openmv的串口传输

import sensor, image, time

from pid import PID
from pyb import Servo
from pyb import UART

uartCP = UART(1, 115200)#用于电脑与OPenmv数据传输
uartAH = UART(3, 115200)#用于机械臂与openmv数据传输
#pan_servo=Servo(1)
#tilt_servo=Servo(2)

yellow_threshold  = (42, 100, -33, 34, 23, 87)

#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)
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
z=1500
K=600

while(True):
    clock.tick() # Track elapsed milliseconds between snapshots().
    img = sensor.snapshot() # Take a picture and return the image.
    img.lens_corr(1.8)      #矫正视图

    blobs = img.find_blobs([yellow_threshold])
    if blobs:
        max_blob = find_max(blobs)
        pan_error = max_blob.cx()-img.width()/2 # 什么意思
        tilt_error = max_blob.cy()-img.height()/2 #？？？？？？

#        print("pan_error: ", pan_error)
#        print("tilt_error: ", tilt_error)

        img.draw_rectangle(max_blob.rect()) # rect
        img.draw_cross(max_blob.cx(), max_blob.cy()) # cx, cy
        #    if len(max_blob) == 1:
                # Draw a rect around the blob.
        b = max_blob#blobs[0]
        #        img.draw_rectangle(b[0:4]) # rect
        #        img.draw_cross(b[5], b[6]) # cx, cy
        Lm = (b[2]+b[3])/2
        length = K/Lm
        q=int(length)
        l=str(q)#字符转换
        l=str(0) #可修改高度值

#        print(length) #输出长度

        pan_output=pan_pid.get_pid(pan_error,1)/2 #增益值（由pid得出的值）
        tilt_output=tilt_pid.get_pid(tilt_error,1)
        #print(pan_output,tilt_output,length) #输出长度

#        print("pan_output",pan_output)
#        print("tilt_output",tilt_output)
        x=float(pan_output)
        y=x             #PID的值放大 倍
        z=int(y)
        z=str(z)

        a=float(tilt_output)
        b=a              #PID的值放大2倍
        c=int(b)
        d=str(c)

        time.sleep(1000)
        print(z,d,l)
        uartCP.write(z+' '+d+' '+l+'\r\n'+'\0')
    if uartCP.any():          #串口通信接收
       a=uartCP.readline().decode().strip().split(',') #以逗号隔开，暂时不用空格
       #print((a[0]))
       n=float(a[0])
       m=-20*n+1500
       print(m)
#m=-11.11*n+1500
       duoji1=str(m)
       #print(duoji1)
       duoji2=str(a[1])
       duoji3=str(a[2])
       duoji4=str(a[3])
       duoji5=str(a[4])
       duoji6=str(a[5])
       time.sleep(1000)
       #print(duoji6)
       uartAH.write("#1P"+duoji1+"#2P1500#3P1500#4P1500#5P1500#6P1500T1000\r\n")
       #uartAH.write("#1P"+duoji1+"#2P"+duoji2+"#3P"+duoji3+"#4P"+duoji4+"#5P"+duoji5+"#6P"+duoji6+"T1000\r\n")
       #time.sleep(1000)
       #time.sleep(1000)
       #time.sleep(1000)
       #time.sleep(1000)
       #time.sleep(1000)
       #time.sleep(1000)
       #time.sleep(1000)