代码如下：

import sensor, time, display
import image

# 摄像头初始化
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.set_vflip(0)  # 摄像头后置模式

# LCD初始化
lcd = display.SPIDisplay()
clock = time.clock()

# 获取中心区域的坐标和尺寸
def get_center_grid_coords():
    screen_width = lcd.width()
    screen_height = lcd.height()
    step = 200  # 设定为200x200的区域
    x = (screen_width - step) // 2
    y = (screen_height - step) // 2
    return (x, y, step, step)

# 获取9个小方格区域的坐标和尺寸
def get_subgrid_coords(x, y, w, h):
    subgrid_size = w // 3  # 每个小方格的尺寸
    subgrid_coords = []
    for j in range(3):
        for i in range(3):
            sub_x = x + i * subgrid_size
            sub_y = y + j * subgrid_size
            subgrid_coords.append((sub_x, sub_y, subgrid_size, subgrid_size))
    return subgrid_coords

# 计算灰度值
def get_gray_value(image, x, y):
    return image.get_pixel(x, y)  # 获取灰度值

# 计算每个小方格中心的颜色
def classify_subgrids(img, subgrid_coords):
    result = [[0] * 3 for _ in range(3)]

    # 转换为灰度图像
    gray_img = img.to_grayscale()

    for i, (x, y, w, h) in enumerate(subgrid_coords):
        subgrid_img = gray_img.copy().crop((x, y, w, h))

        # 计算小方格中心点的坐标
        center_x = w // 2
        center_y = h // 2

        # 获取中心点的灰度值
        center_gray_value = get_gray_value(subgrid_img, center_x, center_y)

        # 判断灰度值
        if center_gray_value < 50:  # 判断是否为黑子
            result[i // 3][i % 3] = 1  # 黑子
            img.draw_rectangle(x, y, w, h, color=(255, 255, 255))  # 白色矩形标记
            img.draw_string(x + 10, y + 10, 'Black', color=(255, 255, 255))  # 白色文字
        elif center_gray_value > 200:  # 判断是否为白子
            result[i // 3][i % 3] = 0  # 白子
            img.draw_rectangle(x, y, w, h, color=(0, 0, 0))  # 黑色矩形标记
            img.draw_string(x + 10, y + 10, 'White', color=(0, 0, 0))  # 黑色文字
        else:
            result[i // 3][i % 3] = 3  # 无子
            img.draw_rectangle(x, y, w, h, color=(0, 0, 0))  # 黑色矩形标记
            img.draw_string(x + 10, y + 10, 'None', color=(0, 0, 0))  # 黑色文字

    return result

# 主循环
while True:
    clock.tick()

    img = sensor.snapshot()

    # 获取中心区域的坐标和尺寸
    center_grid_coords = get_center_grid_coords()

    # 获取9个小方格的坐标
    subgrid_coords = get_subgrid_coords(*center_grid_coords)

    # 识别颜色并分类棋子
    grid_result = classify_subgrids(img, subgrid_coords)

    # 打印棋盘状态
    for row in grid_result:
        print(row)

    # LCD显示图片
    
    lcd.write(img)
    # 打印FPS
    print(clock.fps())

其中，在

subgrid_img = gray_img.copy().crop((x, y, w, h))

报错

这是我原来的程序，IDE的版本是 IDE 4.0.14，只使用LCD的部分时程序可以正常运行

THRESHOLD = (0, 34, -16, 4, -1, 15) # Grayscale threshold for dark things...
import sensor, image, time
from pyb import LED
import car
from pid import PID
rho_pid = PID(p=0.5, i=0,d=0.015)
theta_pid = PID(p=0.001, i=0,d=0.01)
circle=0

LED(1).on()
LED(2).on()
LED(3).on()
from machine import SPI, Pin
from display import SPIDisplay

lcd=display.SPIDisplay()
sensor.reset()
sensor.set_vflip(False)
sensor.set_hmirror(False)
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQQVGA) # 80x60 (4,800 pixels) - O(N^2) max = 2,3040,000.
#sensor.set_windowing([0,20,80,40])
sensor.skip_frames(time = 2000)     # WARNING: If you use QQVGA it may take seconds


clock = time.clock()               # to process a frame sometimes.
last_increase_time = time.time()-10



while True:
    clock.tick()
    img = sensor.snapshot().binary([THRESHOLD])
    for blob in img.find_blobs([THRESHOLD], roi=[0,0,80,60], x_stride=2, y_stride=2, invert=True,  pixels_threshold=1000, merge=True):
        img.draw_rectangle(blob.rect())
        img.draw_cross(blob.cx(), blob.cy())
        current_time = time.time()
        if (current_time - last_increase_time >= 10):
            circle += 1
            last_increase_time = current_time

            if circle % 2 != 0:
                
                start_time = time.time()
                while True:
                    current_time = time.time()
                    elapsed_time = current_time - start_time
                    car.run(30, 30)
                    if elapsed_time >= 0.1:
                        break
                
                start_time = time.time()
                while True:
                    current_time = time.time()
                    elapsed_time = current_time - start_time
                    car.run(28 , 31 )
                    if elapsed_time >= 0.2:
                        break
            else:
                start_time = time.time()
                while True:
                    current_time = time.time()
                    elapsed_time = current_time - start_time
                    car.run(30, 30)
                    if elapsed_time >= 0.4:
                        break
                   # time.sleep(0.1)


    line = img.get_regression([(100, 100)], 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)
        if line.magnitude()>8:
            #if -40<b_err<40 and -30<t_err<30:
            rho_output = rho_pid.get_pid(rho_err,1)
            theta_output = theta_pid.get_pid(theta_err,1)
            output = rho_output+theta_output
            car.run(30+output, 30-output)
        else:
            car.run(0,0)
    else:
        car.run(30,-30)
        pass
    #print(clock.fps())
    print(circle)

以下是我添加LCD后的程序：

THRESHOLD = (0, 34, -16, 4, -1, 15) # Grayscale threshold for dark things...
import sensor, image, time,display
from pyb import LED
import car
from pid import PID
rho_pid = PID(p=0.5, i=0,d=0.015)
theta_pid = PID(p=0.001, i=0,d=0.01)
circle=0

LED(1).on()
LED(2).on()
LED(3).on()
from machine import SPI, Pin
from display import SPIDisplay

lcd=display.SPIDisplay()
#lcd = display.SPIDisplay()
sensor.reset()
sensor.set_vflip(False)
sensor.set_hmirror(False)
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QQQVGA) # 80x60 (4,800 pixels) - O(N^2) max = 2,3040,000.
#sensor.set_windowing([0,20,80,40])
sensor.skip_frames(time = 2000)     # WARNING: If you use QQVGA it may take seconds


clock = time.clock()               # to process a frame sometimes.
last_increase_time = time.time()-10



while True:
    clock.tick()
    img = sensor.snapshot().binary([THRESHOLD])
    #lcd.write(img) 
    for blob in img.find_blobs([THRESHOLD], roi=[0,0,80,60], x_stride=2, y_stride=2, invert=True,  pixels_threshold=1000, merge=True):
        img.draw_rectangle(blob.rect())
        img.draw_cross(blob.cx(), blob.cy())
        current_time = time.time()
        if (current_time - last_increase_time >= 10):
            circle += 1
            last_increase_time = current_time

            if circle % 2 != 0:
                
                start_time = time.time()
                while True:
                    current_time = time.time()
                    elapsed_time = current_time - start_time
                    car.run(30, 30)
                    if elapsed_time >= 0.1:
                        break
                
                start_time = time.time()
                while True:
                    current_time = time.time()
                    elapsed_time = current_time - start_time
                    car.run(28 , 31 )
                    if elapsed_time >= 0.2:
                        break
            else:
                start_time = time.time()
                while True:
                    current_time = time.time()
                    elapsed_time = current_time - start_time
                    car.run(30, 30)
                    if elapsed_time >= 0.4:
                        break
                   # time.sleep(0.1)


    line = img.get_regression([(100, 100)], 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)
        if line.magnitude()>8:
            #if -40<b_err<40 and -30<t_err<30:
            rho_output = rho_pid.get_pid(rho_err,1)
            theta_output = theta_pid.get_pid(theta_err,1)
            output = rho_output+theta_output
            car.run(30+output, 30-output)
        else:
            car.run(0,0)
    else:
        car.run(30,-30)
        pass
    #print(clock.fps())
    print(circle)

car.py程序如下：

from pyb import Pin, Timer
inverse_left=False
inverse_right=False
ain1 =  Pin('P0', Pin.OUT_PP)
ain2 =  Pin('P1', Pin.OUT_PP)
bin1 =  Pin('P2', Pin.OUT_PP)
bin2 =  Pin('P3', Pin.OUT_PP)
ain1.low()
ain2.low()
bin1.low()
bin2.low()
pwma = Pin('P7')
pwmb = Pin('P8')
tim = Timer(4, freq=1000)
ch1 = tim.channel(1, Timer.PWM, pin=pwma)
ch2 = tim.channel(2, Timer.PWM, pin=pwmb)
ch1.pulse_width_percent(0)
ch2.pulse_width_percent(0)
def run(left_speed, right_speed):
	if inverse_left==True:
		left_speed=(-left_speed)
	if inverse_right==True:
		right_speed=(-right_speed)
	if left_speed < 0:
		ain1.low()
		ain2.high()
	else:
		ain1.high()
		ain2.low()
	ch1.pulse_width_percent(int(abs(left_speed)))
	if right_speed < 0:
		bin1.low()
		bin2.high()
	else:
		bin1.high()
		bin2.low()
	ch2.pulse_width_percent(int(abs(right_speed)))

pid.py的程序如下：
from pyb import millis
from math import pi, isnan

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')