# Custom Tracking Models
## Import KOI 2 Library
```python
from future import *
from koi2 import KOI2
```
## Serial Initialization
```python
koi = KOI2(tx, rx)
```
Initializes the serial connection to KOI.
Parameters:
tx: TX Pin, use P2 for Robotbit EDU
rx: RX Pin, use P12 for Robotbit EDU
## Select Custom Tracking Mode
```
koi.setModel(3)
```
Sets the KOI mode to Custom Tracking.
## Load Custom Tracking Model
```python
koi.initCustomModel(name, anchor)
koi.initCustomModel('/sd/ballRGB.kmodel',[1.25,1.25,1.50,1.50,1.72,1.72,1.97,1.97,2.34,2.31]) #example for color balls model
```
Loads a custom model.
Parameters:
name: File name
anchor: A list containing the anchor values.
## Get Item Class Coordinates
```
koi.xywh[0]
```
Returns coordinates for the detected custom class.
Parameters:
data: The type of data to return.
| data | Meaning |
|---|
| 0 | X coordinates |
| 1 | Y coordinates |
| 2 | Width of item |
| 3 | Height of item |
## Get Item ID
```
koi.strVal
```
Returns the name of the item ID.
## Sample Code: Custom Tracking Model
```
from future import *
from koi2 import KOI2
koi = KOI2('P2', 'P12')
koi.setModel(3)
sleep(15)
koi.initCustomModel(10616832,[1.25,1.25,1.50,1.50,1.72,1.72,1.97,1.97,2.34,2.31])
koi.direction(2)
koi.mirror(0)
screen.sync = 0
while True:
koi.read_from_uart()
screen.fill((0, 0, 0))
screen.text(koi.numberVal,5,10,2,(255, 255, 255))
screen.text(koi.xywh[0],5,30,2,(255, 255, 255))
screen.text(koi.xywh[1],5,50,2,(255, 255, 255))
screen.text(koi.xywh[2],5,70,2,(255, 255, 255))
screen.text(koi.xywh[3],5,90,2,(255, 255, 255))
screen.refresh()
```
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