# -*- coding:utf-8 -*-
# @Author len
# @Create 2023/12/4 19:25
import sensor
import image
import lcd
import time
from machine import Timer, PWM, UART, Timer
def Servo(angle):
    '''
    说明：舵机控制函数
    功能：180度舵机：angle:-90至90 表示相应的角度
         360连续旋转度舵机：angle:-90至90 旋转方向和速度值。
        【duty】占空比值：0-100
    '''
    #PWM通过定时器配置，接到IO17引脚
    tim_pwm = Timer(Timer.TIMER0, Timer.CHANNEL0, mode=Timer.MODE_PWM)
    S1 = PWM(tim_pwm, freq=50, duty=0, pin=17)
    S1.duty((angle+90)/180*10+2.5)

Servo(-75)



THRESHOLD = (5, 70, -23, 15, -57, 0)
clock = time.clock()
lcd.init()
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
#sensor.set_vflip(1)			#开启图像反转
sensor.set_vflip(0)				#关闭图像反转
sensor.run(1)
sensor.skip_frames(30)
min_degree = 0
max_degree = 179

while True:
    clock.tick()
    img = sensor.snapshot()
    for l in img.find_lines(threshold = 2000, theta_margin = 25, rho_margin = 25):
            if (min_degree <= l.theta()) and (l.theta() <= max_degree):
                img.draw_line(l.line(), color = (255, 0, 0))
    lcd.display(img)