()
      			clock = time.clock()
      			clock.tick()
      			for blob in img.find_blobs(thresholds, pixels_threshold=3000, area_threshold=3000):
      				img.draw_rectangle(blob.rect())
      				img.draw_cross(blob.cx(), blob.cy())
      				img.draw_keypoints([(blob.cx(), blob.cy(), int(math.degrees(blob.rotation())))], size=20)
      				if blob.pixels() > pixelsm:
      					pixelsm = blob.pixels ()
      					codem = blob.code()
      			print(codem)
      			print(pixelsm)
      			codemlist[n] = codem
      			n+=1
      			if n==5 and  codemlist[0] == codemlist[1] == codemlist[2] == codemlist[3] == codemlist[4]:
      				bb[count] = codemlist[4]
      				if bb[count]==4:
      					bb[count]='3'
      				if bb[count]==2:
      					bb[count]='2'
      				if bb[count]==1:
      					bb[count]='1'
      				n=0
      				codemlist = [0 for x in range(0,5)]
      				sss=5
      			if n==5:
      				n=0
      	if sss==5:
      		uart.write(A23)
      		pyb.delay(800)
      		uart.write(A24)
      		pyb.delay(800)
      		uart.write(A22)
      		uart.write(A25)
      		uart.write(A26)
      		pyb.delay(5000)
      		count=2
      		sss=6
      	if value1 == 1 and  value2 == 0 and value3 == 0 and sss==6:
      		led = LED(1)
      		led.toggle()
      		led.on()
      		sensor.reset()
      		sensor.set_pixformat(sensor.RGB565)
      		sensor.set_framesize(sensor.QVGA)
      		sensor.skip_frames(time = 2000)
      		sensor.set_auto_gain(False,value=100)
      		sensor.set_auto_whitebal(False,value=100)
      		codem = 0
      		pixelsm = 0
      		codemlist = [0 for x in range(0,5)]
      		n=0
      		while (sss==6):
      			img = sensor.snapshot()
      			clock = time.clock()
      			clock.tick()
      			for blob in img.find_blobs(thresholds, pixels_threshold=3000, area_threshold=3000):
      				img.draw_rectangle(blob.rect())
      				img.draw_cross(blob.cx(), blob.cy())
      				img.draw_keypoints([(blob.cx(), blob.cy(), int(math.degrees(blob.rotation())))], size=20)
      				if blob.pixels() > pixelsm:
      					pixelsm = blob.pixels ()
      					codem = blob.code()
      			print(codem)
      			print(pixelsm)
      			codemlist[n] = codem
      			n+=1
      			if n==5 and  codemlist[0] == codemlist[1] == codemlist[2] == codemlist[3] == codemlist[4]:
      				bb[count] = codemlist[4]
      				if bb[count]==4:
      					bb[count]='3'
      				if bb[count]==2:
      					bb[count]='2'
      				if bb[count]==1:
      					bb[count]='1'
      				n=0
      				codemlist = [0 for x in range(0,5)]
      				print(bb)
      				print(aa)
      				sss=7
      			if n==5:
      				n=0
      		count=0
      		if bb[0]==bb[1] and bb[1]==bb[2]:
      			bb[0]='1'
      			bb[1]='2'
      			bb[2]='3'
      		if bb[0]==0:
      			bb[0]='1'
      		if bb[1]==0:
      			bb[1]='2'
      		if bb[2]==0:
      			bb[2]='3'
      		if bb[0]==bb[1]:
      			bb[0]=str(6-int(bb[0])-int(bb[2]))
      		if bb[0]==bb[2]:
      			bb[2]=str(6-int(bb[0])-int(bb[1]))
      		if bb[1]==bb[2]:
      			bb[1]=str(6-int(bb[0])-int(bb[1]))
      		print(bb)
      		print(aa)
      	if sss==7:
      		print(sss)
      		if aa[0]==bb[0]:
      			uart.write(A4)
      			pyb.delay(6000)
      		if aa[0]==bb[1]:
      			uart.write(A5)
      			pyb.delay(6000)
      		if aa[0]==bb[2]:
      			uart.write(A36)
      			pyb.delay(500)
      			uart.write(A6)
      			pyb.delay(6000)
      		if aa[0]=='1':
      			uart.write(A8)
      			pyb.delay(7000)
      		if aa[0]=='2':
      			uart.write(A9)
      			pyb.delay(7000)
      		if aa[0]=='3':
      			uart.write(A10)
      			pyb.delay(7000)
      		if aa[1]==bb[0]:
      			uart.write(A4)
      			pyb.delay(6000)
      		if aa[1]==bb[1]:
      			uart.write(A5)
      			pyb.delay(6000)
      		if aa[1]==bb[2]:
      			uart.write(A6)
      			pyb.delay(6000)
      		if aa[1]=='1':
      			uart.write(A8)
      			pyb.delay(7000)
      		if aa[1]=='2':
      			uart.write(A9)
      			pyb.delay(7000)
      		if aa[1]=='3':
      			uart.write(A10)
      			pyb.delay(7000)
      		if aa[2]==bb[0]:
      			uart.write(A4)
      			pyb.delay(6000)
      		if aa[2]==bb[1]:
      			uart.write(A5)
      			pyb.delay(6000)
      		if aa[2]==bb[2]:
      			uart.write(A6)
      			pyb.delay(6000)
      		if aa[2]=='1':
      			uart.write(A8)
      			pyb.delay(7000)
      		if aa[2]=='2':
      			uart.write(A9)
      			pyb.delay(7000)
      		if aa[2]=='3':
      			uart.write(A10)
      			pyb.delay(7000)
      		uart.write(A0)
      		pyb.delay(3000)
      		sss=8
      	while(value1 ==1 and value2 ==0 and value3 ==0 and sss==8 ):
      		value1 = p_in1.value()
      		value2 = p_in2.value()
      		value3 = p_in3.value()
      		pyb.delay (200)
      		print(sss)
      	if sss==8 and value1 == 0 and  value2 == 0 and value3 == 1:
      		print('werfrwg')
      		if aa[0]=='1':
      			uart.write(A13)
      			pyb.delay(7000)
      			sensor.reset()
      			sensor.set_pixformat(sensor.RGB565)
      			sensor.set_framesize(sensor.QQVGA)
      			while(vvv==0):
      				img = sensor.snapshot()
      				for c in img.find_circles(threshold = 2800, x_margin = 100, y_margin = 100, r_margin = 100,r_min = 10, r_max = 200, r_step = 10):
      					img.draw_circle(c.x(), c.y(), c.r(), color = (255, 0, 0))
      					cc[cccx]=c.x()
      					dd[cccy]=c.y()
      					print(cc[cccx],dd[cccy])
      					print(cccx)
      					cccx+=1
      					cccy+=1
      					pyb.delay(200)
      				if(cccx==3):
      					if(abs(cc[0]-cc[1])<=3 and abs(dd[0]-dd[1])<=3 and abs(cc[1]-cc[2])<=3 and abs(dd[2]-dd[1])<=3):
      						print(cc[1],dd[1])
      						vvv=1
      					else:
      						cc = [0 for x in range(0,6)]
      						dd = [0 for x in range(0,6)]
      						cccx=0
      						cccy=0
      			jiaodu1=10-int((88-cc[1])/10)
      			jiaodu2=63+int((51-dd [1])/3)
      			x1=int((jiaodu1/45)*500+500)
      			x2=int((jiaodu2/45)*500+500)
      			y1=x1%256
      			y2=x2%256
      			z1=int((x1-y1)/256)
      			z2=int((x2-y2)/256)
      			b1=bytearray([0xFF,0x02,0x00,y1,z1])
      			b2=bytearray([0xFF,0x02,0x01,y2,z2])
      			cc = [0 for x in range(0,6)]
      			dd = [0 for x in range(0,6)]
      			cccx=0
      			cccy=0
      			uart.write(b1)
      			pyb.delay(500)
      			uart.write(b2)
      			pyb.delay(300)
      			uart.write(A80)
      			pyb.delay(700)
      			uart.write(A60)
      			pyb.delay(500)
      			uart.write(A61)
      			pyb.delay(500)
      			uart.write(A62)
      			pyb.delay(500)
      			uart.write(A63)
      			pyb.delay(500)
      			uart.write(A64)
      			pyb.delay(500)
      			uart.write(A65)
      			pyb.delay(500)
      			uart.write(A66)
      			pyb.delay(500)
      			print('qrqqer')
      		if aa[0]=='2':
      			uart.write(A12)
      			pyb.delay(7000)
      			sensor.reset()
      			sensor.set_pixformat(sensor.RGB565)
      			sensor.set_framesize(sensor.QQVGA)
      			while(vvv==0):
      				clock = time.clock()
      				img = sensor.snapshot()
      				for c in img.find_circles(threshold = 2800, x_margin = 100, y_margin = 100, r_margin = 100,r_min = 10, r_max = 200, r_step = 10):
      					img.draw_circle(c.x(), c.y(), c.r(), color = (255, 0, 0))
      					cc[cccx]=c.x()
      					dd[cccy]=c.y()
      					print(cc[cccx],dd[cccy])
      					print(cccx)
      					cccx+=1
      					cccy+=1
      					pyb.delay(200)
      				if(cccx==3):
      					if(abs(cc[0]-cc[1])<=3 and abs(dd[0]-dd[1])<=3 and abs(cc[1]-cc[2])<=3 and abs(dd[2]-dd[1])<=3):
      						print(cc[1],dd[1])
      						vvv=1
      					else:
      						cc = [0 for x in range(0,6)]
      						dd = [0 for x in range(0,6)]
      						cccx=0
      						cccy=0
      			jiaodu1=27-int((71-cc[1])/7)
      			jiaodu2=69+int((59-dd [1])/4)
      			x1=int((jiaodu1/45)*500+500)
      			x2=int((jiaodu2/45)*500+500)
      			y1=x1%256
      			y2=x2%256
      			z1=int((x1-y1)/256)
      			z2=int((x2-y2)/256)
      			b1=bytearray([0xFF,0x02,0x00,y1,z1])
      			b2=bytearray([0xFF,0x02,0x01,y2,z2])
      			cc = [0 for x in range(0,6)]
      			dd = [0 for x in range(0,6)]
      			cccx=0
      			cccy=0
      			uart.write(b1)
      			pyb.delay(300)
      			uart.write(b2)
      			pyb.delay(300)
      			uart.write(A81)
      			pyb.delay(700)
      			uart.write(A60)
      			pyb.delay(500)
      			uart.write(A61)
      			pyb.delay(500)
      			uart.write(A62)
      			pyb.delay(500)
      			uart.write(A63)
      			pyb.delay(500)
      			uart.write(A64)
      			pyb.delay(500)
      			uart.write(A65)
      			pyb.delay(500)
      			uart.write(A66)
      			pyb.delay(500)
      		if aa[0]=='3':
      			uart.write(A11)
      			pyb.delay(7000)
      			sensor.reset()
      			sensor.set_pixformat(sensor.RGB565)
      			sensor.set_framesize(sensor.QQVGA)
      			while(vvv==0):
      				clock = time.clock()
      				img = sensor.snapshot()
      				for c in img.find_circles(threshold = 2800, x_margin = 100, y_margin = 100, r_margin = 100,r_min = 10, r_max = 200, r_step = 10):
      					img.draw_circle(c.x(), c.y(), c.r(), color = (255, 0, 0))
      					cc[cccx]=c.x()
      					dd[cccy]=c.y()
      					print(cc[cccx],dd[cccy])
      					print(cccx)
      					cccx+=1
      					cccy+=1
      					pyb.delay(200)
      				if(cccx==3):
      					if(abs(cc[0]-cc[1])<=3 and abs(dd[0]-dd[1])<=3 and abs(cc[1]-cc[2])<=3 and abs(dd[2]-dd[1])<=3):
      						print(cc[1],dd[1])
      						vvv=1
      					else:
      						cc = [0 for x in range(0,6)]
      						dd = [0 for x in range(0,6)]
      						cccx=0
      						cccy=0
      			jiaodu1=40-int((70-cc[1])/7)
      			jiaodu2=59+int((75-dd [1])/4)
      			x1=int((jiaodu1/45)*500+500)
      			x2=int((jiaodu2/45)*500+500)
      			y1=x1%256
      			y2=x2%256
      			z1=int((x1-y1)/256)
      			z2=int((x2-y2)/256)
      			b1=bytearray([0xFF,0x02,0x00,y1,z1])
      			b2=bytearray([0xFF,0x02,0x01,y2,z2])
      			cc = [0 for x in range(0,6)]
      			dd = [0 for x in range(0,6)]
      			cccx=0
      			cccy=0
      			uart.write(b1)
      			pyb.delay(300)
      			uart.write(b2)
      			pyb.delay(300)
      			uart.write(A80)
      			pyb.delay(700)
      			uart.write(A60)
      			pyb.delay(500)
      			uart.write(A61)
      			pyb.delay(500)
      			uart.write(A62)
      			pyb.delay(500)
      			uart.write(A63)
      			pyb.delay(500)
      			uart.write(A64)
      			pyb.delay(500)
      			uart.write(A65)
      			pyb.delay(500)
      			uart.write(A66)
      			pyb.delay(500)
      		if aa[1]=='1':
      			uart.write(A13)
      			pyb.delay(7000)
      			sensor.reset()
      			sensor.set_pixformat(sensor.RGB565)
      			sensor.set_framesize(sensor.QQVGA)
      			while(vvv==1):
      				clock = time.clock()
      				img = sensor.snapshot()
      				for c in img.find_circles(threshold = 2800, x_margin = 100, y_margin = 100, r_margin = 100,r_min = 10, r_max = 200, r_step = 10):
      					img.draw_circle(c.x(), c.y(), c.r(), color = (255, 0, 0))
      					cc[cccx]=c.x()
      					dd[cccy]=c.y()
      					print(cc[cccx],dd[cccy])
      					print(cccx)
      					cccx+=1
      					cccy+=1
      					pyb.delay(200)
      				if(cccx==3):
      					if(abs(cc[0]-cc[1])<=3 and abs(dd[0]-dd[1])<=3 and abs(cc[1]-cc[2])<=3 and abs(dd[2]-dd[1])<=3):
      						print(cc[1],dd[1])
      						vvv=2
      					else:
      						cc = [0 for x in range(0,6)]
      						dd = [0 for x in range(0,6)]
      						cccx=0
      						cccy=0
      			jiaodu1=10-int((88-cc[1])/10)
      			jiaodu2=63+int((51-dd [1])/3)
      			x1=int((jiaodu1/45)*500+500)
      			x2=int((jiaodu2/45)*500+500)
      			y1=x1%256
      			y2=x2%256
      			z1=int((x1-y1)/256)
      			z2=int((x2-y2)/256)
      			b1=bytearray([0xFF,0x02,0x00,y1,z1])
      			b2=bytearray([0xFF,0x02,0x01,y2,z2])
      			cc = [0 for x in range(0,6)]
      			dd = [0 for x in range(0,6)]
      			cccx=0
      			cccy=0
      			uart.write(b1)
      			pyb.delay(300)
      			uart.write(b2)
      			pyb.delay(300)
      			uart.write(A80)
      			pyb.delay(700)
      			uart.write(A60)
      			pyb.delay(500)
      			uart.write(A61)
      			pyb.delay(500)
      			uart.write(A62)
      			pyb.delay(500)
      			uart.write(A63)
      			pyb.delay(500)
      			uart.write(A64)
      			pyb.delay(500)
      			uart.write(A65)
      			pyb.delay(500)
      			uart.write(A66)
      			pyb.delay(500)
      		if aa[1]=='2':
      			uart.write(A12)
      			pyb.delay(7000)
      			sensor.reset()
      			sensor.set_pixformat(sensor.RGB565)
      			sensor.set_framesize(sensor.QQVGA)
      			while(vvv==1):
      				clock = time.clock()
      				img = sensor.snapshot()
      				for c in img.find_circles(threshold = 2800, x_margin = 100, y_margin = 100, r_margin = 100,r_min = 10, r_max = 200, r_step = 10):
      					img.draw_circle(c.x(), c.y(), c.r(), color = (255, 0, 0))
      					cc[cccx]=c.x()
      					dd[cccy]=c.y()
      					print(cc[cccx],dd[cccy])
      					print(cccx)
      					cccx+=1
      					cccy+=1
      					pyb.delay(200)
      				if(cccx==3):
      					if(abs(cc[0]-cc[1])<=3 and abs(dd[0]-dd[1])<=3 and abs(cc[1]-cc[2])<=3 and abs(dd[2]-dd[1])<=3):
      						print(cc[1],dd[1])
      						vvv=2
      					else:
      						cc = [0 for x in range(0,6)]
      						dd = [0 for x in range(0,6)]
      						cccx=0
      						cccy=0
      			jiaodu1=27-int((71-cc[1])/7)
      			jiaodu2=69+int((59-dd [1])/4)
      			x1=int((jiaodu1/45)*500+500)
      			x2=int((jiaodu2/45)*500+500)
      			y1=x1%256
      			y2=x2%256
      			z1=int((x1-y1)/256)
      			z2=int((x2-y2)/256)
      			b1=bytearray([0xFF,0x02,0x00,y1,z1])
      			b2=bytearray([0xFF,0x02,0x01,y2,z2])
      			cc = [0 for x in range(0,6)]
      			dd = [0 for x in range(0,6)]
      			cccx=0
      			cccy=0
      			uart.write(b1)
      			pyb.delay(300)
      			uart.write(b2)
      			pyb.delay(300)
      			uart.write(A81)
      			pyb.delay(700)
      			uart.write(A60)
      			pyb.delay(500)
      			uart.write(A61)
      			pyb.delay(500)
      			uart.write(A62)
      			pyb.delay(500)
      			uart.write(A63)
      			pyb.delay(500)
      			uart.write(A64)
      			pyb.delay(500)
      			uart.write(A65)
      			pyb.delay(500)
      			uart.write(A66)
      			pyb.delay(500)
      		if aa[1]=='3':
      			uart.write(A11)
      			pyb.delay(7000)
      			sensor.reset()
      			sensor.set_pixformat(sensor.RGB565)
      			sensor.set_framesize(sensor.QQVGA)
      			while(vvv==1):
      				clock = time.clock()
      				img = sensor.snapshot()
      				for c in img.find_circles(threshold = 2800, x_margin = 100, y_margin = 100, r_margin = 100,r_min = 10, r_max = 200, r_step = 10):
      					img.draw_circle(c.x(), c.y(), c.r(), color = (255, 0, 0))
      					cc[cccx]=c.x()
      					dd[cccy]=c.y()
      					print(cc[cccx],dd[cccy])
      					print(cccx)
      					cccx+=1
      					cccy+=1
      					pyb.delay(200)
      				if(cccx==3):
      					if(abs(cc[0]-cc[1])<=3 and abs(dd[0]-dd[1])<=3 and abs(cc[1]-cc[2])<=3 and abs(dd[2]-dd[1])<=3):
      						print(cc[1],dd[1])
      						vvv=2
      					else:
      						cc = [0 for x in range(0,6)]
      						dd = [0 for x in range(0,6)]
      						cccx=0
      						cccy=0
      			jiaodu1=40-int((70-cc[1])/7)
      			jiaodu2=59+int((75-dd [1])/4)
      			x1=int((jiaodu1/45)*500+500)
      			x2=int((jiaodu2/45)*500+500)
      			y1=x1%256
      			y2=x2%256
      			z1=int((x1-y1)/256)
      			z2=int((x2-y2)/256)
      			b1=bytearray([0xFF,0x02,0x00,y1,z1])
      			b2=bytearray([0xFF,0x02,0x01,y2,z2])
      			cc = [0 for x in range(0,6)]
      			dd = [0 for x in range(0,6)]
      			cccx=0
      			cccy=0
      			uart.write(b1)
      			pyb.delay(300)
      			uart.write(b2)
      			pyb.delay(300)
      			uart.write(A80)
      			pyb.delay(700)
      			uart.write(A60)
      			pyb.delay(500)
      			uart.write(A61)
      			pyb.delay(500)
      			uart.write(A62)
      			pyb.delay(500)
      			uart.write(A63)
      			pyb.delay(500)
      			uart.write(A64)
      			pyb.delay(500)
      			uart.write(A65)
      			pyb.delay(500)
      			uart.write(A66)
      			pyb.delay(500)
      		if aa[2]=='1':
      			uart.write(A13)
      			pyb.delay(7000)
      			sensor.reset()
      			sensor.set_pixformat(sensor.RGB565)
      			sensor.set_framesize(sensor.QQVGA)
      			while(vvv==2):
      				clock = time.clock()
      				img = sensor.snapshot()
      				for c in img.find_circles(threshold = 2800, x_margin = 100, y_margin = 100, r_margin = 100,r_min = 10, r_max = 200, r_step = 10):
      					img.draw_circle(c.x(), c.y(), c.r(), color = (255, 0, 0))
      					cc[cccx]=c.x()
      					dd[cccy]=c.y()
      					print(cc[cccx],dd[cccy])
      					print(cccx)
      					cccx+=1
      					cccy+=1
      					pyb.delay(200)
      				if(cccx==3):
      					if(abs(cc[0]-cc[1])<=3 and abs(dd[0]-dd[1])<=3 and abs(cc[1]-cc[2])<=3 and abs(dd[2]-dd[1])<=3):
      						print(cc[1],dd[1])
      						vvv=3
      					else:
      						cc = [0 for x in range(0,6)]
      						dd = [0 for x in range(0,6)]
      						cccx=0
      						cccy=0
      			jiaodu1=10-int((88-cc[1])/10)
      			jiaodu2=63+int((51-dd [1])/3)
      			x1=int((jiaodu1/45)*500+500)
      			x2=int((jiaodu2/45)*500+500)
      			y1=x1%256
      			y2=x2%256
      			z1=int((x1-y1)/256)
      			z2=int((x2-y2)/256)
      			b1=bytearray([0xFF,0x02,0x00,y1,z1])
      			b2=bytearray([0xFF,0x02,0x01,y2,z2])
      			cc = [0 for x in range(0,6)]
      			dd = [0 for x in range(0,6)]
      			cccx=0
      			cccy=0
      			uart.write(b1)
      			pyb.delay(300)
      			uart.write(b2)
      			pyb.delay(300)
      			uart.write(A80)
      			pyb.delay(700)
      			uart.write(A60)
      			pyb.delay(500)
      			uart.write(A61)
      			pyb.delay(500)
      			uart.write(A62)
      			pyb.delay(500)
      			uart.write(A63)
      			pyb.delay(500)
      			uart.write(A64)
      			pyb.delay(500)
      			uart.write(A65)
      			pyb.delay(500)
      			uart.write(A66)
      			pyb.delay(500)
      		if aa[2]=='2':
      			uart.write(A12)
      			pyb.delay(7000)
      			sensor.reset()
      			sensor.set_pixformat(sensor.RGB565)
      			sensor.set_framesize(sensor.QQVGA)
      			while(vvv==2):
      				clock = time.clock()
      				img = sensor.snapshot()
      				for c in img.find_circles(threshold = 2800, x_margin = 100, y_margin = 100, r_margin = 100,r_min = 10, r_max = 200, r_step = 10):
      					img.draw_circle(c.x(), c.y(), c.r(), color = (255, 0, 0))
      					cc[cccx]=c.x()
      					dd[cccy]=c.y()
      					print(cc[cccx],dd[cccy])
      					print(cccx)
      					cccx+=1
      					cccy+=1
      					pyb.delay(200)
      				if(cccx==3):
      					if(abs(cc[0]-cc[1])<=3 and abs(dd[0]-dd[1])<=3 and abs(cc[1]-cc[2])<=3 and abs(dd[2]-dd[1])<=3):
      						print(cc[1],dd[1])
      						vvv=3
      					else:
      						cc = [0 for x in range(0,6)]
      						dd = [0 for x in range(0,6)]
      						cccx=0
      						cccy=0
      			jiaodu1=27-int((71-cc[1])/7)
      			jiaodu2=69+int((59-dd [1])/4)
      			x1=int((jiaodu1/45)*500+500)
      			x2=int((jiaodu2/45)*500+500)
      			y1=x1%256
      			y2=x2%256
      			z1=int((x1-y1)/256)
      			z2=int((x2-y2)/256)
      			b1=bytearray([0xFF,0x02,0x00,y1,z1])
      			b2=bytearray([0xFF,0x02,0x01,y2,z2])
      			cc = [0 for x in range(0,6)]
      			dd = [0 for x in range(0,6)]
      			cccx=0
      			cccy=0
      			uart.write(b1)
      			pyb.delay(300)
      			uart.write(b2)
      			pyb.delay(300)
      			uart.write(A81)
      			pyb.delay(700)
      			uart.write(A60)
      			pyb.delay(500)
      			uart.write(A61)
      			pyb.delay(500)
      			uart.write(A62)
      			pyb.delay(500)
      			uart.write(A63)
      			pyb.delay(500)
      			uart.write(A64)
      			pyb.delay(500)
      			uart.write(A65)
      			pyb.delay(500)
      			uart.write(A66)
      			pyb.delay(500)
      		if aa[2]=='3':
      			uart.write(A11)
      			pyb.delay(7000)
      			sensor.reset()
      			sensor.set_pixformat(sensor.RGB565)
      			sensor.set_framesize(sensor.QQVGA)
      			while(vvv==2):
      				clock = time.clock()
      				img = sensor.snapshot()
      				for c in img.find_circles(threshold = 2800, x_margin = 100, y_margin = 100, r_margin = 100,r_min = 10, r_max = 200, r_step = 10):
      					img.draw_circle(c.x(), c.y(), c.r(), color = (255, 0, 0))
      					cc[cccx]=c.x()
      					dd[cccy]=c.y()
      					print(cc[cccx],dd[cccy])
      					print(cccx)
      					cccx+=1
      					cccy+=1
      					pyb.delay(200)
      				if(cccx==3):
      					if(abs(cc[0]-cc[1])<=3 and abs(dd[0]-dd[1])<=3 and abs(cc[1]-cc[2])<=3 and abs(dd[2]-dd[1])<=3):
      						print(cc[1],dd[1])
      						vvv=3
      					else:
      						cc = [0 for x in range(0,6)]
      						dd = [0 for x in range(0,6)]
      						cccx=0
      						cccy=0
      			jiaodu1=40-int((70-cc[1])/7)
      			jiaodu2=59+int((75-dd [1])/4)
      			x1=int((jiaodu1/45)*500+500)
      			x2=int((jiaodu2/45)*500+500)
      			cc = [0 for x in range(0,6)]
      			dd = [0 for x in range(0,6)]
      			cccx=0
      			cccy=0
      			y1=x1%256
      			y2=x2%256
      			z1=int((x1-y1)/256)
      			z2=int((x2-y2)/256)
      			b1=bytearray([0xFF,0x02,0x00,y1,z1])
      			b2=bytearray([0xFF,0x02,0x01,y2,z2])
      			uart.write(b1)
      			pyb.delay(300)
      			uart.write(b2)
      			pyb.delay(300)
      			uart.write(A80)
      			pyb.delay(700)
      			uart.write(A60)
      			pyb.delay(500)
      			uart.write(A61)
      			pyb.delay(500)
      			uart.write(A62)
      			pyb.delay(500)
      			uart.write(A63)
      			pyb.delay(500)
      			uart.write(A64)
      			pyb.delay(500)
      			uart.write(A65)
      			pyb.delay(500)
      			uart.write(A66)
      			pyb.delay(500)
      		sss=9
      	if value1==0 and value2==0 and value3==1 and sss==9:
      	   bb = [0 for x in range(0,6)]
      	   uart.write(A38)
      	   pyb.delay(800)
      	   uart.write(A39)
      	   pyb.delay(500)
      	   uart.write(A40)
      	   pyb.delay(500)
      	   uart.write(A41)
      	   pyb.delay(500)
      	   uart.write(A42)
      	   pyb.delay(500)
      	   uart.write(A31)
      	   pyb.delay(500)
      	   uart.write(A32)
      	   pyb.delay(500)
      	   uart.write(A33)
      	   pyb.delay(300)
      	   uart.write(A37)
      	   uart.write(A35)
      	   pyb.delay(6000)
      	   led = LED(1)
      	   led.toggle()
      	   led.on()
      	   sensor.reset()
      	   sensor.set_framesize(sensor.QVGA)
      	   sensor.skip_frames(time = 2000)
      	   sensor.set_auto_gain(False,value=100)
      	   sensor.set_auto_whitebal(False,value=100)
      	   codem = 0
      	   pixelsm = 0
      	   codemlist = [0 for x in range(0,5)]
      	   n=0
      	   while (sss==9):
      		   img = sensor.snapshot()
      		   clock = time.clock()
      		   clock.tick()
      		   for blob in img.find_blobs(thresholds, pixels_threshold=3000, area_threshold=3000):
      			   img.draw_rectangle(blob.rect())
      			   img.draw_cross(blob.cx(), blob.cy())
      			   img.draw_keypoints([(blob.cx(), blob.cy(), int(math.degrees(blob.rotation())))], size=20)
      			   if blob.pixels() > pixelsm:
      				   pixelsm = blob.pixels ()
      				   codem = blob.code()
      		   print(codem)
      		   print(pixelsm)
      		   codemlist[n] = codem
      		   n+=1
      		   if n==5 and  codemlist[0] == codemlist[1] == codemlist[2] == codemlist[3] == codemlist[4]:
      			   bb[count] = codemlist[4]
      			   if bb[count]==4:
      				   bb[count]='3'
      			   if bb[count]==2:
      				   bb[count]='2'
      			   if bb[count]==1:
      				   bb[count]='1'
      			   n=0
      			   codemlist = [0 for x in range(0,5)]
      			   sss=10
      		   if n==5:
      			   n=0
      	if sss==10:
      		uart.write(A27)
      		pyb.delay(300)
      		uart.write(A28)
      		pyb.delay(300)
      		uart.write(A37)
      		uart.write(A30)
      		pyb.delay(5000)
      		count=1
      		sss=11
      	if sss==11:
      	   led = LED(1)
      
      

      0_1617608881074_99AX{`7EZA1IYIV}Y{JUARN.png



    • 程序一共2000行,后面的超过字符上限了没法上传



    • 你用的是什么硬件?