没识别到图片没有进入到那个if里面，delay不起作用的，
现在只要看到红色就一卡一卡的

舵机控制例子

这个例子展示了如何使用OpenMV来控制舵机

import sensor, image, time
from pyb import Servo
import lcd
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
lcd.init()
s1 = Servo(1) # P7

s3 = Servo(3) # P9
lcd.init()
clock = time.clock()
while(True):
img=sensor.snapshot()
lcd.display(sensor.snapshot())
for i in range(1000):
img=sensor.snapshot()
s1.pulse_width(1000 + i)

    s3.pulse_width(1000 + i)
    time.sleep_ms(10)
for i in range(1000):
    img=sensor.snapshot()
    s1.pulse_width(1999 - i)
   
    s3.pulse_width(1999 - i)
    time.sleep_ms(10)

# Template Matching Example - Normalized Cross Correlation (NCC)
#
# This example shows off how to use the NCC feature of your OpenMV Cam to match
# image patches to parts of an image... expect for extremely controlled enviorments
# NCC is not all to useful.
#
# WARNING: NCC supports needs to be reworked! As of right now this feature needs
# a lot of work to be made into somethin useful. This script will reamin to show
# that the functionality exists, but, in its current state is inadequate.

import time, sensor, image
from image import SEARCH_EX, SEARCH_DS
#从imgae模块引入SEARCH_EX和SEARCH_DS。使用from import仅仅引入SEARCH_EX, 
#SEARCH_DS两个需要的部分，而不把image模块全部引入。

# Reset sensor
sensor.reset()

# Set sensor settings
sensor.set_contrast(1)
sensor.set_gainceiling(16)
# Max resolution for template matching with SEARCH_EX is QQVGA
sensor.set_framesize(sensor.QQVGA)
# You can set windowing to reduce the search image.
#sensor.set_windowing(((640-80)//2, (480-60)//2, 80, 60))
sensor.set_pixformat(sensor.GRAYSCALE)

# Load template.
# Template should be a small (eg. 32x32 pixels) grayscale image.
template = image.Image("1.pgm")
#加载模板图片

clock = time.clock()

# Run template matching
while (True):
    clock.tick()
    img = sensor.snapshot()

    # find_template(template, threshold, [roi, step, search])
    # ROI: The region of interest tuple (x, y, w, h).
    # Step: The loop step used (y+=step, x+=step) use a bigger step to make it faster.
    # Search is either image.SEARCH_EX for exhaustive search or image.SEARCH_DS for diamond search
    #
    # Note1: ROI has to be smaller than the image and bigger than the template.
    # Note2: In diamond search, step and ROI are both ignored.
    r = img.find_template(template, 0.70, step=4, search=SEARCH_EX, roi=(0, 0,307, 233))
    #find_template(template, threshold, [roi, step, search]),threshold中
    #的0.7是相似度阈值,roi是进行匹配的区域（左上顶点为（10，0），长80宽60的矩形），
    #注意roi的大小要比模板图片大，比frambuffer小。
    #把匹配到的图像标记出来
    if r:
        img.draw_rectangle(r)

    print(clock.fps())

import sensor, image, time,lcd,math,pyb
import json
from pyb import UART
from pyb import Servo
from pyb import Pin
from pyb import LED
led = LED(4)
a=0
q=0
c=0
H=0
cir_r=0
rec_w=0
rec_h=0
led.toggle()
blue_threshold   = (18, 38, 9, 58, -90, -33)
red_threshold   =  (29, 53, 34, 74, 15, 55)#(13, 38, 30, 58, 16, 45)
yellow_threshold   = [(54, 67, -13, 4, 49, 71),(72, 95, -17, 9, 54, 82)]
fangkuai_thresholds =[(13, 38, 75, 61, 17, 52),(19, 57, 19, 87, 16, 58)]
thresholds = [(13, 38, 6, 61, 17, 52)]
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(20)
sensor.set_auto_whitebal(False)
s2=Servo(2)
s1=Servo(1)
uart = UART(3, 115200)
clock = time.clock()
#lcd.init()
s1.angle(-55)
while(True):
    clock.tick()
    a=uart.readchar()
    led = LED(1)
    led = LED(4)
    led.off()
    
    if a==49 and c!=2:
        led = LED(2)
        led.off()
        s1=Servo(2)
        s2=Servo(1)
        s2.angle(-85)
        s1.angle(30)
        pyb.delay(200)
    if a==52 and c!=2:
        s2=Servo(2)
        s1=Servo(1)
        img = sensor.snapshot()
        sensor.set_framesize(sensor.QVGA)
        led = LED(1)
        led.off()
        sensor.set_windowing((156,1,117,240))
        led = LED(4)
        led.off()
        blobs0 = img.find_blobs([blue_threshold],pixels_threshold=100)
        blobs1 = img.find_blobs([red_threshold],pixels_threshold=40)
        if blobs1 :
            led.off()
            s1.angle(-15)
            s2.angle(60)
            pyb.delay(200)
            s1.angle(70)
            pyb.delay(200)
            s1.angle(-15)
            pyb.delay(200)
            c=c+1
    if a==50 and c!=2:
        sensor.set_framesize(sensor.QVGA)
        sensor.set_windowing((165,20,148,100))
        s2=Servo(2)
        s1=Servo(1)
        led = LED(4)
        led.on()
        img = sensor.snapshot()
        blobs0 = img.find_blobs([blue_threshold],pixels_threshold=100)
        blobs1 = img.find_blobs([red_threshold],pixels_threshold=40)
        blobs2 = img.find_blobs(yellow_threshold,pixels_threshold=40)
        if blobs0 :
            s1.angle(-15)
        elif blobs2 :
            s1.angle(-15)
            s2.angle(-5)
            pyb.delay(200)
            s1.angle(45)
            pyb.delay(200)
            s1.angle(-15)
            pyb.delay(200)
        elif blobs1:
            s1.angle(-15)
            s2.angle(60)
            pyb.delay(200)
            s1.angle(45)
            pyb.delay(200)
            s1.angle(-15)
            pyb.delay(200)
    if  c==2:
        s1.angle(-75)
        led = LED(2)
        led.on()
        sensor.set_framesize(sensor.QVGA)
        img = sensor.snapshot()
        sensor.set_windowing((0,0,307,233))
        #img.lens_corr(1.8)
        for code in img.find_qrcodes():
            q=code.payload()
        led = LED(4)
        led.off()
        blobs3 = img.find_blobs(fangkuai_thresholds,pixels_threshold=20)
        if q=='R':
            uart.write('1')
            s2.angle(30)
            print(1)
        if blobs3:
            for blob in img.find_blobs(fangkuai_thresholds,pixels_threshold=50):
                if blob.density()>0.68:
                uart.write('1')
                s2.angle(30)
                led = LED(4)
                led.on()
                print(1)
        if   0.61>blob.density()>0.20:
            img.draw_keypoints([(blob.cx(), blob.cy(), int(math.degrees(blob.rotation())))], size=20)
            img.draw_circle((blob.cx(), blob.cy(),int((blob.w()+blob.h())/4)))
            uart.write('2')
            s2.angle(30)
            led = LED(4)
            led.on()
            print(2)