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#!/usr/bin/env python3 from ev3dev.ev3 import * from time import sleep
mA = MediumMotor('outA')#¥Þ¥¸¥Ã¥¯¥¢¡¼¥à¤òÆ°¤«¤¹¥ß¥Ç¥£¥¢¥à¥â¡¼¥¿¡£ mH = LargeMotor('outB')#¥¥ã¥¿¥Ô¥é¤òÆ°¤«¤·¥Þ¥¸¥Ã¥¯¥¢¡¼¥à¤ò¾º¹ß¤µ¤»¤ë¥é¡¼¥¸¥â¡¼¥¿¡£ mR = LargeMotor('outC')#¿Ê¹ÔÊý¸þ±¦Â¦¤Î°ÜÆ°¥â¡¼¥¿¤òÆ°¤«¤¹¥é¡¼¥¸¥â¡¼¥¿¡£ mL = LargeMotor('outD')#¿Ê¹ÔÊý¸þº¸Â¦¤Î°ÜÆ°¥â¡¼¥¿¤òÆ°¤«¤¹¥é¡¼¥¸¥â¡¼¥¿¡£ cs = ColorSensor('in1')#¥«¥é¡¼¥»¥ó¥µ¡¼ cs.mode = 'COL-REFLECT' mA.reset() mH.reset() mR.reset() mL.reset()
def move_position(R,L,s):¡¡#¥¿¥¤¥ä¤òÆ°¤«¤¹´Ø¿ô
mR.run_to_rel_pos(position_sp=R, speed_sp=50, stop_action='brake') mL.run_to_rel_pos(position_sp=L, speed_sp=50, stop_action='brake') sleep(s)
def move_arm(x,s):¡¡#¥¢¡¼¥à¤òÆ°¤«¤¹´Ø¿ô
mA.run_to_rel_pos(position_sp=x, speed_sp=100, stop_action='brake') sleep(s)
def move_high(x,s):¡¡#¥¥ã¥¿¥Ô¥é¤òÆ°¤«¤¹´Ø¿ô
mH.run_to_rel_pos(position_sp=x, speed_sp=130, stop_action='brake') sleep(s)
def move_straight():¡¡#¥«¥é¡¼¥»¥ó¥µ¡¼¤Î´Ø¿ô
t0 = time.time() while time.time() - t0 < 0.3: mR.run_to_rel_pos(position_sp=20, speed_sp=50, stop_action='brake') mL.run_to_rel_pos(position_sp=20, speed_sp=50, stop_action='brake') if cs.value() >= 75: t0 = time.time() #¡¡¡ move_position(920,920,18) move_position(180,-180,8) move_position(360,360,10) move_straight() #¢ move_arm(700,6) move_position(380,-380,11) move_arm(-300,6) move_high(1500,15) #£ move_arm(300,6) move_high(800,10) move_position(-200,200,8) move_high(-2300,16) #¤ move_position(-150,135,8) move_arm(-300,6) #¥ê¥»¥Ã¥È´Ø¿ô mA.reset() mH.reset() mR.reset() mL.reset()