图片最后一行，是不是提示i2c被占用了？

import sensor, image, time,math,pyb
from pid import PID
from pyb import Servo
from pyb import millis
from math import pi, isnan
from pyb import Pin, Timer
import mlx90614
#import time
from machine import Pin,I2C
#import sensor, image, time,math,pyb
from pyb import UART,LED
#import json
import ustruct
class PID:
_kp = _ki = _kd = _integrator = _imax = 0
_last_error = _last_derivative = _last_t = 0
_RC = 1/(2 * pi * 20)
def init(self, p=0, i=0, d=0, imax=0):
self._kp = float(p)
self._ki = float(i)
self._kd = float(d)
self._imax = abs(imax)
self._last_derivative = float('nan')
def get_pid(self, error, scaler):
tnow = millis()
dt = tnow - self._last_t
output = 0
if self._last_t == 0 or dt > 1000:
dt = 0
self.reset_I()
self._last_t = tnow
delta_time = float(dt) / float(1000)
output += error * self._kp
if abs(self._kd) > 0 and dt > 0:
if isnan(self._last_derivative):
derivative = 0
self._last_derivative = 0
else:
derivative = (error - self._last_error) / delta_time
derivative = self._last_derivative +
((delta_time / (self._RC + delta_time)) *
(derivative - self._last_derivative))
self._last_error = error
self._last_derivative = derivative
output += self._kd * derivative
output *= scaler
if abs(self._ki) > 0 and dt > 0:
self._integrator += (error * self._ki) * scaler * delta_time
if self._integrator < -self._imax: self._integrator = -self._imax
elif self._integrator > self._imax: self._integrator = self._imax
output += self._integrator
return output
def reset_I(self):
self._integrator = 0
self._last_derivative = float('nan')
pan_servo=Servo(1)
tilt_servo=Servo(2)
pan_servo.calibration(500,2500,500)
tilt_servo.calibration(500,2500,500)
pan_pid = PID(p=0.05, i=0, imax=10)
tilt_pid = PID(p=0.05, i=0, imax=10)
#light = Timer(2, freq=50000).channel(1, Timer.PWM, pin=Pin("P6"))
#light.pulse_width_percent(8)
#light = Timer(2, freq=50000).channel(1, Timer.PWM, pin=Pin("P6"))
#light.pulse_width_percent(10)
sensor.reset()
sensor.set_contrast(3)
sensor.set_gainceiling(32)
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.VGA)
sensor.set_vflip(True)
sensor.skip_frames(10)
sensor.set_auto_whitebal(True)
sensor.set_auto_exposure(True)
sensor.set_auto_gain(True)
clock = time.clock()
uart = UART(1, 115200)
uart.init(115200, bits=8, parity=None, stop=1)
i2c = I2C(sda=Pin('P5'), scl=Pin('P4'),freq=100000)
temp = mlx90614.MLX90614(i2c)
data=bytearray([0xfd,0x00,0x0e,0x01,0x01,0xCE,0xC2,0xB6,0xC8,0xB8,0xDF,0xC7,0xEB,0xD7,0xA2,0xD2,0xE2])
face_cascade = image.HaarCascade("frontalface", stages=25)
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_features(face_cascade, threshold=0.2, scale=1.1)
if blobs:
max_blob = find_max(blobs)
pan_error = max_blob[0]+max_blob[2]/2-img.width()/2
tilt_error = max_blob[1]+max_blob[3]/2-img.height()/2
print("pan_error: ", pan_error)
img.draw_rectangle(max_blob,[255,0,0],thickness=5)
img.draw_cross(int(max_blob[0]+max_blob[2]/2),int(max_blob[1]+max_blob[3]/4),[255,0,0])
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)
print('ObjTemp:'+str('%.2f'%temp.ObjectTemp())+'C')
print('AmbTemp:'+str('%.2f'%temp.AmbientTemp())+'C')
if temp.ObjectTemp() >= 34.5:
print("temp");
uart.write(data)
time.sleep_ms(1450)

哪位能指点一下？