四天三夜做出来的，主要修改的openmv开源的代码。自制的机械臂装置，老师来评测的时候因为机械臂不稳固，导致机械臂没办法到写死的坐标，就只算了前两问。但是经过测试证明4、5问的逻辑是正确的。只用到openmv，三个舵机直接通过openmv驱动。
openmv摄像头在最顶上，机械臂摆放位置如图。末端改成了电磁铁，还是继电器加电磁铁好用点，比一开始的用软磁铁直接吸的方案好多了。
第一题代码
from pyb import Pin, Timer, Servo
import time
import math
# 控制继电器，继电器控制电磁铁
pin4 = Pin('P4', Pin.OUT_PP, Pin.PULL_NONE)
pin4.value(0)
# 定义舵机连接的引脚
servo_pins = ['P7', 'P8', 'P9']
# 创建 Timer 对象
tim = Timer(4, freq=50)
# 创建 PWM 通道并添加到列表 servos
servos = []
for pin in servo_pins:
s = Pin(pin)
channel_number = servo_pins.index(pin) + 1 # 通道编号从 1 开始
channel = tim.channel(channel_number, Timer.PWM, pin=s)
servos.append(channel)
# 设置舵机的最小和最大脉宽
min_us = 500
max_us = 2500
# 三个舵机的初始位置
servo_positions = [260, 155, 180]
# 控制一个舵机移动
def move(index, angle):
pulse_width = int(min_us + (max_us - min_us) * angle / 180)
servos[index].pulse_width(pulse_width)
servo_positions[index] = angle
# 控制三个舵机移动
def move_list(angle_list):
for index, angle in enumerate(angle_list):
move(index, angle)
# 控制三个舵机慢速移动
def slow_move_to(angle_list):
init_positions = servo_positions.copy()
d0 = angle_list[0] - init_positions[0]
d1 = angle_list[1] - init_positions[1]
d2 = angle_list[2] - init_positions[2]
dm = int(max(abs(d0), abs(d1), abs(d2)))
if dm == 0:
return
for i in range(dm+1):
move_list([
init_positions[0]+i*d0/dm,
init_positions[1]+i*d1/dm,
init_positions[2]+i*d2/dm
])
time.sleep_ms(40)
# 设置棋子拾取区的位置
PICK_WHITE = [[188,230,88],[186,200,137],[185,182,168],[182,173,194],[175,167,222]]
PICK_BLACK = [[250,230,80], [252,200,130], [257,185,160], [262,180,190], [265,165,217]]
# 拾取区机械臂提起来的位置
HIGH_PICK = [240, 120, 200]
# 棋盘的放置位置
BOARD = [
[[238,194,154], [219,193,155], [202,192,154]],
[[238,163,195], [220,168,200], [196,180,196]],
[[243,150,240], [220,153,231], [202,158,232]]
]
# 棋盘落子上方的位置
HIGH_BOARD = [230,160,130]
# 拾取棋子，并放置到 x,y
def pick_and_place(x,y):
slow_move_to(HIGH_PICK)
time.sleep_ms(500)
slow_move_to(PICK_BLACK[4])
time.sleep_ms(500)
pin4.value(1) # 继电器打开
time.sleep_ms(500)
slow_move_to(HIGH_PICK)
time.sleep_ms(500)
# slow_move_to(HIGH_BOARD)
# time.sleep_ms(500)
slow_move_to(BOARD[x][y])
time.sleep_ms(500)
pin4.value(0) # 继电器关闭
time.sleep_ms(500)
slow_move_to(HIGH_PICK)
slow_move_to([270,150,150])
if __name__ == "__main__":
# 校准测试用
time.sleep_ms(1)
# for order in [
# BOARD[1][1], BOARD[0][0], BOARD[1][0],
# BOARD[2][0], BOARD[2][1], BOARD[2][2],
# BOARD[1][2], BOARD[0][2], BOARD[0][1],
# ]:
# slow_move_to(HIGH_BOARD)
# time.sleep_ms(500)
# slow_move_to(order)
# time.sleep_ms(500)
pick_and_place(1,1)
# slow_move_to(BOARD[1][1])
# time.sleep_ms(5000)
# slow_move_to(servo_positions)
# time.sleep_ms(4000)
# slow_move_to([240, 150, 150])
# time.sleep_ms(500)
# slow_move_to([247,205,229])
# time.sleep_ms(500)
# slow_move_to([90,90,90])
第二题代码
from pyb import Pin, Timer, Servo,LED
import time
import math
# 控制继电器，继电器控制电磁铁
pin4 = Pin('P4', Pin.OUT_PP, Pin.PULL_NONE)
pin4.value(0)
# 定义按键连接的引脚
button1_pin = 'P0'
button2_pin = 'P1'
button3_pin = 'P2'
# 定义舵机连接的引脚
servo_pins = ['P7', 'P8', 'P9']
# 创建 Pin 对象
button1 = Pin(button1_pin, Pin.IN, Pin.PULL_UP)
button2 = Pin(button2_pin, Pin.IN, Pin.PULL_UP)
# 创建 Timer 对象
tim = Timer(4, freq=50)
# 创建 PWM 通道并添加到列表 servos
servos = []
for pin in servo_pins:
s = Pin(pin)
channel_number = servo_pins.index(pin) + 1 # 通道编号从 1 开始
channel = tim.channel(channel_number, Timer.PWM, pin=s)
servos.append(channel)
# 设置舵机的最小和最大脉宽
min_us = 500
max_us = 2500
# 三个舵机的初始位置
servo_positions = [260, 155, 180]
# 控制一个舵机移动
def move(index, angle):
pulse_width = int(min_us + (max_us - min_us) * angle / 180)
servos[index].pulse_width(pulse_width)
servo_positions[index] = angle
# 控制三个舵机移动
def move_list(angle_list):
for index, angle in enumerate(angle_list):
move(index, angle)
# 控制三个舵机慢速移动
def slow_move_to(angle_list):
init_positions = servo_positions.copy()
d0 = angle_list[0] - init_positions[0]
d1 = angle_list[1] - init_positions[1]
d2 = angle_list[2] - init_positions[2]
dm = int(max(abs(d0), abs(d1), abs(d2)))
if dm == 0:
return
for i in range(dm+1):
move_list([
init_positions[0]+i*d0/dm,
init_positions[1]+i*d1/dm,
init_positions[2]+i*d2/dm
])
time.sleep_ms(40)
# 设置棋子拾取区的位置
PICK_WHITE = [[188,230,88],[186,200,137],[185,182,168],[182,173,194],[175,167,222]]
PICK_BLACK = [[250,230,80], [252,200,130], [257,185,160], [262,180,190], [265,165,217]]
# 拾取区机械臂提起来的位置
HIGH_PICK = [250, 120, 200]
# 棋盘的放置位置
BOARD = [
[[238,194,154], [219,193,155], [202,192,154]],
[[238,163,195], [220,168,200], [196,180,196]],
[[243,150,240], [220,153,231], [202,158,232]]
]
# 棋盘落子上方的位置
HIGH_BOARD = [230,160,130]
# 拾取棋子，并放置到 x,y
def pick_and_place(pick, x, y):
slow_move_to(HIGH_PICK)
time.sleep_ms(500)
# 从pick列表中提取坐标值
a, b, c = pick
slow_move_to([a, b, c])
time.sleep_ms(500)
pin4.value(1) # 继电器打开
time.sleep_ms(500)
slow_move_to(HIGH_PICK)
time.sleep_ms(500)
slow_move_to(HIGH_BOARD)
time.sleep_ms(500)
slow_move_to(BOARD[x][y])
time.sleep_ms(500)
pin4.value(0) # 继电器关闭
time.sleep_ms(500)
slow_move_to(HIGH_PICK)
#定义按键相关变量
position_index = [0,0]
button_press_count = 0
program_running = False
last_button1_state = button1.value()
last_button2_state = button2.value()
debounce_delay = 20 # 消抖延迟时间（毫秒）
if __name__ == "__main__":
# 校准测试用
time.sleep_ms(1)
# 确保在程序开始时将舵机移动到一个安全位置
slow_move_to(servo_positions)
time.sleep_ms(500)
while True:
current_button1_state = button1.value()
current_button2_state = button2.value()
# 检测按键 1 的状态
if last_button1_state != current_button1_state:
time.sleep_ms(debounce_delay)
current_button1_state = button1.value()
if last_button1_state != current_button1_state:
if not current_button1_state:
position_index[1] += 1
if position_index[1] >= len(BOARD[position_index[0]]):
position_index[1] = 0
position_index[0] += 1
if position_index[0] >= len(BOARD):
position_index[0] = 0
print(f"Position: {position_index[0]}, {position_index[1]}")
last_button1_state = current_button1_state
# 检测按键 2 的状态
if last_button2_state != current_button2_state:
time.sleep_ms(debounce_delay)
current_button2_state = button2.value()
if last_button2_state != current_button2_state:
if not current_button2_state and not program_running:
print("Button2 pressed.")
button_press_count += 1
program_running = True
# 根据按钮按下的次数执行不同的动作
if button_press_count == 1:
print("First press.")
pick_and_place(PICK_BLACK[4], position_index[0], position_index[1])
elif button_press_count == 2:
print("Second press.")
pick_and_place(PICK_BLACK[3], position_index[0], position_index[1])
elif button_press_count == 3:
print("Third press.")
pick_and_place(PICK_WHITE[4], position_index[0], position_index[1])
elif button_press_count == 4:
print("Fourth press.")
pick_and_place(PICK_WHITE[3], position_index[0], position_index[1])
button_press_count = 0 # 重置计数器
# 程序执行完成后，重置程序运行标志
program_running = False
print("Program finished.")
last_button2_state = current_button2_state
time.sleep_ms(50) # 等待以减少 CPU 负载
第四题代码
from pyb import Pin, Timer, Servo,LED
import sensor, image, time
import time
import math
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
clock = time.clock()
# 轻触开关
pin0 = Pin('P2', Pin.IN, Pin.PULL_UP)
red_led = LED(1)
distance = 39
block = 25
# 控制继电器，继电器控制电磁铁
pin4 = Pin('P4', Pin.OUT_PP, Pin.PULL_NONE)
pin4.value(0)
# 定义舵机连接的引脚
servo_pins = ['P7', 'P8', 'P9']
# 创建 Timer 对象
tim = Timer(4, freq=50)
# 创建 PWM 通道并添加到列表 servos
servos = []
for pin in servo_pins:
s = Pin(pin)
channel_number = servo_pins.index(pin) + 1 # 通道编号从 1 开始
channel = tim.channel(channel_number, Timer.PWM, pin=s)
servos.append(channel)
SIZE = 3
def check_win(board, player):
for i in range(SIZE):
if all(board[i][j] == player for j in range(SIZE)) or \
all(board[j][i] == player for j in range(SIZE)):
return True
if all(board[i][i] == player for i in range(SIZE)) or \
all(board[i][SIZE - 1 - i] == player for i in range(SIZE)):
return True
return False
def check_draw(board):
return all(board[i][j] != ' ' for i in range(SIZE) for j in range(SIZE))
def minimax(board, depth, is_maximizing):
computer = 'X'
player = 'O'
if check_win(board, computer):
return 10 - depth
if check_win(board, player):
return depth - 10
if check_draw(board):
return 0
if is_maximizing:
best_score = float('-inf')
for i in range(SIZE):
for j in range(SIZE):
if board[i][j] == ' ':
board[i][j] = computer
score = minimax(board, depth + 1, False)
board[i][j] = ' '
best_score = max(score, best_score)
return best_score
else:
best_score = float('inf')
for i in range(SIZE):
for j in range(SIZE):
if board[i][j] == ' ':
board[i][j] = player
score = minimax(board, depth + 1, True)
board[i][j] = ' '
best_score = min(score, best_score)
return best_score
def computer_move(board):
if board == [
[" "," "," "],
[" "," "," "],
[" "," "," "]
]:
return 1,1
best_score = float('-inf')
move = (-1, -1)
for i in range(SIZE):
for j in range(SIZE):
if board[i][j] == ' ':
board[i][j] = 'X'
score = minimax(board, 0, False)
board[i][j] = ' '
if score > best_score:
best_score = score
move = (i, j)
if move != (-1, -1):
print(f"Computer places X at ({move[0]}, {move[1]})")
return move[0], move[1]
def check_turn(board):
x_count = sum(row.count("X") for row in board)
o_count = sum(row.count("O") for row in board)
return "X" if x_count == o_count else "O"
# 设置舵机的最小和最大脉宽
min_us = 500
max_us = 2500
# 三个舵机的初始位置
servo_positions = [260, 155, 180]
# 控制一个舵机移动
def move(index, angle):
pulse_width = int(min_us + (max_us - min_us) * angle / 180)
servos[index].pulse_width(pulse_width)
servo_positions[index] = angle
# 控制三个舵机移动
def move_list(angle_list):
for index, angle in enumerate(angle_list):
move(index, angle)
# 控制三个舵机慢速移动
def slow_move_to(angle_list):
init_positions = servo_positions.copy()
d0 = angle_list[0] - init_positions[0]
d1 = angle_list[1] - init_positions[1]
d2 = angle_list[2] - init_positions[2]
dm = int(max(abs(d0), abs(d1), abs(d2)))
if dm == 0:
return
for i in range(dm+1):
move_list([
init_positions[0]+i*d0/dm,
init_positions[1]+i*d1/dm,
init_positions[2]+i*d2/dm
])
time.sleep_ms(40)
# 设置棋子拾取区的位置
PICK_WHITE = [[188,230,88],[186,200,137],[185,182,168],[182,173,194],[175,167,222]]
PICK_BLACK = [[250,230,80], [252,200,130], [257,185,160], [262,180,190], [265,165,217]]
# 拾取区机械臂提起来的位置
HIGH_PICK = [240, 120, 200]
# 棋盘的放置位置
BOARD = [
[[238,194,154], [219,193,155], [202,192,154]],
[[238,163,195], [220,168,200], [196,180,196]],
[[243,150,240], [220,153,231], [202,158,232]]
]
# 棋盘落子上方的位置
HIGH_BOARD = [230,160,130]
# 添加全局变量 picked_count
picked_count = 4
# 修改 pick_and_place 函数
def pick_and_place(x, y):
global picked_count
slow_move_to(HIGH_PICK)
time.sleep_ms(500)
slow_move_to(PICK_BLACK[picked_count])
time.sleep_ms(500)
pin4.value(1) # 继电器打开
time.sleep_ms(500)
slow_move_to(HIGH_PICK)
time.sleep_ms(500)
slow_move_to(HIGH_BOARD)
time.sleep_ms(500)
slow_move_to(BOARD[y][x])
time.sleep_ms(500)
pin4.value(0) # 继电器关闭
time.sleep_ms(500)
slow_move_to(HIGH_PICK)
time.sleep_ms(100)
slow_move_to([270,150,150])
time.sleep_ms(500)
# 更新 picked_count
picked_count -= 1
if __name__ == "__main__":
# 生成九宫格的区域位置
def generate_centered_rois(width, height, b, k):
rois = []
# 计算每个ROI中心的位置偏移
offset = (b - k) // 2
# 计算整个3x3矩阵的宽度和高度
total_width = 3 * b
total_height = 3 * b
# 计算左上角的起始点，使矩阵居中
start_x = (width - total_width) // 2
start_y = (height - total_height) // 2
for i in range(3):
row = []
for j in range(3):
x_center = start_x + j * b + b // 2
y_center = start_y + i * b + b // 2
x = x_center - k // 2
y = y_center - k // 2
row.append((x, y, k, k))
rois.append(row)
return rois
# 九宫格的区域位置
rois = generate_centered_rois(sensor.width(), sensor.height(), distance, block)
# 棋盘数组
# 黑子：X
# 白子：O
# 没有棋子：空字符串
board = [
[" "," "," "],
[" "," "," "],
[" "," "," "],
]
#等开关按下并松开
def wait_key():
while pin0.value():
img = sensor.snapshot().lens_corr(1.8)
for y in range(len(rois)):
for x in range(len(rois[y])):
img.draw_rectangle(rois[y][x])
while not pin0.value():
time.sleep_ms(1)
while(True):
clock.tick()
wait_key()
img = sensor.snapshot().lens_corr(1.8)
# 图像识别得到棋盘数组
for y in range(len(rois)):
for x in range(len(rois[y])):
gray = img.get_statistics(roi=rois[y][x]).mean()
if gray < 100:
board[y][x] = "X"
elif gray > 200:
board[y][x] = "O"
else:
board[y][x] = " "
# 打印当前棋盘数组
for line in board:
print(line)
print()
# 画棋盘数组
for y in range(len(rois)):
for x in range(len(rois[y])):
if board[y][x] == "X":
color = 255
elif board[y][x] == "O":
color = 0
elif board[y][x] == " ":
color = 127
img.draw_rectangle(rois[y][x], color=color)
# 下棋策略
if check_win(board, 'O'):
print("你赢啦!")
elif check_win(board, 'X'):
print("我赢啦！")
elif check_draw(board):
print("平局啦！")
elif check_turn(board) == "X":
# 计算下一步棋子放在哪里
line,row = computer_move(board)
# 目标棋盘上画十字
img.draw_cross(int(rois[line][row][0]+block/2), int(rois[line][row][1]+block/2), size=block, color=0)
sensor.flush()
# 机器人拾取并放置棋子
pick_and_place(row, line)
sensor.flush()
red_led.on()
time.sleep_ms(500)
red_led.off()
time.sleep_ms(500)
elif check_turn(board) == "O":
print("该你下了！")
第五题代码
from pyb import Pin, Timer, Servo,LED
import sensor, image, time
import time
import math
sensor.reset()
sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
clock = time.clock()
# 轻触开关
pin0 = Pin('P2', Pin.IN, Pin.PULL_UP)
red_led = LED(1)
distance = 40
block = 15
# 控制继电器，继电器控制电磁铁
pin4 = Pin('P4', Pin.OUT_PP, Pin.PULL_NONE)
pin4.value(0)
# 定义舵机连接的引脚
servo_pins = ['P7', 'P8', 'P9']
# 创建 Timer 对象
tim = Timer(4, freq=50)
# 创建 PWM 通道并添加到列表 servos
servos = []
for pin in servo_pins:
s = Pin(pin)
channel_number = servo_pins.index(pin) + 1 # 通道编号从 1 开始
channel = tim.channel(channel_number, Timer.PWM, pin=s)
servos.append(channel)
SIZE = 3
def check_win(board, player):
for i in range(SIZE):
if all(board[i][j] == player for j in range(SIZE)) or \
all(board[j][i] == player for j in range(SIZE)):
return True
if all(board[i][i] == player for i in range(SIZE)) or \
all(board[i][SIZE - 1 - i] == player for i in range(SIZE)):
return True
return False
def check_draw(board):
return all(board[i][j] != ' ' for i in range(SIZE) for j in range(SIZE))
def minimax(board, depth, is_maximizing):
computer = 'X'
player = 'O'
if check_win(board, computer):
return 10 - depth
if check_win(board, player):
return depth - 10
if check_draw(board):
return 0
if is_maximizing:
best_score = float('-inf')
for i in range(SIZE):
for j in range(SIZE):
if board[i][j] == ' ':
board[i][j] = computer
score = minimax(board, depth + 1, False)
board[i][j] = ' '
best_score = max(score, best_score)
return best_score
else:
best_score = float('inf')
for i in range(SIZE):
for j in range(SIZE):
if board[i][j] == ' ':
board[i][j] = player
score = minimax(board, depth + 1, True)
board[i][j] = ' '
best_score = min(score, best_score)
return best_score
def computer_move(board):
if board == [
[" "," "," "],
[" "," "," "],
[" "," "," "]
]:
return 1,1
best_score = float('-inf')
move = (-1, -1)
for i in range(SIZE):
for j in range(SIZE):
if board[i][j] == ' ':
board[i][j] = 'X'
score = minimax(board, 0, False)
board[i][j] = ' '
if score > best_score:
best_score = score
move = (i, j)
if move != (-1, -1):
print(f"Computer places X at ({move[0]}, {move[1]})")
return move[0], move[1]
def check_turn(board):
x_count = sum(row.count("X") for row in board)
o_count = sum(row.count("O") for row in board)
return "X" if x_count == o_count else "O"
# 设置舵机的最小和最大脉宽
min_us = 500
max_us = 2500
# 三个舵机的初始位置
servo_positions = [260, 155, 180]
# 控制一个舵机移动
def move(index, angle):
pulse_width = int(min_us + (max_us - min_us) * angle / 180)
servos[index].pulse_width(pulse_width)
servo_positions[index] = angle
# 控制三个舵机移动
def move_list(angle_list):
for index, angle in enumerate(angle_list):
move(index, angle)
# 控制三个舵机慢速移动
def slow_move_to(angle_list):
init_positions = servo_positions.copy()
d0 = angle_list[0] - init_positions[0]
d1 = angle_list[1] - init_positions[1]
d2 = angle_list[2] - init_positions[2]
dm = int(max(abs(d0), abs(d1), abs(d2)))
if dm == 0:
return
for i in range(dm+1):
move_list([
init_positions[0]+i*d0/dm,
init_positions[1]+i*d1/dm,
init_positions[2]+i*d2/dm
])
time.sleep_ms(40)
# 设置棋子拾取区的位置
PICK_WHITE = [[188,230,88],[186,200,137],[185,182,168],[182,173,194],[175,167,222]]
PICK_BLACK = [[250,230,80], [252,200,130], [257,185,160], [262,180,190], [265,165,217]]
# 拾取区机械臂提起来的位置
HIGH_PICK = [240, 120, 200]
# 棋盘的放置位置
BOARD = [
[[238,194,154], [219,193,155], [202,192,154]],
[[238,163,195], [220,168,200], [196,180,196]],
[[243,150,240], [220,153,231], [202,158,232]]
]
# 棋盘落子上方的位置
HIGH_BOARD = [230,160,130]
# 添加全局变量 picked_count
picked_count = 4
# 修改 pick_and_place 函数
def pick_and_place(x, y):
global picked_count
slow_move_to(HIGH_PICK)
time.sleep_ms(500)
slow_move_to(PICK_WHITE[picked_count])
time.sleep_ms(500)
pin4.value(1) # 继电器打开
time.sleep_ms(500)
slow_move_to(HIGH_PICK)
time.sleep_ms(500)
slow_move_to(HIGH_BOARD)
time.sleep_ms(500)
slow_move_to(BOARD[y][x])
time.sleep_ms(500)
pin4.value(0) # 继电器关闭
time.sleep_ms(500)
slow_move_to(HIGH_PICK)
time.sleep_ms(100)
slow_move_to([270,150,150])
time.sleep_ms(500)
# 更新 picked_count
picked_count -= 1
if __name__ == "__main__":
# 生成九宫格的区域位置
def generate_centered_rois(width, height, b, k):
rois = []
# 计算每个ROI中心的位置偏移
offset = (b - k) // 2
# 计算整个3x3矩阵的宽度和高度
total_width = 3 * b
total_height = 3 * b
# 计算左上角的起始点，使矩阵居中
start_x = (width - total_width) // 2
start_y = (height - total_height) // 2
for i in range(3):
row = []
for j in range(3):
x_center = start_x + j * b + b // 2
y_center = start_y + i * b + b // 2
x = x_center - k // 2
y = y_center - k // 2
row.append((x, y, k, k))
rois.append(row)
return rois
# 九宫格的区域位置
rois = generate_centered_rois(sensor.width(), sensor.height(), distance, block)
# 棋盘数组
# 黑子：X
# 白子：O
# 没有棋子：空字符串
board = [
[" "," "," "],
[" "," "," "],
[" "," "," "],
]
#等开关按下并松开
def wait_key():
while pin0.value():
img = sensor.snapshot().lens_corr(1.8)
for y in range(len(rois)):
for x in range(len(rois[y])):
img.draw_rectangle(rois[y][x])
while not pin0.value():
time.sleep_ms(1)
while(True):
clock.tick()
wait_key()
img = sensor.snapshot().lens_corr(1.8)
# 图像处理部分
gray_threshold_black = 100 # 调整此值以适应实际情况
gray_threshold_white = 200 # 调整此值以适应实际情况
# 图像识别得到棋盘数组
for y in range(len(rois)):
for x in range(len(rois[y])):
gray = img.get_statistics(roi=rois[y][x]).mean()
if gray < gray_threshold_black:
board[y][x] = "X"
elif gray > gray_threshold_white:
board[y][x] = "O"
else:
board[y][x] = " "
# 打印当前棋盘数组
for line in board:
print(line)
print()
# 画棋盘数组
for y in range(len(rois)):
for x in range(len(rois[y])):
if board[y][x] == "X":
color = 255
elif board[y][x] == "O":
color = 0
elif board[y][x] == " ":
color = 127
img.draw_rectangle(rois[y][x], color=color)
# 下棋策略
if check_turn(board) == "O":
# 计算下一步棋子放在哪里
line, row = computer_move(board)
# 目标棋盘上画十字
img.draw_cross(int(rois[line][row][0]+block/2), int(rois[line][row][1]+block/2), size=block, color=0)
sensor.flush()
# 机器人拾取并放置棋子
pick_and_place(row, line)
sensor.flush()
red_led.on()
time.sleep_ms(500)
red_led.off()
time.sleep_ms(500)
这些代码很多一样的地方，大家也可以直接去openmv上找三子棋的代码。然后我感觉把block改小识别的会更准确。
以下是运行的图
812
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