按视频的解释是“偏移的距离”，按文档的解释是霍夫变换后直线的p值，个人不是很理解这两句话，可以解释清楚一点吗

lcd.display(img, x_scale=-1.0, y_scale=-1.0）
报错原因：ValueError: Vertical flip requires triple buffering!

import sensor, image, time
import pyb, ustruct # ustruct 用于打包和解压原始数据类型 的 "类"
import gc

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(time = 300)
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()

K=560#the value should be measure

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...")


while(True):
    length=0
    circlex=0
    circley=0
    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):
        area = (c.x()-c.r(), c.y()-c.r(), 2*c.r(), 2*c.r())
        circlex=c.x()
        circley=c.y()
        img.draw_rectangle(area, color = (255, 255, 255))#将非红色的圆用白色的矩形框出来
        Lm =  2*c.r()
        length = K/Lm
    #print("FPS %f" % clock.fps())
    print("length:",length)
    output_str=[length,circlex,circley]
    for i in range(3):
        data = output_str[i]
        #sensor.shutdown(True)
        #try:
            #bus.send(4, timeout=10000) # Send the len first (16-bits).
        try:
            bus.send(data, timeout=10000) # Send the data second.
            print(data)
            print("Sent Data!") # Only reached on no error.
        except OSError as err:
            pass # Don't care about errors - so pass.
                # Note that there are 3 possible errors. A timeout error, a general purpose error, or
                # a busy error. The error codes are 116, 5, 16 respectively for "err.arg[0]".
        #except OSError as err:
            #pass
    del img
    gc.collect()
![0_1684415443045_屏幕截图 2023-05-18 211022.png](https://fcdn.singtown.com/95586d9d-64a8-4183-9c0b-5b51f5c9c481.png)

没有报错，就是发送不出去

import sensor, image, time
import pyb, ustruct # ustruct 用于打包和解压原始数据类型 的 "类"
import gc

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(time = 300)
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()

K=560#the value should be measure

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...")


while(True):
    length=0
    circlex=0
    circley=0
    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):
        area = (c.x()-c.r(), c.y()-c.r(), 2*c.r(), 2*c.r())
        circlex=c.x()
        circley=c.y()
        img.draw_rectangle(area, color = (255, 255, 255))#将非红色的圆用白色的矩形框出来
        Lm =  2*c.r()
        length = K/Lm
    print("FPS %f" % clock.fps())
    print("length:",length)
    output_strv=[length,circlex,circley]
    try:
        bus.send(len(output_strv), timeout=10000) # Send the len first (16-bits).
        try:
            for i in range(3):
                bus.send(output_strv[i], timeout=10000) # Send the data second.
                print("Sent Data!") # Only reached on no error.
        except OSError as err:
            pass # Don't care about errors - so pass.
            # Note that there are 3 possible errors. A timeout error, a general purpose error, or
            # a busy error. The error codes are 116, 5, 16 respectively for "err.arg[0]".
    except OSError as err:
        pass
    del img
    gc.collect()

推测是白色的小球和背景颜色太接近导致

import sensor, image, time
import pyb, ustruct # ustruct 用于打包和解压原始数据类型 的 "类"
from pyb import LED
import gc

LED(1).on()
LED(2).on()
LED(3).on()

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
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()

K=560#the value should be measure

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...")


while(True):
    length=0
    circlex=0
    circley=0
    clock.tick()
    img = sensor.snapshot().lens_corr(1.8)
    for c in img.find_circles(threshold = 2500, x_margin = 10, y_margin = 10, r_margin = 10,
            r_min = 2, r_max = 100, r_step = 2):
        area = (c.x()-c.r(), c.y()-c.r(), 2*c.r(), 2*c.r())
        circlex=c.x()-80
        circley=c.y()-60
        img.draw_rectangle(area, color = (255, 255, 255))#将非红色的圆用白色的矩形框出来
        Lm =  2*c.r()
        length = K/Lm
    print("FPS %f" % clock.fps())
    print("length:",length)
    output_str="[%d,%d,%d]" % (length,circlex,circley)
    data = ustruct.pack("<%ds" % len(output_str), output_str)
    #sensor.shutdown(True)
    try:
        bus.send(ustruct.pack("<h", len(data)), timeout=10000) # Send the len first (16-bits).
        try:
            bus.send(data, timeout=10000) # Send the data second.
            print("Sent Data!") # Only reached on no error.
        except OSError as err:
            pass # Don't care about errors - so pass.
            # Note that there are 3 possible errors. A timeout error, a general purpose error, or
            # a busy error. The error codes are 116, 5, 16 respectively for "err.arg[0]".
    except OSError as err:
        pass
    del img
    gc.collect()
    #sensor.reset()
    #sensor.set_pixformat(sensor.RGB565)
    #sensor.set_framesize(sensor.QQVGA)
    #sensor.skip_frames(time = 3)
    #sensor.set_auto_gain(False) # must be turned off for color tracking
    #sensor.set_auto_whitebal(False) # must be turned off for color tracking