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#!/usr/bin/env python3 from ev3dev.ev3 import * ¡¡ # EV3¤ò°·¤¦¥â¥¸¥å¡¼¥ë¤ò¥¤¥ó¥Ý¡¼¥È from time import sleep ¡¡¡¡ # time¥â¥¸¥å¡¼¥ë¤«¤ésleep´Ø¿ô¤ò¥¤¥ó¥Ý¡¼¥È mA = LargeMotor('outA') ¡¡ # ÁõÃÖA¤Î¥â¡¼¥¿¡¼¤òmA¤È¤ª¤¯ mB = LargeMotor('outB') ¡¡ # ÁõÃÖB¤Î¥â¡¼¥¿¡¼¤òmB¤È¤ª¤¯ mC = MediumMotor('outC') # ¥Ú¥ó¾º¹ßµ¡¤Î¥â¡¼¥¿¡¼¤òmC¤È¤ª¤¯
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def move_back1(): # ¢,«, ¡¡¡Ê°ì²èÌܤ«¤éÆó²èÌÜ¡¤»Í²èÌܤ«¤éÏ»²èÌܤޤǤΰÜÆ°¡Ë mA.run_to_rel_pos(position_sp=-29,speed_sp=50,stop_action='hold') sleep(2) def move_for2(): # ¥,¯ (Æó²èÌܤ«¤é»°²èÌܤޤǤΰÜÆ°¡¤¼·²èÌܤÎÉÁ²è¡Ë mA.run_to_rel_pos(position_sp=65,speed_sp=50,stop_action='hold') sleep(2) def move_back2(): #± (Ȭ²èÌܤÎÉÁ²è¡Ë mA.run_to_rel_pos(position_sp=-65,speed_sp=50,stop_action='hold') sleep(2) def move_for3(): #³ (¶å²èÌܤÎÉÁ²è¡Ë mA.run_to_rel_pos(position_sp=98,speed_sp=50,stop_action='hold') sleep(2) def move_back3(): #21 (½½²èÌܤÎÉÁ²è¡Ë¡¤ mA.run_to_rel_pos(position_sp=-98,speed_sp=50,stop_action='hold') sleep(2) def move_back4(): #§ (»°²èÌܤÎÉÁ²è¡Ë mA.run_to_rel_pos(position_sp=-115,speed_sp=50,stop_action='hold') sleep(2)
def slide_for2(): #²,´ (¶å²èÌܤ«¤é½½²èÌÜ¡¤½½²èÌܤ«¤é½½°ì²èÌܤޤǤΰÜÆ°¡Ë mB.run_to_rel_pos(position_sp=57,speed_sp=80,stop_action='hold') sleep(2) def slide_back2(): #£ (°ì²èÌܤ«¤éÆó²èÌܤޤǤΰÜÆ°¡Ë mB.run_to_rel_pos(position_sp=-57,speed_sp=80,stop_action='hold') sleep(2) def slide_back3(): #¨ (»°²èÌܤ«¤é»Í²èÌܤޤǤΰÜÆ°¡Ë mB.run_to_rel_pos(position_sp=-81,speed_sp=80,stop_action='hold') sleep(2) def slide_back4(): #¦ (Æó²èÌܤ«¤é»°²èÌܤޤǤΰÜÆ°¡Ë mB.run_to_rel_pos(position_sp=-100,speed_sp=80,stop_action='hold') sleep(2) def slide_for5(): #ª,® (»Í²èÌÜ¡¤Ï»²èÌܤÎÉÁ²è¡Ë mB.run_to_rel_pos(position_sp=172,speed_sp=80,stop_action='hold') sleep(2) def slide_back5(): #¬ (¸Þ²èÌܤÎÉÁ²è¡Ë mB.run_to_rel_pos(position_sp=-172,speed_sp=80,stop_action='hold') sleep(2) def slide_for6(): #¤ (Æó²èÌܤÎÉÁ²è¡Ë mB.run_to_rel_pos(position_sp=220,speed_sp=80,stop_action='hold') sleep(2)
def move_cross(): #¡ (°ì²èÌܤÎÉÁ²è¡Ë mA.run_to_rel_pos(position_sp=-46,speed_sp=30,stop_action='hold') mB.run_to_rel_pos(position_sp=-126,speed_sp=80,stop_action='hold') sleep(2)¸æÍ÷¤ÎÄ̤êÁ´¤Æ¤ÎÆ°¤¤¬°ì³ç¤·¤ÆÄêµÁ¤µ¤ì¤ÆÈÖ¹æ¤Ç¶èÊ̤µ¤ì¤Æ¤¤¤ë¡¥Á´¤Æ¤ÎÆ°¤¤Î¸å¤Ësleep(2),¤Ä¤Þ¤ê¡Ö2ÉôÖÄä»ß¡×¤µ¤»¤ë´Ø¿ô¤¬ÁÞÆþ¤µ¤ì¤Æ¤¤¤ë¤¬¡¤¤³¤ì¤Ï¤¢¤ëÆ°ºî¤ò¹Ô¤Ã¤Æ¤¤¤ëÅÓÃ椫¤é¼¡¤ÎÆ°ºî¤¬¹Ô¤ï¤ì¤ë¤³¤È¤òËɤ®¡¤¼Â¸³¤«¤éÁ´¹ÔÄø¤ÇÄä»ß»þ´Ö¤Ï2Éô֤¬Ë¾¤Þ¤·¤¤¤³¤È¤¬Ê¬¤«¤Ã¤¿¤¿¤áÁÞÆþ¤¹¤ë¤³¤È¤Ë¤·¤¿¡¥
def slide_for5(k): # position_sp¤òk¤È¤ª¤¯ mB.run_to_rel_pos(position_sp=k,speed_sp=80,stop_action='hold') sleep(2) def slide5-6(): move_pos = 172 # move_pos¤È¤¤¤¦ÊÑ¿ô¤òÄêµÁ¤·172¤òÂåÆþ slide_for5(move_pos) # (k)¤Ë¤Ïmove_pos = 172¤È¤¤¤¦Ãͤ¬Æþ¤Ã¤Æ¤¤¤ë¡Ê»Í²èÌܤÎÉÁ²è¡Ë move_back3() move_pos *= -1 # move_pos¤Ë¿·¤¿¤Ë-1¤ò¤«¤±¤¿¤â¤Î¤òÂåÆþ slide_for5(move_pos) # ¸Þ²èÌܤÎÉÁ²è move_back3() move_pos *= -1 slide_for5() # Ï»²èÌܤÎÉÁ²è
def pen_down(): # ¥Ú¥ó¤Î¾å¾º mC.run_to_rel_pos(position_sp=180,speed_sp=80,stop_action='hold') sleep(2) def pen_up(): # ¥Ú¥ó¤Î¹ß²¼ mC.run_to_rel_pos(position_sp=-180,speed_sp=80,stop_action='hold') sleep(2)
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mA.reset() mB.reset() mC.reset() pen_down() move_cross() #°ì²èÌÜ¡¡¡¡¡¡¡ÖÀé¡×ÉÁ²è³«»Ï pen_up() move_back1() slide_back2() pen_down() slide_for6() #Æó²èÌÜ pen_up() move_for2() slide_back4() pen_down() move_back4() #»°²èÌÜ ¡ÖÀé¡×ÉÁ²è½ªÎ» pen_up() slide_back3() move_back2() pen_down() slide_for5() #»Í²èÌÜ¡¡¡¡¡¡¡Ö¶Ê¡×ÉÁ²è³«»Ï pen_up() move_back1() pen_down() slide_back5() #¸Þ²èÌÜ pen_up() move_back1() pen_down() slide_for5() #Ï»²èÌÜ move_for2()¡¡¡¡¡¡¡¡¡¡¡¡#¼·²èÌÜ pen_up() slide_back5() pen_down() move_back2()¡¡¡¡¡¡¡¡¡¡#Ȭ²èÌÜ pen_up() slide_for2() pen_down() move_for3()¡¡¡¡¡¡¡¡¡¡ #¶å²èÌÜ pen_up() slide_for2() pen_down() move_back3() #½½²èÌÜ¡¡¡¡¡¡¡Ö¶Ê¡×ÉÁ²è½ªÎ» pen_up()
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