目次
ライントレースを持ちいて、 目的地点まで紙コップを運ぶ作業である。
#!/usr/bin/python import ev3dev.ev3 as ev3 import time
m1 = ev3.LargeMotor('outA') m2 = ev3.MediumMotor('outB') m3 = ev3.MediumMotor('outC') m4 = ev3.LargeMotor('outD') us = ev3.UltrasonicSensor('in1')
def search(p): t0 = time.time() while time.time() - t0 < 0.001: if us.value() > p: m4.run_forever(duty_cycle_sp=50) t0 = time.time() else: m4.stop()
def bring(x,y): m4.run_forever(duty_cycle_sp=x) time.sleep(y) m4.stop()
def close(): m1.run_forever(duty_cycle_sp=-37.5) time.sleep(0.32) m1.stop()
def up(): m3.run_forever(duty_cycle_sp=-50) m2.run_forever(duty_cycle_sp=50) time.sleep(2.25) m2.stop() m3.stop()
def down(): m3.run_forever(duty_cycle_sp=50) m2.run_forever(duty_cycle_sp=-50) time.sleep(1.5) m2.stop() m3.stop()
def open(a,b): m1.run_forever(duty_cycle_sp=a) time.sleep(b) m1.stop()
search(60) bring(45,0.2) close() up() search(60) open(20,0.275) bring(45,0.2) down() open(27.5,0.325) bring(-40,7.5)