1.扫码程序
import sensor, image, time
from pyb import UART

uart = UART(3, 115200)
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQVGA) # can be QVGA on M7...
sensor.skip_frames(30)
sensor.set_auto_gain(False) # must turn this off to prevent image washout...
while(True):
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():
print(code)
FH= bytearray([0xb3,0xb3])
uart.write(FH)
uart.write(code.payload())
FH = bytearray([0x0d,0x0a])
uart.write(FH)
time.sleep_ms(1000)

2.云台追踪二维码程序
import sensor, image, time

from pid import PID
from pyb import Servo

pan_servo=Servo(1)
tilt_servo=Servo(2)

pan_servo.calibration(500,2500,500)
tilt_servo.calibration(500,2500,500)

red_threshold = (13, 49, 18, 61, 6, 47)

pan_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
tilt_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
#pan_pid = PID(p=0.1, i=0, imax=90)#在线调试使用这个PID
#tilt_pid = PID(p=0.1, i=0, imax=90)#在线调试使用这个PID

sensor.reset() # Initialize the camera sensor.
sensor.set_pixformat(sensor.RGB565) # use RGB565.
sensor.set_framesize(sensor.QQVGA) # 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.

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() # Track elapsed milliseconds between snapshots().
img = sensor.snapshot() # Take a picture and return the image.

blobs = img.find_qrcodes()
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.rect()) # rect
    img.draw_cross(int(max_blob[0]+max_blob[2]/2),int(max_blob[1]+max_blob[3]/2)) # cx, 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)