import sensor, image, time, pyb

from pyb import UART#串口用5V电压亦可
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)#灰度图更快
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False) # must turn this off to prevent image washout...
uart = UART(3, 115200)
uart.init(115200, bits=8, parity=None, stop=1) # init with given parameters
while not uart.any():
    #uart.write("0000\r\n")
    img = sensor.snapshot()
    img.lens_corr(1.8) # strength of 1.8 is good for the 2.8mm lens.
    for code in img.find_qrcodes():
        img.draw_rectangle(code.rect(), color = (255, 0, 0))
        uart.write(code.payload())
        print(code.payload())


red_threshold = (25, 82, 0, 64, 65, 6) # red_thresholds
green_threshold  = (58, 33, -78, -16, 110, -71)# green_thresholds
blue_threshold  = (28, 81, -52, 81, -29, -87)# blue_thresholds

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_whitebal(False)#关闭自动白平衡
sensor.set_auto_gain(False)#关闭自动增益

clock = time.clock()

while(True):
    clock.tick()
    img = sensor.snapshot().lens_corr(1.8)
    for blob in img.find_blobs([red_threshold], pixels_threshold=200, area_threshold=200):
        img.draw_rectangle(blob.rect())
        img.draw_cross(blob.cx(), blob.cy())
        print('r')
    for blob in img.find_blobs([green_threshold], pixels_threshold=200, area_threshold=200):
        img.draw_rectangle(blob.rect())
        img.draw_cross(blob.cx(), blob.cy())
        g=blob.cx()
        print('g')
    for blob in img.find_blobs([blue_threshold], pixels_threshold=200, area_threshold=200):
        img.draw_rectangle(blob.rect())
        img.draw_cross(blob.cx(), blob.cy())
        b=blob.cx()
        print('b')