import sensor
import time
import math

# Color Tracking Thresholds (L Min, L Max, A Min, A Max, B Min, B Max)
# The below thresholds track in general red/green things. You may wish to tune them...
thresholds = [
    (
        30,
        100,
        15,
        127,
        15,
        127,
    ),  # generic_red_thresholds -> index is 0 so code == (1 << 0)
    (30, 100, -64, -8, -32, 32),
]  # generic_green_thresholds -> index is 1 so code == (1 << 1)
# Codes are or'ed together when "merge=True" for "find_blobs".

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" must be set to merge overlapping color blobs for color codes.

while True:
    clock.tick()
    img = sensor.snapshot()
    for blob in img.find_blobs(
        thresholds, pixels_threshold=20, area_threshold=20, merge=True
    ):
        img.draw_rectangle (blob.rect())
        img.draw_cross (blob.cx(),blob.cy())
print(clock.fps())