Python Code

import serial
import cv2 as cv
import numpy as np


ser = serial.Serial('COM3', 9600,timeout=1)

cap=cv.VideoCapture(0)
cv.namedWindow("scale")
i=0
array=np.empty([10,3])

while i<10:
    ret,frame=cap.read()

    img=frame.copy()

    img=cv.cvtColor(img,cv.COLOR_BGR2GRAY)
    img=cv.medianBlur(img,3)
    circles=cv.HoughCircles(img,cv.HOUGH_GRADIENT,1,500,param1=10,param2=200,minRadius=0,maxRadius=0)
    if circles is not None:
        print(circles)
        array[i]=circles
        i+=1
        detected_circles=np.uint32(np.round(circles))
        for (x,y,r) in detected_circles[0, :]:
            cv.circle(frame,(x,y), r,(0,255,255), 6)
            cv.circle(frame, (x, y), 2, 6)
    k=cv.waitKey(1)
    if k==27:
        break
    cv.imshow("frame",frame)
    cv.imshow("img",img)
print(array)        #array formed
cap.release()
cv.destroyAllWindows()

x=0
y=0
r=0

for i in range (10):
    x=x+array[i][0]
    y=y+array[i][1]
    r=r+array[i][2]
x=x/10
y=y/10
r=r/10
print(x     ,y      , r     )
initial_x=0
initial_y=0
initial_z=420
angle_x=int((x-initial_x)/initial_z*57.3)
angle_y=int(((y-initial_x)/initial_z)*57.3)
print(angle_x, angle_y)
angle_x=format(int(angle_x),'03d')
angle_y=format(int(angle_y),'03d')
angle= 'f'+str(angle_x)+ str(angle_y)+'t'
print(angle)
cv.imshow("frame",frame)
while True:
    ser.write(angle.encode())
    if cv.waitKey()==27:
        break
# x=ser.read()
cv.destroyAllWindows()
print(x)