import sensor
import time
import math
from pyb import UART
thresholds = [
	(19, 80, 108, 32, -123, 68),                 
	(27, 70, -63, -24, -128, 127),              
	(24, 55, -67, 14, -55, -23),                  
]
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)            
sensor.skip_frames(time=2000)
sensor.set_auto_gain(False)                         
sensor.set_auto_whitebal(False)                   
uart=UART(3,9600)
clock = time.clock()
while True:
	clock.tick()
	img = sensor.snapshot()
	for blob in img.find_blobs(thresholds, pixels_threshold=200, area_threshold=200):
		if blob.elongation() > 0.5:
			img.draw_edges(blob.min_corners(), color=(255, 0, 0))
			img.draw_line(blob.major_axis_line(), color=(0, 255, 0))
			img.draw_line(blob.minor_axis_line(), color=(0, 0, 255))
		img.draw_rectangle(blob.rect())
		img.draw_cross(blob.cx(), blob.cy())
		img.draw_keypoints(
			[(blob.cx(), blob.cy(), int(math.degrees(blob.rotation())))], size=20
		)
                uart.write(str(blob.code)+'\n')
		print(blob.code())
	print(clock.fps())