6xpz 发布的帖子

请在这里粘贴代码
```import sensor, image, time, pyb
from pyb import UART

uart = UART(3, 9600)

red_led = pyb.LED(1)
yellow_led = pyb.LED(2)
blue_led = pyb.LED(3)

red_led.off()
yellow_led.off()
blue_led.off()

yellow_threshold   = (40, 85, -20, 5, 15, 75)
red_threshold = (20, 70, 25, 85, 15, 70)
black_threshold = (0, 10, -10, 10, -10, 10)

sensor.reset() # 初始化摄像头
sensor.set_pixformat(sensor.RGB565) # 格式为 RGB565.
sensor.set_framesize(sensor.QQVGA) # 使用 QQVGA 速度快一些
sensor.skip_frames(10) # 跳过10帧，使新设置生效
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
#关闭白平衡。白平衡是默认开启的，在颜色识别中，一定要关闭白平衡。
clock = time.clock() # 追踪帧率
yellow_num = 0
yellow_x = 0
yellow_y = 0
red_num = 0
red_x = 0
red_y = 0
black_x = 0
black_y = 0
data = 0
redata = 0
e = 0
f = 0
while(0):
    redata = uart.readchar()
    print(redata)
    if redata ==1:
        break

while(True):
    clock.tick()
    img = sensor.snapshot() # 从感光芯片获得一张图像

    blobs_2 = img.find_blobs([red_threshold],pixels_threshold=20)
    if blobs_2:
        red_led.on()
        for i in range(len(blobs_2)):
            red_num = blobs_2[i].pixels()
            if red_num>65:
                blue_led.on()
                red_x = blobs_2[i][5]-80
                red_y = blobs_2[i][6]-60
                if red_x>5:
                    data |=0x08
                if red_x <-5:
                    data |=0x04
                if red_y>5:
                    data |=0x02
                if red_y<-5:
                    data |=0x01
                uart.writechar(data)
                data = 0
                e = 1
            else:
                blue_led.off()
                uart.writechar(0)
                e = 0
        for j in blobs_2:
            img.draw_rectangle(j[0:4])
            img.draw_cross(j[5], j[6])
    else:
        red_led.off()
        blue_led.off()
        uart.writechar(0)
        e = 0

    if e == 0:
        blobs_1 = img.find_blobs([yellow_threshold],pixels_threshold=20)
        if blobs_1:
            yellow_led.on()
            for i in range(len(blobs_1)):
                yellow_num = blobs_1[i].pixels()
                if yellow_num>120:
                    blue_led.on()
                    yellow_x = blobs_1[i][5]-80
                    yellow_y = blobs_1[i][6]-60
                    if ((yellow_x>0)+(yellow_x<35)) == 2:
                        data |=0x04
                    if ((yellow_x<0)+(yellow_x>-35)) == 2:
                        data |=0x08
                    #if ((yellow_y>0)+(yellow_y<15))  == 2:
                    #    data |=0x01
                    #if ((yellow_y<0)+(yellow_y>-15)) == 2:
                    #    data |=0x02
                    uart.writechar(data)
                    data = 0
                    f = 1
                else:
                    blue_led.off()
                    uart.writechar(0)
                    f = 0
            for j in blobs_1:
                img.draw_rectangle(j[0:4])
                img.draw_cross(j[5], j[6])
        else:
            yellow_led.off()
            blue_led.off()
            uart.writechar(0)
            f = 0
    else:
        yellow_led.off()

    if e == 0:
        if f == 0:
            blobs_3 = img.find_blobs([black_threshold],pixels_threshold=120)
            if blobs_3:
                most_pixels = 0
                largest_blob = 0
                for i in range(len(blobs_3)):
                    if blobs_3[i].pixels() > most_pixels:
                        most_pixels = blobs_3[i].pixels()
                        largest_blob = i
                img.draw_rectangle(blobs_3[largest_blob][0:4])
                img.draw_cross(blobs_3[largest_blob][5],blobs_3[largest_blob][6])
                black_x = blobs_3[largest_blob][5]-80
                black_y = blobs_3[largest_blob][6]-60
                if black_x>9:
                    data |=0x08
                if black_x<-9:
                    data |=0x04
                if black_y>9:
                    data |=0x02
                if black_y<-9:
                    data |=0x01
                uart.writechar(data)
                data = 0