import sensor, image, time , math , pyb
from pyb import UART
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
clock = time.clock()
a1=0
uart = UART(3, 115200)
uart.init(115200, bits=8, parity=None, stop=1)

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


red_threshold_01 = ((82, 36, 63, 23, 63, 28));
white_threshold_01 = ((75, 100, -18, 2, -4, 23));
pink_threshold_01 = ((48, 100, 5, 127, -25, 12));


while(True):
    clock.tick()
    img = sensor.snapshot().lens_corr(1.8)
    blobs = img.find_blobs([red_threshold_01], pixels_threshold=150, area_threshold=500, merge=True, margin=10);

    if blobs:
    #如果找到了目标颜色
        print("ored")
        max_blob_0 = find_max(blobs)
        for b in blobs:
            x = b[0]
            y = b[1]
            width = b[2]
            height = b[3]

            img.draw_rectangle(max_blob_0.rect())
            #用矩形标记出目标颜色区域
            img.draw_cross(max_blob_0.cx(), max_blob_0.cy())
            #在目标颜色区域的中心画十字形标记
            print(b[5],b[6],b[7])
            X =int(max_blob_0.cx()-img.width()/2)
            Y =int(max_blob_0.cy()-img.height()/2)

    blobs = img.find_blobs([white_threshold_01], pixels_threshold=100, area_threshold=200, merge=True, margin=10);
    if blobs:

        print("white")
        max_blob_1 = find_max(blobs)
        img.draw_rectangle(max_blob_1.rect())
            #用矩形标记出目标颜色区域
        img.draw_cross(max_blob_1.cx(), max_blob_1.cy())
        print("cx: ", max_blob_1.cx())             #打印X的的位置
        print("cy: ", max_blob_1.cy())



    blobs = img.find_blobs([pink_threshold_01], pixels_threshold=100, area_threshold=100, merge=True, margin=10);
    if blobs:
        max_blob_2 = find_max(blobs)
        img.draw_rectangle(max_blob_2.rect(),color = (255, 0, 0))
            #用矩形标记出目标颜色区域
        img.draw_cross(max_blob_2.cx(), max_blob_2.cy())
        print("pink cx: cy: ", max_blob_2.cx(),max_blob_2.cy())             #打印X的的位置

import sensor, image, time , math , pyb
from pyb import UART
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
clock = time.clock()
a1=0
uart = UART(3, 115200)
uart.init(115200, bits=8, parity=None, stop=1)

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


red_threshold_01 = ((20, 58, 49, 127, -128, 127));
white_threshold_01 = ((75, 100, 96, -24, 31, -7));
pink_threshold_01 = ((30, 100, 5, 73, -42, 32));


while(True):
    clock.tick()
    img = sensor.snapshot().lens_corr(1.8)
    blobs = img.find_blobs([red_threshold_01], roi=[0,0,200,200],pixels_threshold=150, area_threshold=500, merge=True, margin=10);
    blobs1 = img.find_blobs([white_threshold_01], pixels_threshold=100, area_threshold=100, merge=True, margin=10);
    if blobs:
    #如果找到了目标颜色
        print("ored")
        for b in blobs:
        #迭代找到的目标颜色区
            x = b[0]
            y = b[1]
            width = b[2]
            height = b[3]
                # Draw a rect around the blob.
            img.draw_rectangle([x,y,width,height]) # rec
            img.draw_cross(b[5], b[6]) # cx, cy
            #在目标颜色区域的中心画十字形标记
            print(b[5],b[6],b[7])
            X =int(b[5]-img.width()/2)
            Y =int(b[6]-img.height()/2)
            if 9<X<100:
                datax =("ao"+str(X))
                print("X坐标: ",datax)
            elif 0<X<10:
                datax =("aoo"+str(X))
                print("X坐标: ",datax)
            elif X==0:
                datax =("aooo")
                print("X坐标: ",datax)
            elif X>99:
                datax =("a"+str(X))
                print("X坐标: ",datax)
            elif -100<X<-9:
                datax =("b"+str(X))
                print("X坐标: ",datax)
            elif -10<X<0:
                datax =("boo"+str(X))
                print("X坐标: ",datax)
            elif X<-99:
                datax =("b"+str(X))
                print("X坐标: ",datax)

            if 9<Y<100:
                datay =("ao"+str(Y))
                print("Y坐标: ",datay)
            elif 0<Y<10:
                datay =("aoo"+str(Y))
                print("Y坐标: ",datay)
            elif Y==0:
                datay =("aooo")
                print("Y坐标: ",datay)
            elif Y>99:
                datay =("a"+str(Y))
                print("Y坐标: ",datay)
            elif -100<Y<-9:
                datay =("b"+str(Y))
                print("Y坐标: ",datay)
            elif -10<Y<0:
                datay =("boo"+str(Y))
                print("Y坐标: ",datay)
            elif Y<-99:
                datay =("b"+str(Y))
                print("Y坐标: ",datay)


            if(a1==60):
                a1=0
                uart.write(datax+datay+"\r\n")
                print("X Y 坐标 : ",datax,datax)
            else:
                a1=a1+1

    

    for c in img.find_circles(threshold = 3500, 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())
        statistics = img.get_statistics(roi=area)
        #像素颜色统计

        if 75<statistics.l_mode()<100 and -27<statistics.a_mode()<96 and -7<statistics.b_mode()<31:
            img.draw_circle(c.x(), c.y(), c.r(), color = (255, 0, 0))
            #识别到的白色圆形用红色的圆框出来
            print("白",c.x(),c.y())


    for c in img.find_circles(threshold = 3500, 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())
        statistics = img.get_statistics(roi=area)
        #像素颜色统计
        print(statistics)
        if 30<statistics.l_mode()<100 and 5<statistics.a_mode()<73 and -42<statistics.b_mode()<32:
            img.draw_circle(c.x(), c.y(), c.r(), color = (255, 0, 0))
            #识别到的粉色圆形用红色的圆框出来
            print("粉",c.x(),c.y())