from pyb import Servo
import time
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)  # 必须关闭此功能，以防止图像冲洗…
clock = time.clock()

while(True):
    clock.tick()
    img = sensor.snapshot()
    img.lens_corr(1.8) # 1.8的强度参数对于2.8mm镜头来说是不错的。
    for code in img.find_qrcodes():
        img.draw_rectangle(code.rect(), color = (255, 0, 0))
        message = code.payload()
        print(message)
    print(clock.fps())


s1 = Servo(1) # servo on position 1 (P7)

while(1):

    if str((payload()) = 'shanghai'
    s1.angle(90) # move to 45 degrees
    time.sleep_ms(600)
    s1.angle(45) # move to -60 degrees in 1500ms
    time.sleep_ms(600)
    s1.angle(0) # move to 45 degrees
    time.sleep_ms(600)
    s1.angle(-45) # move to -60 degrees in 1500ms
    time.sleep_ms(600)
    s1.angle(-60) # move to 45 degrees
    time.sleep_ms(600)
    
    s1.angle(-90) # move to -60 degrees in 1500ms
    time.sleep_ms(600)
    #s1.speed(25) # for continuous rotation servos