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# Blob Detection Example

#

# This example shows off how to use the find_blobs function to find color

# blobs in the image. This example in particular looks for dark green objects.



import sensor, image, time

import car_1

from pid import PID



# You may need to tweak the above settings for tracking green things...

# Select an area in the Framebuffer to copy the color settings.



sensor.reset() # Initialize the camera sensor.

sensor.set_pixformat(sensor.RGB565) # use RGB565.

sensor.set_framesize(sensor.QQVGA) # use QQVGA for speed.

sensor.skip_frames(10) # Let new settings take affect.

sensor.set_auto_whitebal(False) # turn this off.

clock = time.clock() # Tracks FPS.



# For color tracking to work really well you should ideally be in a very, very,

# very, controlled enviroment where the lighting is constant...

red_threshold   = (93, 10, 98, 22, -33, 91)
green_threshold   = (72, 32, -12, -51, -1, 81)

size_threshold = 2000

x_pid = PID(p=0.5, i=1, imax=100)

h_pid = PID(p=0.05, i=0.1, imax=50)



def find_max(blobs):

    max_size=0

    for blob in blobs:

        if blob[2]*blob[3] > max_size:

            max_blob=blob

            max_size = blob[2]*blob[3]

    return max_blob



while(True):

    clock.tick() # Track elapsed milliseconds between snapshots().

    img = sensor.snapshot() # Take a picture and return the image.



    blobs = img.find_blobs([green_threshold])
    blobs1 = img.find_blobs([red_threshold])

    if blobs:

        max_blob = find_max(blobs)

        x_error = max_blob[5]-img.width()/2

        h_error = max_blob[2]*max_blob[3]-size_threshold

        print("x error: ", x_error)

        if blobs1:

           car_1.run(0,0)
           max_blob1 = find_max(blobs1)

           x_error1 = max_blob1[5]-img.width()/2

           h_error1 = max_blob1[2]*max_blob1[3]-size_threshold
           car_1.run(0,0)

        '''

        for b in blobs:

            # Draw a rect around the blob.

            img.draw_rectangle(b[0:4]) # rect

            img.draw_cross(b[5], b[6]) # cx, cy

        '''
        img.draw_rectangle(max_blob1[0:4]) # rect

        img.draw_cross(max_blob1[5], max_blob1[6]) # cx, cy

        img.draw_rectangle(max_blob[0:4]) # rect

        img.draw_cross(max_blob[5], max_blob[6]) # cx, cy

        x_output=x_pid.get_pid(x_error,1)

        h_output=h_pid.get_pid(h_error,1)

        print("h_output",h_output)

        car_1.run(-h_output-x_output,-h_output+x_output)

好的 谢谢大佬我试试

想询问一下怎么识别，小车的控制代码只描述了小车的驱动，怎么实现小车识别到目标颜色暂停呢？代码该怎么实现？