色块跟踪实验为什么要关掉白平衡？

@kidswong999 在 两个MV之间通信怎么清空接收方UART.ANY（）里的数据从而重新查询。 中说：

uart.read(timeout_char=0)

但是报错了大佬。

import sensor, image, time
from pyb import UART
from pyb import Servo
import cpufreq
import pyb
threshold_index = 0 # 0 for red, 1 for green, 2 for blue

# Color Tracking Thresholds (L Min, L Max, A Min, A Max, B Min, B Max)
# The below thresholds track in general red/green/blue things. You may wish to tune them...
thresholds = [(58, 88, 57, -4, 20, 70)] # generic_red_thresholds
                                            # generic_green_thresholds
                                            # generic_blue_thresholds
threshold2 = [(30, 47, -39, 19, 20, 42)]
avg=[0,0,0,0,0,0,0,0,0,0,0,0]
sort2_servo=Servo(1)
led = pyb.LED(3)
#cpufreq.set_frequency(cpufreq.CPUFREQ_216MHZ)
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
clock = time.clock()

# Only blobs that with more pixels than "pixel_threshold" and more area than "area_threshold" are
# returned by "find_blobs" below. Change "pixels_threshold" and "area_threshold" if you change the
# camera resolution. "merge=True" merges all overlapping blobs in the image.

uart=UART(3,115200)

def find_max(blobs):
    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

ROI=(0,0,1,1)

while(True):
    data = 0
    clock.tick()
    img = sensor.snapshot()
    sort2_servo.angle(-900)
    time.sleep(20)
    #time.sleep(10)
    blobs = img.find_blobs([thresholds[0]], pixels_threshold=80, area_threshold=850, merge=True)
    if blobs:
              max_blob = find_max(blobs)
              ROI = max_blob.rect()
              xc = max_blob.cx()
              yc = max_blob.cy()
              x = max_blob.x()
              y = max_blob.y()
              xn = int(xc-(xc-x)*7/10)
              yn = int(yc-(yc-y)*7/10)
              wn = (xc-xn)*2
              hn = (yc-yn)*2
              ROI = (xn, yn, wn, hn)
              img.binary(thresholds)
              #Bimg.erode(2)
              #img.dilate(1)
              statistics=img.get_statistics(roi=ROI)
              avg = statistics.mean()
              print(avg)
              if(uart.any()):
                   data = uart.readline()
                   
              if ( data!=0):#avg>=50 and avg<=95 or
                  print("bad")
                  print(data)
                  print(uart.any())
                  #led.on()
                  #time.sleep(150)
                  #ed.off()
                  sort2_servo.angle(0)       #添加时期2018.4.20
                  time.sleep(1000)        #添加时期2018.4.20
                  sort2_servo.angle(-900)           #添加时期2018.4.20
                  time.sleep(1000)        #添加时期2018.4.20
                  data = 0
              elif (avg>95):
                  sort2_servo.angle(-900)           #添加时期2018.4.20
                  time.sleep(100)
                  print("good")
                  print(uart.any())
    #print(clock.fps())
    #print(cpufreq.get_frequency())

我想把xn,yn变成Int型怎么做？我试了一下int(xn)得到的还是浮点数

# Single Color RGB565 Blob Tracking Example
#
# This example shows off single color RGB565 tracking using the OpenMV Cam.

import sensor, image, time

threshold_index = 0 # 0 for red, 1 for green, 2 for blue

# Color Tracking Thresholds (L Min, L Max, A Min, A Max, B Min, B Max)
# The below thresholds track in general red/green/blue things. You may wish to tune them...
thresholds = [(100, 37, -40, 127, 12, 127)] # generic_red_thresholds
                                            # generic_green_thresholds
                                            # generic_blue_thresholds
threshold2 = [(30, 47, -39, 19, 20, 42)]
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
clock = time.clock()

# Only blobs that with more pixels than "pixel_threshold" and more area than "area_threshold" are
# returned by "find_blobs" below. Change "pixels_threshold" and "area_threshold" if you change the
# camera resolution. "merge=True" merges all overlapping blobs in the image.

def find_max(blobs):
    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

ROI=(0,0,1,1)

while(True):
    clock.tick()
    img = sensor.snapshot()
    blobs = img.find_blobs([thresholds[0]], pixels_threshold=800, area_threshold=800, merge=False)
    if blobs:
              max_blob = find_max(blobs)  
              print(max_blob.rect())
             #img.draw_rectangle(max_blob.rect())
             #img.draw_cross(max_blob.cx(), max_blob.cy())
              ROI = max_blob.rect()
              xc = max_blob.cx()
              yc = max_blob.cy()
              x = max_blob.x()
              y = max_blob.y()
              xn = xc-(xc-x)*8/10
              int(xn)
              yn = yc-(yc-y)*8/10
              int(yn)
              wn = (xc-xn)*2
              int(wn)
              hn = (yc-yn)*2
              int(hn)
              ROI = (xn, yn, wn, hn)
    img.binary(thresholds)
    img.dilate(2, threshold = 10)
    statistics=img.get_statistics(roi=ROI)
    avg = statistics.mean()
    print(avg)
    print(clock.fps())

openmv接两个大舵机，舵机转动工作的时候抖动地厉害，我怀疑是细分的不好，不知道大伙怎么看，可不可以进到函数里面赶下舵机的精度？

可不可以先整理出超声波的。。。(^~^)!!!，或者在群里发一下？在网上找得例程感觉崩了。。。。55555

我在星瞳的教程上发现了这个网址https://github.com/SingTown/OpenMV-lib
教程上说这个网址里有各个模块库的例程，但我没看到，是跑到哪里去了？

大佬mv做超声波搞好了吗？可以分享下嘛？我的搞不出来。。。