小车自动驾驶程序不执行命令

Question

尝试编写程序实现小车追踪色块同时躲避障碍
但是发现在蓝牙手机端输入指令后无反应
逐一测试之后初步判定问题出现在while TRUE循环中第二个if语句的条件
测试中，tts只播报“一”
我检查了根究 没发现错误，并且这段代码是贴过来的，源代码可以使用
求指出问题，谢谢

# main.py -- put your code here!
import pyb, utime, sensor, image
from pyb import Pin,UART,ExtInt,TTS,delay

#语音播报
#Create TTS UART Object
tts = TTS()
uart = UART("UAT")
# Initialize UART
uart.init(115200, bits=8, parity=None, stop=1, timeout=100)

# 开机启动延时
utime.sleep_ms(500)

# 点阵外设初始化
dot = pyb.DOTS()
# 点阵显示心形
dot.display(b'\x30\x78\x7C\x3E\x3E\x7C\x78\x30')
dot.show()

# OLED外设初始化
lcd = pyb.OLED()
lcd.fill(0)

# 蓝牙外设初始化
ble = pyb.UART("BLE")
ble.init(57600, bits=8, parity=None, stop=1, timeout=10)
# 获取蓝牙MAC地址并在OLED屏显示
ble.write('+++a')  # 进入蓝牙配置模式
ble.read(10)
ble.write("AT+MAC?\r\n")  # 获取蓝牙MAC地址
mac = ble.read(100)[7:19]
ble.write("AT+Z\r\n")  # 退出蓝牙配置模式
ble.read(100)  # 清空蓝牙初始信息
mac0 = mac[0:2] + ':' + mac[2:4] + ':' + mac[4:6] + ':' + mac[6:8] + ':' + mac[8:10] + ':' + mac[10:12]
mac1 = mac[0:2] + ':' + mac[2:4] + ':' + mac[4:6]
mac2 = mac[6:8] + ':' + mac[8:10] + ':' + mac[10:12]
lcd.qrcode(mac0, 1, 1, 1)
lcd.text('MAC:', 49, 2, 1)
lcd.text(mac1, 33, 12, 1)
lcd.text(mac2, 33, 22, 1)
lcd.show()
delay(2000)
lcd.fill(0)
lcd.text('recognizing',10,20,1)
lcd.show()

try:
    # 电机驱动初始化
    car = pyb.Vehicle()
    car.run(0)
    # 超声波传感器初始化
    dist = pyb.Ultrasonic('F')
    utime.sleep_ms(100)
    dist.start()
except Exception:  # 电机驱动初始化出错：未连接小车
    lcd.fill(0)
    lcd.text("Car", 36, 8, 1)
    lcd.text("Disconnected", 2, 18, 1)
    lcd.show()
    while True:
        print("Car Disconnected!")
        utime.sleep_ms(1000)

# 中间变量定义
mode_run = -1
last_millis = utime.ticks_ms()
speed = 500
dot_flag = 0
rng_flag = 1
dir_rng = 1
thresholds = (10, 80, -70, -10, -0, 30)  # 绿色阀值
tag_families = image.TAG16H5  # AprilTag类型定义

while True:
    # 蓝牙数据处理
    data = ble.read(10)  # 蓝牙接收
    if data != None:
        tts.play("一")
        delay(1000)
        if  len(data) == 6 and data[:5] == b"mode=":
            tts.play("二")
            mode_rcv = int(data[5:])
            if mode_rcv < 0 or mode_rcv > 8:
                tts.play("三")
                mode_rcv = 0
            if mode_rcv != mode_run:  # 模式改变
                tts.play("四")
                mode_run = mode_rcv
                #car.run(0)
            ble.write("mode=%d" % mode_run)
            #ble.write("speed=%d" % speed)
            tts.play("成功运行")
    # 运动控制
    if mode_run == 0:  # 停止
        car.run(0)
        #mode_run = -1  # 避免反复执行相同动作
    elif mode_run == 1:  # 前进
        car.run(speed)
    elif mode_run == 2:  # 后退
        car.run(-speed)
    elif mode_run == 3:  # 左转
        car.run(-speed, speed)
    elif mode_run == 4:  # 右转
        car.run(speed, -speed)
    elif mode_run == 5:  # 自动避障
        d = dist.get()
        lcd.fill(0)
        show = "Dist:%dcm" % d
        lcd.text(show, 10, 10, 1)
        lcd.show()
        if d <= 35:
            if rng_flag == 1:
                rng_flag = 0
                dir_rng = (pyb.rng() % 2) * 2 - 1
            car.run(speed * dir_rng, -speed * dir_rng)
        else:
            rng_flag = 1
            car.run(speed)
        dist.start()
        utime.sleep_ms(100)
    elif mode_run == 6:  # 颜色跟踪
        img = sensor.snapshot()  # 获取摄像头快照
        valid = False
        # 寻找绿色块
        for blob in img.find_blobs([thresholds], pixels_threshold=200, area_threshold=200, merge=True):
            if blob.pixels() > 500 and blob.pixels() < 18000:  # 排除过大或过小的色块，用来判断远近
                diff = blob.cx() - 160
                if diff > 60:
                    car.run(-speed, speed)
                elif diff < -60:
                    car.run(speed, -speed)
                else:
                    car.run(speed)
            else:
                car.run(0)
            valid = True
        else:
            if valid == False:
                car.run(0)
    elif mode_run == 7:  # 二维码跟踪
        img = sensor.snapshot()  # 获取摄像头快照
        valid = False
        # 寻找AprilTag码
        for tag in img.find_apriltags(families=tag_families):
            if tag.w() < 55:
                diff = tag.cx() - 80
                if diff > 30:
                    car.run(-speed, speed)
                elif diff < -30:
                    car.run(speed, -speed)
                else:
                    car.run(speed)
            elif tag.w() >= 55:
                car.run(0)
            else:
                car.run(0)
            show = "ID:%d" % tag.id()
            lcd.fill(0)
            lcd.text(show, 10, 10, 1)
            lcd.show()
            valid = True
        else:
            if valid == False:
                car.run(0)
    elif mode_run == 8:
        tts.play("进入自动驾驶模式")
        # 加载颜色跟踪
        sensor.reset()  # 摄像头复位初始化
        sensor.set_pixformat(sensor.RGB565)  # 设置帧格式
        sensor.set_framesize(sensor.QVGA)  # 设置帧大小(QVGA:320*240,QQVGA:160*120,QQQVGA:80*60,QQQQVGA:40*30)
        sensor.skip_frames(time=2000)  # 设置跳帧，间隔2s一帧
        sensor.set_auto_gain(False)  # 自动增益，颜色追踪时，自动增益关闭
        sensor.set_auto_whitebal(False)  # 自动白平衡，颜色追踪时，自动增益关闭
        img = sensor.snapshot()  # 获取摄像头快照
        valid = False
        # 寻找绿色块
        for blob in img.find_blobs([thresholds], pixels_threshold=200, area_threshold=200, merge=True):
            if blob.pixels() > 500 and blob.pixels() < 18000:  # 排除过大或过小的色块，用来判断远近
                diff = blob.cx() - 160
                if diff > 60:
                    car.run(-speed, speed)
                elif diff < -60:
                    car.run(speed, -speed)
                else:
                    car.run(speed)
                    # 自动避障
                    d = dist.get()
                    lcd.fill(0)
                    show = "Dist:%dcm" % d
                    lcd.text(show, 10, 10, 1)
                    lcd.show()
                    if d <= 35:
                        if rng_flag == 1:
                            rng_flag = 0
                            dir_rng = (pyb.rng() % 2) * 2 - 1
                        car.run(speed * dir_rng, -speed * dir_rng)
                    else:
                        rng_flag = 1
                        car.run(speed)
                    dist.start()
                    utime.sleep_ms(100)
                    ble.write("mode=%d" % mode_run)
            else:
                car.run(0)
            valid = True
        else:
            if valid == False:
                car.run(0)
                tts.play("目标追踪完成")


    elif data[:6] == b'speed=':
        speed = int(data[6:])
        if speed < 400:
            speed = 400
        elif speed > 999:
            speed = 999
    # 作为遥控车时避免反复执行相同动作
    if mode_run >= 0 and mode_run <= 4:
        mode_run = -1

    # 点阵心跳（每500ms变化一次）
    if utime.ticks_diff(utime.ticks_ms(), last_millis) > 500:
        last_millis = utime.ticks_ms()
        if dot_flag == 0:
            dot_flag = 1
            dot.display(b'\x30\x78\x7C\x3E\x3E\x7C\x78\x30')
        else:
            dot_flag = 0
            dot.display(b'\x00\x30\x38\x1c\x1c\x38\x30\x00')
        dot.show()