rl = []

gl = []

bl = []

while(True):

number = 0

rl.clear()

gl.clear()

bl.clear()

img = sensor.snapshot() # 拍摄一张照片，img为一个image对象

for blob in img.find_blobs([red,green,blue],merge=False, pixels_threshold=130, area_threshold=265):

img.draw_rectangle(blob.rect())

img.draw_cross(blob.cx(), blob.cy())

if blob.code() == 1: # 红

rl.append(blob.cy())

rl.append(blob.cx())

if blob.code() == 2: # 绿

gl.append(blob.cy())

gl.append(blob.cx())

if blob.code() == 4: # 蓝

bl.append(blob.cy())

bl.append(blob.cx())

if len(rl) == 4 and len(gl) == 4 and len(bl) == 4:

if rl[0] < rl[2]:

rux = rl[1]

rdx = rl[3]

else:

rux = rl[3]

rdx = rl[1]

if gl[0] < gl[2]:

gux = gl[1]

gdx = gl[3]

else:

gux = rl[3]

gdx = rl[1]

if bl[0] < bl[2]:

bux = bl[1]

bdx = bl[3]

else:

bux = rl[3]

bdx = rl[1]

uart1 = UART(3, 19200)

str=""

# 123

if rux < gux and gux < bux and rux < bux:

str+="123"

if rdx < gdx and gdx < bdx and rdx < bdx:

str+="123\n"

# 132

if rux < bux and bux < gux and rux < gux:

str+="132"

if rdx < bdx and bdx < gdx and rdx < gdx:

str+="132\n"

# 213

if gux < rux and rux < bux and gux < bux:

str+="213"

if gdx < rdx and rdx < bdx and gdx < bdx:

str+="213\n"

# 231

if gux < bux and bux < rux and gux < rux:

str+="231"

if gdx < bdx and bdx < rdx and gdx < rdx:

str+="231\n"

# 312

if bux < rux and rux < gux and bux < gux:

str+="312"

if bdx < rdx and rdx < gdx and bdx < gdx:

str+="312\n"

# 321

if bux < gux and gux < rux and bux < rux:

str+="321"

if bdx < gdx and gdx < rdx and bdx < rdx:

str+="321\n"

return str

else:

i+=1

time.sleep_ms(1000)

if i > 5:

print("*********")