import sensor, image, time
from pyb import UART
sensor.reset()
sensor.set_pixformat(sensor.RGB565) # grayscale is faster
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
clock = time.clock()
uart = UART(3,115200)
uart.init(115200, bits=8, parity=None, stop=1)
while(True):
clock.tick()
img = sensor.snapshot().lens_corr(strength = 1.8, zoom = 1.0)
for c in img.find_circles(threshold = 2200, x_margin = 10, y_margin = 10, r_margin = 10,
r_min = 2, r_max = 15, r_step = 2,roi=(53,33,196,203)):
img.draw_circle(c.x(), c.y(), c.r(), color = (255, 0, 0))#画圆 用红线框出
x=int(c.x())
y=int(c.y())
data = bytearray([0xb3,x,y,0x5b])
uart.write(data)
print(x,y)