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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()

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Last-modified: 2018-08-18 (ÅÚ) 22:03:21