大佬能给出参考代码吗？

import sensor, image, time

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()

def find_max_c(areas):
    max_size = 0
    for area in areas:
        if area.r() > max_size:
            max_area = area
            max_size = area.r()
    return max_area

while(True):
    clock.tick()
    img = sensor.snapshot().lens_corr(1.8)
    for c in img.find_circles(threshold = 2000, x_margin = 10, y_margin = 10, r_margin = 10,
            r_min = 2, r_max = 100, r_step = 2):
        areas = (c.x()-c.r(), c.y()-c.r(), 2*c.r(), 2*c.r())
        #area为识别到的圆的区域，即圆的外接矩形框

    if areas:
        max_area = find_max_c(areas)

        statistics = img.get_statistics(roi=max_area)#像素颜色统计roi=areas
        #print(statistics)
        #(0,100,0,120,0,120)是红色的阈值，所以当区域内的众数（也就是最多的颜色），范围在这个阈值内，就说明是红色的圆。
        #l_mode()，a_mode()，b_mode()是L通道，A通道，B通道的众数。
        if 0<statistics.l_mode()<35 and -20<statistics.a_mode()<20 and -20<statistics.b_mode()<20:#if the circle is red
            img.draw_circle(c.x(), c.y(), c.r(), color = (255, 0, 0))#识别到的黑色圆形用红色的圆框出来
            print("[%d,%d]" % (c.x(),c.y())) #方式1输出圆心坐标