Pybricks开发乐高控制器时遇ImportError：找不到pyautogui模块

我尝试用pybricks、pybricksdev和pyautogui开发乐高控制器，用来在虚拟环境里模拟按键操作，但运行代码时触发错误：ImportError: no module named 'pyautogui'，所有操作都在虚拟环境中进行。

错误信息 #

ImportError: no module named 'pyautogui'

运行的代码 #

from pybricks.hubs import PrimeHub
from pybricks.pupdevices import ForceSensor, ColorSensor
from pybricks.parameters import Port, Color
from pybricks.tools import wait
import pyautogui as pg
# from pynput.keyboard import Key,Controller
# keyboard = Controller()

hub = PrimeHub()
force_sensor = ForceSensor(Port.A)
color_sensor = ColorSensor(Port.B)

def check_color_movement():
    detected_color = color_sensor.color() 
    
    if detected_color == Color.GREEN:
        return "1"
    elif detected_color == Color.BLUE:
        return "11"
    else:
        return "0"

while True:
    output = ""
    output1 = ""

    if force_sensor.pressed():
        output1 += "111"

    movement = check_color_movement()
    if movement != "0":
        output += movement

    if output == '1':
        print("left") 
        pg.press('a')
        # keyboard.press('a')
        # keyboard.release('a')  
    elif output == '11':
        print("right")
        # pg.press('d')
        # keyboard.press('d')
        # keyboard.release('d')
    if output1:
        print("shoot")
        # pg.press('space')
        # keyboard.press('space')
        # keyboard.release('space')   

    wait(100)

launch.json配置 #

{
"version": "0.2.0",
"configurations": [
{
"name": "Python Debugger: Module",
"type": "debugpy",
"request": "launch",
"module": "pybricksdev",
"args": ["run", "ble", "${file}"],
}
]
}

原因及解决办法 #

核心问题 #

你的代码是通过pybricksdev上传到乐高Hub运行的，而pyautogui是仅能在电脑端Python环境运行的库，无法在乐高Hub的固件系统中执行，这是导致错误的根本原因。

正确实现方案：拆分代码为两端 #

将逻辑拆分为「Hub端（读取传感器）」和「电脑端（执行按键）」，通过蓝牙传输数据：

1. Hub端代码（上传到乐高设备）

移除pyautogui依赖，添加蓝牙通信逻辑，发送传感器状态：

from pybricks.hubs import PrimeHub
from pybricks.pupdevices import ForceSensor, ColorSensor
from pybricks.parameters import Port, Color
from pybricks.tools import wait
from pybricks.messaging import BluetoothMailboxServer, TextMailbox

hub = PrimeHub()
force_sensor = ForceSensor(Port.A)
color_sensor = ColorSensor(Port.B)

# 初始化蓝牙服务器，等待电脑连接
server = BluetoothMailboxServer()
mailbox = TextMailbox("sensor_data", server)
server.wait_for_connection()

def get_sensor_state():
    state = []
    # 识别颜色传感器状态
    color = color_sensor.color()
    if color == Color.GREEN:
        state.append("LEFT")
    elif color == Color.BLUE:
        state.append("RIGHT")
    # 识别压力传感器状态
    if force_sensor.pressed():
        state.append("SHOOT")
    return ",".join(state) if state else "IDLE"

while True:
    data = get_sensor_state()
    mailbox.send(data)
    wait(100)

2. 电脑端代码（本地运行）

接收Hub传来的传感器数据，调用pyautogui执行按键：

from pybricksdev.connections import BLEConnection
from pybricksdev.ble import find_device
import pyautogui as pg
import asyncio

async def main():
    # 自动搜索并连接乐高Hub
    device = await find_device()
    async with BLEConnection(device) as conn:
        # 持续接收Hub发送的数据
        async for msg in conn.messages():
            if "LEFT" in msg:
                pg.press('a')
                print("left")
            if "RIGHT" in msg:
                pg.press('d')
                print("right")
            if "SHOOT" in msg:
                pg.press('space')
                print("shoot")

asyncio.run(main())

3. 环境配置与运行步骤

• 在虚拟环境安装依赖：

  pip install pybricksdev pyautogui
  

• 运行流程：
  1. 用pybricksdev将Hub端代码上传到乐高设备；
  2. 运行电脑端代码，建立蓝牙连接后即可通过传感器控制电脑按键。

内容的提问来源于stack exchange，提问作者Alanwar Limdiwala