openmv

clock.tick()
            img = sensor.snapshot()
            blobs = img.find_blobs([green_threshold])
            if blobs:
                max_blob = find_max(blobs)
                if max_blob.cx()>40 and max_blob.cx()<120:
                    x_error = max_blob[5]-img.width()/2
                    h_error = max_blob[2]*max_blob[3]-size_threshold
                    if h_error<250 and h_error>-250 and x_error<40 and x_error>-40:
                        led.on()

                    else:
                        led.off()

                    #print("x error: ", x_error)
                    img.draw_rectangle(max_blob[0:4])
                    img.draw_cross(max_blob[5], max_blob[6])
                    x_output=x_pid.get_pid(x_error,1)
                    h_output=h_pid.get_pid(h_error,1)
                    #print("h_output",h_output)
                    car.run(-h_output-x_output,-h_output+x_output)
                    print(-h_output-x_output,-h_output+x_output)
                elif max_blob.cx()<40:
                    led.off()
                    car.run(15,-15)
                else:
                    led.off()
                    car.run(-15,15)
            else:
                led.off()
                car.run(15,-15)