174行一直报错，怎么解决

[d5ln]

import sensor, image, time, os, tf, math, uos, gc, ustruct,pyb#,thread
from pyb import UART,LED
from image import SEARCH_EX, SEARCH_DS
from pyb import LED
from pid import PID
rho_pid = PID(p=0.4, i=0)
theta_pid = PID(p=0.001, i=0)
THRESHOLD = (0, 36, -46, 50, 44, -83)
threshold = (245, 255)

sensor.reset()
sensor.set_vflip(False)
sensor.set_hmirror(False)
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.QQVGA)
sensor.set_windowing((240,240))
sensor.skip_frames(time=2000)
sensor.set_contrast(1)
sensor.set_gainceiling(16)
sensor.set_auto_gain(False) # 颜色跟踪必须关闭自动增益
sensor.set_auto_whitebal(False) # 颜色跟踪必须关闭白平衡
clock = time.clock()

roi = (10,0,30,30)#,(140,50,90,100)]
led = pyb.LED(4)
net = None
labels = None
min_confidence = 0.3

flag = 0
rho = 0
theta = 0
def track(rho,theta):        
    img = sensor.snapshot().binary([THRESHOLD])
    line = img.get_regression([(100,100)], robust = True)
    if (line):
         rho_err = abs(line.rho())-img.width()/2
         if line.theta()>90:
           theta_err = line.theta()-180
         else:
            theta_err = line.theta()
            img.draw_line(line.line(), color = 127)
            print(rho_err,line.magnitude(),rho_err)
         if line.magnitude()>8:
         #if -40<b_err<40 and -30<t_err<30:
            rho_output = rho_pid.get_pid(rho_err,1)
            theta_output = theta_pid.get_pid(theta_err,1)
            output = rho_output+theta_output
               # car.run(50+output, 50-output)
         else:
            car.run(0,0)
    else:
        car.run(50,-50)
        pass
        #print(clock.fps())
        print(rho_err,line.magnitude(),rho_err)
        outuart(rho,theta)
            


try:
    net = tf.load("trained.tflite", load_to_fb=uos.stat('trained.tflite')[6] > (gc.mem_free() - (64*1024)))
except Exception as e:
    raise Exception('Failed to load "trained.tflite", did you copy the .tflite and labels.txt file onto the mass-storage device? (' + str(e) + ')')
try:
    labels = [line.rstrip('\n') for line in open("labels.txt")]
except Exception as e:
    raise Exception('Failed to load "labels.txt", did you copy the .tflite and labels.txt file onto the mass-storage device? (' + str(e) + ')')
colors = [
    (255,   0,   0),
    (  0, 255,   0),
    (255, 255,   0),
    (  0,   0, 255),
    (255,   0, 255),
    (  0, 255, 255),
    (255, 255, 255),
]


uart = UART(3,115200)
uart.init(9600, bits=8, parity=None, stop=1)
def outuart(num):
    global uart
    data = ustruct.pack("<bbhhhhb",
                   0x2C,
                   0x12,
                   int(num),
                   int(88),
                   0x5B)
    uart.write(data)
    time.sleep_ms(1)
data = [0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00]

def UartReceiveDate():
    global Find_Task
    global Target_Num
    global x
    global data
    data[0] = uart.readchar()
    data[1] = uart.readchar()
    Target_Num=int(data[0]-48)*10+int(data[1]-48)
    #outuart(Target_Num)

clock = time.clock()

flag = 0
rho = 0
theta = 0
def track(rho,theta):
    img = sensor.snapshot().binary([THRESHOLD])
    line = img.get_regression([(100,100)], robust = True)
    if (line):
        rho_err = abs(line.rho())-img.width()/2
        if line.theta()>90:
            theta_err = line.theta()-180
        else:
            theta_err = line.theta()
        img.draw_line(line.line(), color = 127)
        print(rho_err,line.magnitude(),rho_err)

num = 0
temp_num = 0
UartReceiveDate
#track(rho,theta)
Target_Num = 0
def find_number(temp_num):
    global tem
    global num
    while(True):
        clock.tick()
        img = sensor.snapshot()
        if(num == 0):
            sensor.set_windowing(1,1,100,100)
            sensor.set_windowing(10,20,50,60)
        if(num == 1):
            sensor.set_windowing(60,40,180,180)
            sensor.set_windowing(90,40,50,60)
        for i, detection_list in enumerate(net.detect(img, thresholds=[(math.ceil(min_confidence * 255), 255)])):
            if (i == 0): continue
            if (len(detection_list) == 0): continue
            print(" %s " % labels[i])
            tem = labels[i]
            templatei ="/"+str(labels[i])+".pgm"
            print(templatei)
            outuart(tem)
            num = num + 1
            for d in detection_list:
                [x, y, w, h] = d.rect()
                center_x = math.floor(x + (w / 2))
                center_y = math.floor(y + (h / 2))
            print('x %d\ty %d' % (center_x, center_y))
            sensor.set_windowing(240,240)
            if(num == 1):
                temp_num=int(tem)*10
                print(temp_num)
            elif(num == 2):
                temp_num+=int(tem)
                print(temp_num)
                outuart(temp_num)
                break
        if(num ==2):
            break
    if(Target_Num==temp_num):
        print("okk")
        outuart(1)
        led = pyb.LED(2)
    else:
        print("error")

UartReceiveDate()
while(True):
    clock.tick()
    img = sensor.snapshot() # 拍一张照片并返回图像
    blobs = img.find_blobs([threshold=(245, 255),roi=(10,0,30,30)])
    if blobs==1:
    #如果找到了目标颜色
        for b in blobs:
            #迭代找到的目标颜色区域
            track(rho,theta)
    else:
        outuart("stop")
        find_number(temp_num)
    #track(rho,theta)
    #find_number(temp_num)

[o3hu]

emmm原因贴上来

[kidswong999]

你代码写错了

blobs = img.find_blobs([threshold=(245, 255),roi=(10,0,30,30)])

改为

blobs = img.find_blobs(threshold=[(245, 255)],roi=(10,0,30,30))