@kidswong999 在例子的基础上改了改，运行例子不卡顿，可以正常读取数据，但加了些东西后卡顿，程序的原因吗？

arduino程序

#include <avr\pgmspace.h>
#include <Wire.h>
#include "GI2C_V11.h"
#define BAUD_RATE 19200
#define CHAR_BUF 128
#include <stdio.h>
#include <stdlib.h>

struct zuobiao
{
 int xx;
 int yy;
};
/*变量定义及对象实例化*/
unsigned char Buf[61+1];
GI2CV11 MenSao_RCB1(Buf,sizeof(Buf));

/*动作组定义*/
const unsigned char ActionCode[][49] PROGMEM = { 
137,103,115, 97,153,251,251,251,251,251,251,251,251,251,251,251,251,251,251,134,135,197,165,144, 20, 20, 20, 20, 30,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1, 18, 20, 20, 20, 20,4,
126, 71, 72, 99,142,251,251,251,251,251,251,251,251,251,251,251,251,251,251,127,124,128, 75,132, 20, 20, 28, 20, 27,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1, 18, 20, 20, 20, 20,4,
115,124,128, 92,118,251,251,251,251,251,251,251,251,251,251,251,251,251,251, 95,148,114, 79,125, 20, 20, 20, 18, 18,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1, 18, 20, 20, 20, 20,4,
129,146,119,129,135,251,251,251,251,251,251,251,251,251,251,251,251,251,251,115,168,160,150,131, 20, 20, 20, 18, 18,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1,  1, 18, 20, 20, 20, 20,4
};

void setup() 
{
  MenSao_RCB1.Read(1,13,48);//读回控制器中所有通道当量位置和当量速度的当前值
  Serial.begin(BAUD_RATE);
  Wire.begin();
  delay(1000); // 给OpenMV一个启动的时间
}

void loop() 
{
  int x,y;
  struct zuobiao zb1;
  zb1=getzb();
  x=zb1.xx/2;
  y=zb1.yy/2;
  Serial.println(x);
  Serial.println(y);
  Serial.println();
  // delay(1); // Don't loop to quickly.
  if(1)
  {Action((unsigned char *)(&ActionCode[0][0]), sizeof(ActionCode) / sizeof(ActionCode[0]));
  }
}
void substring( char *s, char ch1, char ch2, char *substr )
{
    while( *s && *s++!=ch1 ) ;
    while( *s && *s!=ch2 ) *substr++=*s++ ;
    *substr='\0';
}
/*通用的动作组执行函数*/
void Action(unsigned char *p, unsigned char r)
{
  int i,j;
  //计算行数，即动作组的个数
  int row = r; 
  for(j=0;j<row;j++)
  {
    //更新缓冲区
    for(i=0;i<48;i++)
    {
      Buf[i+13] = pgm_read_byte(&p[49*j + i]);
    } 
    //将缓冲区中的数据发送给舵机控制单元，完成舵机控制
    MenSao_RCB1.Write(1,13,48);
    //动作组间的延时，注意：若导出动作组的延时单位为10ms，就*10；若导出动作组的延时单位为100ms，就*100；
    delay((int)(pgm_read_byte(&p[49*j + i])) * 100);
  }  
}
//得到色块坐标
struct zuobiao getzb()
{
  int32_t temp = 0;
  char buff[CHAR_BUF] = {0};
  char a[5],b[5];
  struct zuobiao zb;
  Wire.requestFrom(0x12, 2);
  if (Wire.available() == 2) { // got length?

    temp = Wire.read() | (Wire.read() << 8);
    delay(1); // Give some setup time...

    Wire.requestFrom(0x12, temp);
    if (Wire.available() == temp) { // got full message?

      temp = 0;
      while (Wire.available()) buff[temp++] = Wire.read();

    } else {
      while (Wire.available()) Wire.read(); // Toss garbage bytes.
    }
  } else {
    while (Wire.available()) Wire.read(); // Toss garbage bytes.
  }
  substring( buff, '[', ',', a );
  substring( buff, ',', ']', b );
  zb.xx=atoi(a);
  zb.yy=atoi(b);
  return zb;
}

arduino和openmv通过i2c通信，用的教程上的例程，可以实现通信，arduino和openmv上电运行，但运行程序后会非常卡顿，画面一秒一帧左右，甚至更慢，请问什么原因
巡双线，通信的程序

import sensor, image, time, math,pyb,ustruct

# Tracks a black line. Use [(128, 255)] for a tracking a white line.
GRAYSCALE_THRESHOLD = [(128, 255)]
#设置阈值，如果是黑线，GRAYSCALE_THRESHOLD = [(0, 64)]；
#如果是白线，GRAYSCALE_THRESHOLD = [(128，255)]
ROI = (0, 100, 320, 40)
bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
bus.deinit() # 完全关闭设备
bus = pyb.I2C(2, pyb.I2C.SLAVE, addr=0x12)
print("Waiting for Arduino...")

# Camera setup...
sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.GRAYSCALE) # use grayscale.
sensor.set_framesize(sensor.QVGA) # use QVGA for speed. 320* 240
sensor.skip_frames(30) # Let new settings take affect.
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
#关闭白平衡
clock = time.clock() # Tracks FPS.


# 选择排序的属性， 这里我们选取的是色块宽度
def get_blob_value(blob):
    return blob.w()

# 选择最大的两个黑线色块
def compare_blob(blob1, blob2):
    comp_result = get_blob_value(blob1) - get_blob_value(blob2)

    if comp_result > 3:
        return 1
    elif comp_result < -3:
        return -1
    else:
        return 0

def get_direction(left_blob, right_blob):
    # 根据左中右三块白色部分，计算出角度值
    # ratio < 0 左拐
    # ratio > 0 右拐

    MAX_WIDTH = 320
    # 调节theta来设置中间宽度的比重， theta越高ratio越靠近0
    # 需要根据赛道宽度与摄像头高度重新设定到合适大小
    theta = 0.01
    # 这里的b是为了防止除数是0的情况发生， 设定一个小一点的值
    b = 3
    x1 = left_blob.x() - int(0.5 * left_blob.w())
    x2 = right_blob.x() + int(0.5 * right_blob.w())

    w_left = x1
    w_center = math.fabs(x2 - x1)
    w_right = math.fabs(MAX_WIDTH - x2)

    direct_ratio = (w_left + b + theta * w_center) / (w_left + w_right + 2 * b + 2 * theta * w_center) - 0.5

    return direct_ratio

def get_top2_blobs(blobs):
    # 找到最大的两个色块， 返回左色块与右色块
    for blob in blobs:
        pass
        #print(blob)
        # img.draw_rectangle(blob.rect())

    if len(blobs) < 2:
        # 已偏离轨道
        return (None, None)

    top_blob1 = blobs[0]
    top_blob2 = blobs[1]

    if compare_blob(top_blob1, top_blob2) == -1:
        top_blob1, top_blob2 = top_blob2, top_blob1


    for i in range(2, len(blobs)):
        if compare_blob(blobs[i], top_blob1) == 1:
            top_blob2 = top_blob1
            top_blob1 = blobs[i]
        elif compare_blob(blobs[i], top_blob2) == 1:
            top_blob2 = blobs[i]

    if top_blob1.cx() > top_blob2.cx():
        return (top_blob2, top_blob1)
    else:
        return (top_blob1, top_blob2)

def draw_direct(img, direct_ratio):
    # 可视化方向(左右) 标识及其幅度
    img.draw_circle(160, 80, 5)
    img.draw_line((160, 80, int(160 + direct_ratio * 200), 80))


while(True):
    clock.tick() # Track elapsed milliseconds between snapshots().
    img = sensor.snapshot() # Take a picture and return the image.

    blobs = img.find_blobs(GRAYSCALE_THRESHOLD, roi=ROI, merge=True)

    #目标区域找到直线
    if blobs:
        left_blob, right_blob = get_top2_blobs(blobs)

        if(left_blob == None or right_blob == None):
            print("Out Of Range")
            continue
        else:
            print("-------")
            print("left blob")
            print(left_blob)
            print("right blob")
            print(right_blob)
            img.draw_rectangle(left_blob.rect())
            img.draw_cross(left_blob.cx(), left_blob.cy())

            img.draw_rectangle(right_blob.rect())
            img.draw_cross(right_blob.cx(), right_blob.cy())
            a=left_blob.cx()+right_blob.cx()
            b=left_blob.cy()+right_blob.cy()
            output_str="[%d,%d]" % (a,b)#方式1
            #output_str=json.dumps([max_blob.cx(),max_blob.cy()]) #方式2
            data = ustruct.pack("<%ds" % len(output_str), output_str)
            try:
                bus.send(ustruct.pack("<h", len(data)), timeout=10000) # 首先发送长度 (16-bits).
                try:
                    bus.send(data, timeout=10000) # 然后发送数据
                    print("Sent Data!") # 没有遇到错误时，会显示
                except OSError as err:
                    pass # 不用担心遇到错误，会跳过
            except OSError as err:
                pass # 不用担心遇到错误，会跳过

好的，我再找找问题，非常感谢

@kidswong999 1.86是不是太高了呢

电压表示数是1.86，那是什么问题呢

焊接没有问题，测到的电压是3.3V，连线的话目前只连接了USB线，并没有连其他线，还有一个问题，如何用电压表测BOOT引脚呢

但是事实上并没有连接呀

设备管理器中摄像头对应的端口为

用USB连接摄像头后的现象为


另外供电没有问题，现在不知道到底什么问题，求大佬赐教

只找到了一条线的程序，请问有巡双线的程序吗？