通过哪些串口或者程序可以做到，请大佬帮帮忙，，谢谢啦

请各位大佬帮帮忙

THRESHOLD = (62, 13, 34, 80, -61, 81)
import sensor, image, time
from pyb import LED
from pid import PID
rho_pid = PID(p=0.4, i=0)
theta_pid = PID(p=0.001, i=0)
LED(1).on()
LED(2).on()
LED(3).on()
sensor.reset()
sensor.set_vflip(True)
sensor.set_hmirror(True)
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQQVGA)
sensor.skip_frames(time = 2000)
clock = time.clock()
while(True):
clock.tick()
img = sensor.snapshot().binary([THRESHOLD])
line = img.get_regression([(100,100,0,0,0,0)], robust = True)
if (line):
rho_err = abs(line.rho())-img.width()/2
if line.theta()>90:
theta_err = line.theta()-180
else:
theta_err = line.theta()
img.draw_line(line.line(), color = 127)
print(rho_err,line.magnitude(),rho_err)
pass

，并同时输出所识别到的颜色且优先级为黑色优先？做个程序的目的是要能巡红色线，并且同时识别黑色字母和线条，我看教程里面有关于巡线的程序和多种颜色识别的程序，还有图形识别的程序，但是不太会整合，有大神能帮帮忙吗？