import sensor, image, time
from pid import PID
from pyb import Servo
pan_servo=Servo(1)
tilt_servo=Servo(2)
red_threshold  = (13, 49, 18, 61, 6, 47)
pan_pid = PID(p=0.07, i=0, imax=90)
tilt_pid = PID(p=0.05, i=0, imax=90)
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA)
sensor.skip_frames(10)
sensor.set_auto_whitebal(False)
clock = time.clock()
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
while(True):
	clock.tick()
	img = sensor.snapshot()
	blobs = img.find_blobs([red_threshold])
	if blobs:
		max_blob = find_max(blobs)
		pan_error = max_blob.cx()-img.width()/2
		tilt_error = max_blob.cy()-img.height()/2
		print("pan_error: ", pan_error)
		img.draw_rectangle(max_blob.rect())
		img.draw_cross(max_blob.cx(), max_blob.cy())
		pan_output=pan_pid.get_pid(pan_error,1)/2
		tilt_output=tilt_pid.get_pid(tilt_error,1)
		print("pan_output",pan_output)
		pan_servo.angle(pan_servo.angle()+pan_output)
		tilt_servo.angle(tilt_servo.angle()-tilt_output)