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def sharpstop_line(t,s): t0 = time.time() t1 = time.time() while t0 - t1 < t:¡¡//³«»Ï¤«¤é£ôÉðʲ¼¤Î»þ t0 = time.time() if cs.value() <=30: //¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤ¬£³£°°Ê²¼¤Ç¤¢¤ë¤«È½Äꤹ¤ë while cs.value() <=30: ml.run_forever(speed_sp= -25) //£³£°°Ê²¼¤Ç¤¢¤ë¤È¤º¸ÀÞ mr.run_forever(speed_sp= 100) elif cs.value() >30:¡¡//¥«¥é¡¼¥»¥ó¥µ¡¼¤¬£³£°¤è¤êÂ礤¤¤«È½Äê while cs.value() >30: ml.run_forever(speed_sp= 100)¡¡//¤½¤Î»þ¡¢±¦ÀÞ¤¹¤ë mr.run_forever(speed_sp= -25) ml.stop()¡¡//³«»Ï¤«¤é£ôÉðʾå¤Î»þ°ìÅÙÄä»ß mr.stop() s0 = time.time()¡¡¡¡ s1 = time.time() while s0 - s1 < s: //Ʊ¤¸¿§¤Ë¤¤¤ë»þ´Ö¤¬sÉðʲ¼¤Î¤È¤ s1 = time.time()¡¡ if cs.value() <=30: while cs.value() <=30: ml.run_forever(speed_sp= 100) mr.run_forever(speed_sp= -25) s0=time.time() elif cs.value() >30: while cs.value() >30: ml.run_forever(speed_sp= -25) mr.run_forever(speed_sp= 100) s0=time.time() ml.reset()¡¡//£óÉðʾåƱ¤¸Îΰè¤Ë¤¤¤ë¤È¤Ää»ß¤¹¤ë mr.reset() sleep(1)
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def rev_sharpstop_line(t,s): t0 = time.time() t1 = time.time() while t0 - t1 < t: t0 = time.time() if cs.value() <=30: while cs.value() <=30: ml.run_forever(speed_sp= 100) mr.run_forever(speed_sp= -25) elif cs.value() >30: while cs.value() >30: ml.run_forever(speed_sp= -25) mr.run_forever(speed_sp= 100) ml.stop() mr.stop() s0 = time.time() s1 = time.time() while s0 - s1 < s:¡¡ s1 = time.time() if cs.value() <=30: while cs.value() <=30: ml.run_forever(speed_sp= -25) mr.run_forever(speed_sp= 100) s0=time.time() elif cs.value() >30: while cs.value() >30: ml.run_forever(speed_sp= 100) mr.run_forever(speed_sp= -25) s0=time.time() ml.reset() mr.reset() sleep(1)
¡¡¾åµ¤Î¥È¥ì¡¼¥¹¤Î¤¿¤á¤Î¥×¥í¥°¥é¥à¤Ï¡¢¸òº¹ÅÀ¤ËÆþ¤ê¹õ¤ò°ìÄê»þ´Ö°Ê¾å¸¡ÃΤ¹¤ë¤ÈÄä»ß¤¹¤ë¡£¤½¤³¤«¤é¸òº¹ÅÀ¤Ç¤ÎÆ°ºî¤ËÆþ¤ê¡¢º¸Àû²ó¡¢¤Þ¤¿¤Ï±¦Àû²ó¤·¤¿¸å¤Ëľ¿Ê¤·¡¢¤½¤Î¸å¤Þ¤¿¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à¤ËÆþ¤ë¤³¤È¤Ç¸òº¹ÅÀ¤Î¼±Ê̤ò¹Ô¤¦¡£Àû²ó¤Î®ÅÙ¤ä°ÌÃ֤ˤè¤Ã¤Æ¼ºÇÔ¤¹¤ë¤³¤È¤â¤¢¤Ã¤¿¤¬¡¢»î¹Ôºø¸í¤ò·«¤êÊÖ¤¹¤¦¤Á¤Ë°ÂÄꤷ¤¿¡£
def right():#±¦ÀÞ ml.run_timed(time_sp = 500,speed_sp =100,stop_action ='brake') mr.run_timed(time_sp = 500,speed_sp =-100,stop_action ='brake') sleep(1)
def left():#º¸ÀÞ ml.run_timed(time_sp = 500,speed_sp =-100,stop_action ='brake') mr.run_timed(time_sp = 500,speed_sp =100,stop_action ='brake') sleep(1)
def forward():#ľ¿Ê ml.run_timed(time_sp = 500,speed_sp =100,stop_action ='brake') mr.run_timed(time_sp = 500,speed_sp =100,stop_action ='brake') sleep(1)
def cop_catch():#¥³¥Ã¥×¤òÄϤà ml.stop() mr.stop() ma.reset() ma.run_timed(time_sp=2000,speed_sp=-100,stop_action='hold') sleep(3)
def cop_throw():#¥³¥Ã¥×¤òÊü¤¹ ml.stop() mr.stop() ma.reset() ma.run_timed(time_sp=2000,speed_sp=100,stop_action='brake') sleep(3)
sharpstop_line(0,0.7)#¥³¡¼¥¹¤ÎÃæ¤Î1¤Ç¤ÎÆ°ºî sleep(1) right() right()
sharpstop_line(34,0.6)#2.3¤ÎÆ°ºî
cop_catch()#4¤ÎÆ°ºî
left()#5¤ÎÆ°ºî left() sharpstop_line(2.5,0.7)
right()#6¤ÎÆ°ºî sharpstop_line(9,0.7)
left()#7¤ÎÆ°ºî sharpstop_line(1.5,0.65) sleep(1)
left()#8¤ÎÆ°ºî sharpstop_line(38,0) sleep(1) right() right() rev_sharpstop_line(2,0.75) sleep(1)
rev_sharpstop_line(3,0.75)#9¤ÎÆ°ºî sleep(1) right()
rev_sharpstop_line(2,0.75)#10¤ÎÆ°ºî left() left()
rev_sharpstop_line(2,0.75)#11¤ÎÆ°ºî left() left()
rev_sharpstop_line(2,0.75)#12¤ÎÆ°ºî sleep(1) left() left() left() left() left() left() cop_throw()
left()#13.14¤ÎÆ°ºî left() left() left() left() left() rev_sharpstop_line(4,0.75) sleep(1) left() left() left() forward() rev_sharpstop_line(3,0.75)
right()¡¢left()¡¢forward()¤Î¼ÖÂΤÎÆ°¤¯Â礤µ¤òÂ礤á¤ËÀßÄꤷ¡¢¤Þ¤¿ÎΰèÆâ¤Ë¤¤¤ë»þ´Ö¤âŤ¯¤·¤¿¡£¤½¤Î·ë²Ì¡¢¥³¡¼¥¹¤ÎÅÓÃæ¤Ç»ß¤Þ¤ë¤³¤È¤¬³ÊÃʤ˸º¤Ã¤¿¤¬¡¢¤½¤Îʬ¼ÖÂΤ¬¥³¡¼¥¹¤ËÂФ·¤Æ°Û¤Ê¤ëÊý¸þ¤ò¤à¤¯¤è¤¦¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£right()¤Ê¤É¤ÎÃͤ¬Â礤¯ÀßÄꤹ¤ë¤³¤È¤Ç¡¢¿ÊÏ©¤Î½¤Àµ¤¬ÍѰդˤʤä¿¡£
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