import json
from pid import PID
from pyb import UART
from pyb import LED
import display

uart = UART(3, 115200)

red_threshold  = (31, 54, 32, 61, 6, 22)
red_threshold2 = (20, 72, 20, 75, -59, -1)
red_threshold3 = (21, 40, 11, 50, -25, 6)


LED(1).on() #开灯
LED(2).on()
LED(3).on()
#base_pid = PID(p=0.07, i=0, imax=90) #脱机运行或者禁用图像传输，使用这个PID
#rArm_pid = PID(p=0.05, i=0, imax=90) #脱机运行或者禁用图像传输，使用这个PID
#fArm_pid = PID(p=0.05, i=0, imax=90)
base_pid  = PID(p=0.1, i=0, imax=90)#在线调试使用这个PID
rArm_pid= PID(p=0.1, i=0, imax=90)#在线调试使用这个PID
fArm_pid = PID(p=0.05, i=0, imax=90)
cmd='n'


sensor.reset()  # 初始化sensor
sensor.set_pixformat(sensor.RGB565) # use RGB565.
sensor.set_framesize(sensor.QQVGA2) # 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.
lcd = display.SPIDisplay()
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

img = sensor.snapshot() # Take a picture and return the image.
while(True):
    lcd.write(sensor.snapshot())  # 拍照并显示图像。
    clock.tick() # Track elapsed milliseconds between snapshots().

    blobs = img.find_blobs([red_threshold,red_threshold2,red_threshold3],x_stride=100,y_stride=50)
    if blobs:         
        uart.write('f')
        cmd='f'
        print('you send:','find')
        area_target=14000
        data=[]
        max_blob = find_max(blobs)
        base_error = max_blob.cx()-img.width()/2 #base
        rArm_error = max_blob.cy()-img.height()/2 #rArm
        img.draw_rectangle(max_blob.rect()) # rect
        img.draw_cross(max_blob.cx(), max_blob.cy()) # cx, cy
        
        for blob in blobs:
            area = blob.area()

        fArm_error=area_target-area  #fArm

        #print("fArm_error: ", fArm_error)

        fArm_output=fArm_pid.get_pid(fArm_error,1)/200
        base_output=base_pid.get_pid(base_error,1)/2
        rArm_output=rArm_pid.get_pid(rArm_error,1)
        #print("fArm_output",fArm_output)
        #print("tilt_output",tilt_output)
        data.append((base_output,rArm_output,fArm_output))
        #data_out = json.dumps(set(data))
        #uart.write(data_out +'\n')
        #print('you send:',data_out)

        #uart.write(str(pan_output)+'\n') #与上面的output相对应 输出
        #uart.write(str(tilt_output)+'\n') #与上面的output相对应 输出
    else:
        uart.write('n')
        print('you send:','no')

请在这里粘贴代码