@kidswong999 不稳定，总是闪烁

@kidswong999

import sensor, image, time
import math
from mywuzi import chess
from movement import move
from movement import cgj
from pyb import UART


uart=UART(1,9600)
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()
chess1 = [[0,0,0,0,0,0,0,0,0,0],
         [0,0,0,0,0,0,0,0,0,0],
         [0,0,0,0,0,0,0,0,0,0],
         [0,0,0,0,0,0,0,0,0,0],
         [0,0,0,0,0,0,0,0,0,0],
         [0,0,0,0,0,0,0,0,0,0],
         [0,0,0,0,0,0,0,0,0,0],
         [0,0,0,0,0,0,0,0,0,0],
         [0,0,0,0,0,0,0,0,0,0],
         [0,0,0,0,0,0,0,0,0,0]]

while(True):
    clock.tick()
    img = sensor.snapshot().lens_corr(1.8)
    for c in img.find_circles(threshold = 1500, x_margin = 10, y_margin = 10, r_margin = 10,
            r_min = 0, r_max = 7, r_step = 2):
        area = (c.x()-c.r(), c.y()-c.r(), 2*c.r(), 2*c.r())
        #area为识别到的圆的区域，即圆的外接矩形框
        statistics = img.get_statistics(roi=area)#像素颜色统计
        #(0,20,-20,20,-10,20)是黑色的阈值，所以当区域内的众数（也就是最多的颜色），范围在这个阈值内，就说明是黑棋。
        #l_mode()，a_mode()，b_mode()是L通道，A通道，B通道的众数。
        if c.r() <= 6:
            if 0<statistics.l_mode()<26 and -28<statistics.a_mode()<22 and -47<statistics.b_mode()<29:#if the circle is black
                img.draw_circle(c.x(), c.y(), c.r(), color = (255, 0, 0))#识别到的黑棋用红色的圆框出来
                m1 = (c.x()-32)/12
                m2 = (c.x()-20)/12
                m = int(m2)
                n1 = (106-c.y())/12
                n2 = (118-c.y())/12
                n = int(n2)
                chess1[m][n] = -1
            else:
                img.draw_rectangle(area, color = (255, 255, 255))#将白棋用白色的矩形框出来
                m1 = (c.x()-32)/12
                m2 = (c.x()-20)/12
                m = int(m2)
                n1 = (106-c.y())/12
                n2 = (118-c.y())/12
                n = int(n2)
                chess1[m][n] = 1