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  • TypeError:can't convert tuple to int ?



    • import sensor, image, time, math, pyb
      
      from pyb import UART
      from pyb import LED
      
      red_led = LED(1)
      green_led = LED(2)
      blue_led = LED(3)
      
      p = pyb.Pin("P0", pyb.Pin.IN)
      
      global left,middle,right,VAL,flag_color
      global color
      global flag_color
      
      
      left=0
      middle=0
      right=0
      
      flag_color = 0
      
      red_threshold = (15, 52, 38, 74, 3, 59), # generic_red_thresholds
      green_threshold = (22, 48, -47, 22, 49, 13), # generic_green_thresholds
      blue_threshold = (73, 28, -51, 0, -58, -15) # generic_blue_thresholds
      
      red_color_code = 1
      green_color_code = 2
      blue_color_code = 4
      black_color_code = 8
      
      
      sensor.reset()
      sensor.set_pixformat(sensor.RGB565)
      sensor.set_framesize(sensor.QVGA)
      sensor.skip_frames(10)
      sensor.set_auto_whitebal(False)
      
      clock = time.clock()
      
      uart = UART(3, 115200)
      
      #LED(4).on()                    #当光线弱的时候,用于补光
      def Light():
          red_led.on()
          green_led.on()
          blue_led.on()
      
      while(flag_color == 0):
          VAL = p.value()
          blue_led.on()
          print(VAL)
      
          if VAL == 0:
              flag_color = 1
      
          if flag_color == 1:
              blue_led.off()
              break
      ###############################################################################################
      while(flag_color == 1):
          clock.tick()
          img = sensor.snapshot()
          img.draw_rectangle((5,55,50,73),color=(0x00,0x00,0x00))
          img.draw_rectangle((105,55,50,73),color=(0x00,0x00,0x00))
          img.draw_rectangle((205,55,50,73),color=(0x00,0x00,0x00))   #三个识别区位置(根据储物位置和摄像头位置调整)
      
          blob_left = img.find_blobs([red_threshold,green_threshold,blue_threshold],area_threshold=200, merge=True,roi=(5,55,50,73))
          blob_middle = img.find_blobs([red_threshold,green_threshold,blue_threshold],area_threshold=200, merge=True,roi=(105,55,50,73))
          blob_right = img.find_blobs([red_threshold,green_threshold,blue_threshold],area_threshold=200, merge=True,roi=(205,55,50,73))
      
          left=0
          middle=0
          right=0
          #####################   判断左边物块颜色
          if blob_left:
              for blob in blob_left:
                  x = blob[0]
                  y = blob[1]
                  width = blob[2]
                  height = blob[3]
                  center_x = blob[5]
                  center_y = blob[6]
                  color_code = blob[8]
              # 添加颜色说明
                  if color_code == red_color_code:
                      img.draw_string(x, y - 10, "red", color = (0xFF, 0x00, 0x00))
                      left = 1
                  elif color_code == green_color_code:
                      img.draw_string(x, y - 10, "green", color = (0x00, 0xFF, 0x00))
                      left = 2
                  elif color_code == blue_color_code:
                      img.draw_string(x, y - 10, "blue", color = (0x00, 0x00, 0xFF))
                      left = 3
                  color=color_code
                  img.draw_rectangle([x, y, width, height])
                  img.draw_cross(center_x, center_y)
                  #print("%d" % left)
                  #uart.write("%d" % left)#串口通信
      ######################  中间物块颜色检测
          if blob_middle:
              for blob in blob_middle:
                  x = blob[0]
                  y = blob[1]
                  width = blob[2]
                  height = blob[3]
                  center_x = blob[5]
                  center_y = blob[6]
                  color_code = blob[8]
                  if color_code == red_color_code:
                      img.draw_string(x, y - 10, "red", color = (0xFF, 0x00, 0x00))
                      middle = 1
                  elif color_code == green_color_code:
                      img.draw_string(x, y - 10, "green", color = (0x00, 0xFF, 0x00))
                      middle = 2
                  elif color_code == blue_color_code:
                      img.draw_string(x, y - 10, "blue", color = (0x00, 0x00, 0xFF))
                      middle = 3
                  color=color_code
                  #length = 6943*math.sin(0.0001625*height+3.089)
                  img.draw_rectangle([x, y, width, height])
                  img.draw_cross(center_x, center_y)
                  #print(length)
                  #print("%d" % middle)
                  #uart.write("%d" % middle)#串口通信
      ######################  右侧物块颜色检测
          if blob_right:
              for blob in blob_right:
                  x = blob[0]
                  y = blob[1]
                  width = blob[2]
                  height = blob[3]
                  center_x = blob[5]
                  center_y = blob[6]
                  color_code = blob[8]
      # 添加颜色说明
                  if color_code == red_color_code:
                      img.draw_string(x, y - 10, "red", color = (0xFF, 0x00, 0x00))
                      right = 1
                  elif color_code == green_color_code:
                      img.draw_string(x, y - 10, "green", color = (0x00, 0xFF, 0x00))
                      right = 2
                  elif color_code == blue_color_code:
                      img.draw_string(x, y - 10, "blue", color = (0x00, 0x00, 0xFF))
                      right = 3
                  color=color_code
                  img.draw_rectangle([x, y, width, height])
                  img.draw_cross(center_x, center_y)
                  #print("%d" % right)
                  #uart.write("%d" % right)#串口通信
                  #time.sleep(10)
      ################################             将检测到的颜色发送                  #######################
      
      
                  #elif(color_code==4):
                      # print("blue")
                      # command="b"
                      # uart.write(command)
                      # time.sleep(10)
          #print("%d" % left)
          #print("%d" % middle)
          #print("%d" % right)
                  if left != 0 and right != 0 and left != right and left != middle and right != middle :
                      if left == 1 and middle == 2 and right == 3 :
                          print("%d%d%d" % (left,middle,right))
                          #uart.write ("%d%d%d" % (left,middle,right))
                          uart.write('z')
                      if left == 1 and middle == 3 and right == 2 :
                          print("%d%d%d" % (left,middle,right))
                          #uart.write ("%d%d%d" % (left,middle,right))
                          uart.write('x')
                      if left == 2 and middle == 1 and right == 3 :
                          print("%d%d%d" % (left,middle,right))
                          #uart.write ("%d%d%d" % (left,middle,right))
                          uart.write('c')
                      if left == 2 and middle == 3 and right == 1 :
                          print("%d%d%d" % (left,middle,right))
                          #uart.write ("%d%d%d" % (left,middle,right))
                          uart.write('v')
                      if left == 3 and middle == 1 and right == 2 :
                          print("%d%d%d" % (left,middle,right))
                          #uart.write ("%d%d%d" % (left,middle,right))
                          uart.write('b')
                      if left == 3 and middle == 2 and right == 1 :
                          print("%d%d%d" % (left,middle,right))
                          #uart.write ("%d%d%d" % (left,middle,right))
                          uart.write('n')
                  if uart.any():                         #判断是否跳出当前循环
                      tmp_date = uart.readline()
                      red_led.on()
                      print(tmp_date)
                      if tmp_date == b'O':               #检测物块是否被接受
                          flag_color = 2
                          red_led.off()
                          break                          #已被接受,此函数结束
      ##########################           颜色检测与串口        #################
      while(flag_color == 2):
          clock.tick()
          #Light()
          img0 = sensor.snapshot()
          img0.lens_corr(1.8)
          for QR in img0.find_qrcodes():
              code = QR.payload()
              img0.draw_rectangle(QR.rect(),color=(255,48,48))
              if code == '123':
                  uart.write('z')
                  print('123')
                  red_led.on()
                  red_led.off()
                  flag_color = 3
                  break
              elif code == '132':
                  uart.write('x')
                  red_led.on()
                  red_led.off()
                  print('123')
                  flag_color = 3
                  break
              elif code == '213':
                  uart.write('c')
                  red_led.on()
                  red_led.off()
                  print('213')
                  flag_color = 3
                  break
              elif code == '231':
                  uart.write('v')
                  red_led.on()
                  red_led.off()
                  print('231')
                  flag_color = 3
                  break
              elif code == '312':
                  uart.write('b')
                  red_led.on()
                  red_led.off()
                  print('312')
                  flag_color = 3
                  break
              elif code == '321':
                  uart.write('n')
                  red_led.on()
                  red_led.off()
                  print('321')
                  flag_color = 3
                  break
      #########################           二维码扫描与串口            ###############
      
      while (flag_color == 3):
          green_led.on()
      
      
      #########################           完成任务之后          ##############
      
      

      1_1619082233972_屏幕截图 2021-04-22 170337.png

      0_1619082233972_屏幕截图 2021-04-22 170258.png



    • @rphe 怎么修改这个错误



    • 第23行和24行有问题。最后面多了逗号。