那要怎么修改啊？不会啊

import sensor, image, time, math
from pyb import UART, LED, Pin, Timer
import display

# Initialize the camera sensor.
sensor.reset()
sensor.set_contrast(1)
sensor.set_pixformat(sensor.GRAYSCALE)  # Set to grayscale mode
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(30)
sensor.set_auto_gain(False)
sensor.set_auto_whitebal(False)
clock = time.clock()
sensor.set_vflip(True)
sensor.set_hmirror(True)

# Initialize LED and UART
LED(1).on()  # Ensure LED1 is on
LED(2).on()  # Ensure LED2 is on
LED(3).on()  # Ensure LED3 is on

uart = UART(3, 115200, timeout_char=1000)

# Initialize flash light using PWM on Pin P6
light = Timer(2, freq=50000).channel(1, Timer.PWM, pin=Pin("P6"))
light.pulse_width_percent(5)  # Control brightness 0~100

u_start = bytearray([0xb3, 0xb3])
u_over = bytearray([0x0d, 0x0a])
GRAYSCALE_THRESHOLD = [(5, 70)]  # Grayscale threshold for line following
ROIS = [
    (0, 90, 160, 20, 0.7),  # Bottom region, weight 0.7
    (0, 50, 160, 20, 0.4),  # Middle region, weight 0.4
    (0, 0, 160, 20, 0.05)   # Top region, weight 0.05
]  # Three regions
weight_sum = 0
range_stop = [390, 190, 100]  # Minimum pixel value for stop line
range_wait = [60, 40, 0]  # Minimum pixel value for wait stop line
for r in ROIS:
    weight_sum += r[4]

thresholds = [(-100, 72, -128, -16, -128, 127)]  # Threshold for distance measurement

# Initialize the LCD screen.
lcd = display.SPIDisplay()

# Function to find two largest blobs
def find_max(blobs):
    max_size = [0, 0]
    max_ID = [-1, -1]
    for i in range(len(blobs)):
        if blobs[i].pixels() > max_size[0]:
            max_ID[1] = max_ID[0]
            max_size[1] = max_size[0]
            max_ID[0] = i
            max_size[0] = blobs[i].pixels()
        elif blobs[i].pixels() > max_size[1]:
            max_ID[1] = i
            max_size[1] = blobs[i].pixels()
    return max_ID

def car_run():
    centroid_sum = [0, 0]
    left_center = [-1, -1, -1]  # Store left blob center cx value for calculating left offset angle
    right_center = [-1, -1, -1]  # Store right blob center cx value for calculating right offset angle
    flag_cross = 0  # Flag for intersection
    flag_Stop = 0  # Stop flag
    flag_Wait = [0, 0]  # Wait stop flag

    for r in range(3):  # Search for blobs in three regions
        blobs = img.find_blobs(GRAYSCALE_THRESHOLD, roi=ROIS[r][0:4], merge=True, area_threshold=100, margin=3)
        if blobs:
            max_ID = find_max(blobs)  # Find the largest blob
            img.draw_rectangle(blobs[max_ID[0]].rect())  # Draw rectangle
            img.draw_cross(blobs[max_ID[0]].cx(), blobs[max_ID[0]].cy())  # Draw center cross

            if max_ID[1] != -1:  # If there are two blobs, indicating an intersection
                img.draw_rectangle(blobs[max_ID[1]].rect())
                flag_cross = 1  # Set intersection flag
                img.draw_cross(blobs[max_ID[1]].cx(), blobs[max_ID[1]].cy())

                if blobs[max_ID[0]].cx() < blobs[max_ID[1]].cx():
                    left_center[r] = blobs[max_ID[0]].cx()
                    right_center[r] = blobs[max_ID[1]].cx()
                else:
                    left_center[r] = blobs[max_ID[1]].cx()
                    right_center[r] = blobs[max_ID[0]].cx()
            else:  # Only one blob
                if flag_cross == 0:  # No intersection, check for stop line
                    if blobs[max_ID[0]].pixels() > range_stop[r]:
                        flag_Stop = r + 1
                    if blobs[max_ID[0]].w() > range_wait[r]:
                        flag_Wait[0] += 1
                left_center[r] = right_center[r] = blobs[max_ID[0]].cx()

            centroid_sum[0] += left_center[r] * ROIS[r][4]  # Multiply by weight
            centroid_sum[1] += right_center[r] * ROIS[r][4]

    center_pos = [0, 0]
    center_pos[0] = (centroid_sum[0] / weight_sum)  # Calculate left weighted center
    center_pos[1] = (centroid_sum[1] / weight_sum)  # Calculate right weighted center

    if flag_Wait[0] == 2:
        flag_Wait[1] = 1  # Set wait flag

    deflection_angle = [0, 0]
    deflection_angle[0] = -math.atan((center_pos[0] - 80) / 60)  # Calculate left offset angle
    deflection_angle[1] = -math.atan((center_pos[1] - 80) / 60)  # Calculate right offset angle
    deflection_angle[0] = math.degrees(deflection_angle[0])  # Convert to degrees
    deflection_angle[1] = math.degrees(deflection_angle[1])

    if center_pos[0] == center_pos[1] == 0:
        deflection_angle[1] = deflection_angle[0] = 0  # If no blob found, set angle to 0

    A = [float(deflection_angle[0]) + 90, float(deflection_angle[1]) + 90, float(flag_Stop), float(flag_Wait[1])]
    return A

def degrees(radians):
    return (180 * radians) / math.pi

while True:
    clock.tick()
    img = sensor.snapshot().lens_corr(strength=1.8, zoom=1.0)  # Continuously capture images with lens correction
    row_data = [0.0, 0.0, 0.0, 0.0]  # Remove row_data[2]
    row_data[0], row_data[1], row_data[2], row_data[3] = car_run()  # Rearrange indices
    uart_buf = bytearray([int(d) for d in row_data])
    
    # Print row_data to console
    print(row_data)
    
    # Calculate the position to display the text at the bottom, and move it slightly to the right
    text = "{}".format(row_data)
    x = 2  # Adjust the x position as needed to move to the right
    y = img.height() - 10  # Adjust the y position as needed
    
    # Draw the text on the image before rotation
    img.draw_string(x, y, text, color=(0, 0, 255), scale=1)
    
    # Rotate the image by 180 degrees
    img = img.rotation_corr(z_rotation=180)

    uart.write(u_start)
    uart.write(uart_buf)
    uart.write(u_over)
    
    lcd.write(img)  # Display the image on the LCD screen with row_data