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mL=LargeMotor('outA')¡¡#¿Ê¹ÔÊý¸þ¤ËÂФ·¤Æº¸Â¦¤Î¥â¡¼¥¿¡¼ mR=LargeMotor('outD') #¿Ê¹ÔÊý¸þ¤ËÂФ·¤Æ±¦Â¦¤Î¥â¡¼¥¿¡¼ mA=MediumMotor('outC') #¥¢¡¼¥àÉôʬ¤Î¥â¡¼¥¿¡¼ mC=MediumMotor('outB') #¥Ï¥ó¥ÉÉôʬ¤Î¥â¡¼¥¿¡¼ csR=ColorSensor('in1')¡¡#¥é¥¤¥ó¥È¥ì¡¼¥¹ÍѤΥ«¥é¡¼¥»¥ó¥µ¡¼ #csL=ColorSensor('in2') #»È¤ï¤Ê¤«¤Ã¤¿¤â¤¦°ì¤Ä¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ÍѤΥ«¥é¡¼¥»¥ó¥µ¡¼ us=UltrasonicSensor('in3') #Ķ²»ÇÈ¥»¥ó¥µ¡¼
def traceR(): t0=time.time() while time.time()-t0<0.35: if cs.value()<35: turnR2() if 35<=cs.value()<40: turnR1() t0=time.time() if 40<=cs.value()<=50: run1() t0=time.time() if 50<cs.value()<=60: turnL1() t0=time.time() if cs.value()>60: turnL2() t0=time.time() mR.stop() mL.stop()
def traceRa(t): t1=time.time() while time.time()-t1<t: if cs.value()<35: turnR2() if 35<=cs.value()<40: turnR1() if 40<=cs.value()<=50: run1() if 50<cs.value()<=60: turnL1() if cs.value()>60: turnL2() mR.stop() mL.stop()
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def turnR1(): mL.run_forever(speed_sp=100,stop_action='brake') mR.stop() def turnL1(): mR.run_forever(speed_sp=100,stop_action='brake') mL.stop() def run1(): mR.run_forever(speed_sp=100,stop_action='brake') mL.run_forever(speed_sp=100,stop_action='brake') def turnR2(): mL.run_forever(speed_sp=100,stop_action='brake') mR.run_forever(speed_sp=-70,stop_action='brake')
def turnL2(): mR.run_forever(speed_sp=100,stop_action='brake') mL.run_forever(speed_sp=-70,stop_action='brake')
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def run2():¡¡#Á°¤Ë¤æ¤Ã¤¯¤ê¿Ê¤à mL.run_forever(speed_sp=50, stop_action='brake') mR.run_forever(speed_sp=50, stop_action='brake') def forword():¡¡#Á°¤Ë¾¯¤·¿Ê¤à mL.run_to_rel_pos(position_sp=360, speed_sp=500, stop_action='brake') mR.run_to_rel_pos(position_sp=360, speed_sp=500, stop_action='brake') def forword_bit():¡¡#Á°¤Ë°ìÄêµ÷Î¥¿Ê¤à mL.run_to_rel_pos(position_sp=20, speed_sp=500, stop_action='brake') mR.run_to_rel_pos(position_sp=200, speed_sp=500, stop_action='brake')
def catchup(): while us.value()>=50:¡¡#¥Ü¡¼¥ë¤Ë¶á¤Å¤¯ run2() mR.stop() mL.stop() mC.reset() mC.run_to_abs_pos(position_sp=60 ,speed_sp=20, stop_action='brake') #¥Ï¥ó¥É¤ò³«¤¯ time.sleep(3) mA.run_to_abs_pos(position_sp=100, speed_sp=30, stop_action='brake') #ÏÓ¤ò²¼¤²¤ë time.sleep(4) mC.run_to_abs_pos(position_sp=0, speed_sp=20, stop_action='brake') #¥Ï¥ó¥É¤òÊĤ¸¤Æ¥Ü¡¼¥ë¤ò¤Ä¤«¤à time.sleep(6) mA.run_to_abs_pos(position_sp=0, speed_sp=100, stop_action='hold')¡¡#ÏÓ¤ò¾å¤²¤ë time.sleep(3)
def puton_red(): time4=time.time() while us.value>=40: #À֤δ̤˶á¤Å¤¯ run2() time_kan=time.time() mC.run_to_rel_abs(position_sp=30, speed_sp=20, stop_action='brake')¡¡#¥Ü¡¼¥ë¤òÎ¥¤¹ time.sleep(1) timenow=time.time() while time.time()-timenow<=time_kan-time4:¡¡#´Ì¤Ë¶á¤Å¤¤¤¿Ê¬¤Îµ÷Î¥Ìá¤ë mL.run_forever(speed_sp=-50, stop_action='brake') mR.run_forever(speed_sp=-50, stop_action='brake') def puton_blue(): while us.value>=40:¡¡#ÀĤδ̤˶á¤Å¤¯ run() mC.run_to_rel_abs(position_sp=30, speed_sp=20, stop_action='brake') #¥Ü¡¼¥ë¤òÎ¥¤¹ def direct_one(): time1=time.time() while time.time()-time1<=20: mL.run_forever(speed_sp=-50, stop_action='brake') mR.run_forever(speed_sp=50, stop_action='brake')
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def Round_red(): #À֤δ̤μþ¤ê¤ò²óž¤¹¤ë time1=time.time() while time.time()-time1<=fuga: mL.run_forever(speed_sp=50, stop_action='brake') mR.run_forever(speed_sp=-50, stop_action='brake') def direct_redkan(): #Àµ¤·¤¤À֤δ̤ò¸«Ê¬¤±¤ë¤¿¤á¤Ë¤½¤Î¼þ¤ê¤ò²óž¤¹¤ë time1=time() while time.time()-time1<=fuga-(think_red()-time_start): mL.run_forever(speed_sp=-50, stop_action='brake') mR.run_forever(speed_sp=50, stop_action='brake')
def direct_I(): #IÃÏÅÀ¤ò¸þ¤¯ time1=time.time() while time.time()-time1<=think_red()-time_start+¤¤¤¯¤é¤«: mL.run_forever(speed_sp=-50, stop_action='brake') mR.run_forever(speed_sp=50, stop_action='brake')
def direct_B(): #BÃÏÅÀ¤ò¸þ¤¯ time1=time.time() while time.time()-time1<=20: mL.run_forever(speed_sp=-50, stop_action='brake') mR.run_forever(speed_sp=50, stop_action='brake')
def Round_blue(): #ÀĤδ̤μþ¤ê¤ò²óž¤¹¤ë time1=time.time() while time.time()-time1<=fuga2: mL.run_forever(speed_sp=50, stop_action='brake') mR.run_forever(speed_sp=-50, stop_action='brake') def direct_bluekan(): #Àµ¤·¤¤ÀĤδ̤ò¸«Ê¬¤±¤ë¤¿¤á¤Ë¤½¤Î¼þ¤ê¤ò²óž¤¹¤ë time1=time() while time.time()-time1<=fuga2-(think_blue()-time_start): mL.run_forever(speed_sp=-50, stop_action='brake') mR.run_forever(speed_sp=50, stop_action='brake')
time_start=0 time_a=0 time_b=0 def search(fuga,hoge): #fuga¤Ï¤³¤Î¥Þ¥¯¥í¤òÆ°¤«¤¹»þ´Ö¡¡hoge¤ÏºÇûµ÷Î¥¤Ë¤¢¤ë´Ì¤òõ¤¹¤¿¤á¤ÎŬÅö¤Êµ÷Î¥¤ÎÃÍ global time_start global time_a global time_b #global¤òÍѤ¤¤Æ¾¤Î¥Þ¥¯¥í¤«¤étime_b¤ò¤È¤Ã¤Æ¤¯¤ë¡¡¾åÆó¤Ä¤âƱÍÍ a=1250 #ŬÅö¤ÊÂ礤¤µ÷Î¥¤òÂåÆþ¤¹¤ë b=1250 #Ʊ¾å time0=time_start=time.time() while us.value()>=hoge: #Ķ²»ÇÈ¥»¥ó¥µ¤ÎÃͤ¬hoge°Ê¾å¤Ê¤é²¿¤â¤·¤Ê¤¤ continue while time.time()-time0<=fuga: #fuga°Ê²¼¤Î»þ´Ö¼Â¹Ô if us.value()<=hoge: #Ķ²»ÇÈ¥»¥ó¥µ¤ÎÃͤ¬hoge°Ê²¼¤Ê¤é¤Ð¼Â¹Ô if us.value()<=a: #Ķ²»ÇÈ¥»¥ó¥µ¤ÎÃͤ¬a°Ê²¼¤Ê¤é¤Ð¼Â¹Ô a=us.value()¡¡#a¤ËĶ²»ÇÈ¥»¥ó¥µ¤ÎÃͤòÂåÆþ¤·¤Æ¹¹¿·¤¹¤ë time_a=time.time() #time_a¤Ë¤½¤Î»þ¤Î»þ´Ö¤òÂåÆþ else: #hoge¤è¤êĶ²»ÇÈ¥»¥ó¥µ¤ÎÃͤ¬Â礤¤¤È¤¥ë¡¼¥×¤òÈ´¤±¤ë break while time.time()-time0<=fuga and us.value()>=hoge: #fuga°Ê²¼¤Î»þ´Ö¤«¤ÄĶ²»ÇÈ¥»¥ó¥µ¤ÎÃͤ¬hoge°Ê¾å¤Ê¤é¤Ð²¿¤â¤·¤Ê¤¤ continue while time.time()-time0<=fuga: #fuga°Ê²¼¤Î»þ´Ö¼Â¹Ô if us.value()<=hoge: #Ķ²»ÇÈ¥»¥ó¥µ¤ÎÃͤ¬hoge°Ê¾å¤Î¤È¤¼Â¹Ô if us.value()<=b: #Ķ²»ÇÈ¥»¥ó¥µ¤ÎÃͤ¬b°Ê²¼¤Î¤È¤¼Â¹Ô b=us.value() #b¤ËĶ²»ÇÈ¥»¥ó¥µ¤ÎÃͤòÂåÆþ¤·¤Æ¹¹¿·¤¹¤ë time_b=time.time() #time_b¤Ë¤½¤Î»þ¤Î»þ´Ö¤òÂåÆþ else: #hoge¤è¤êĶ²»ÇÈ¥»¥ó¥µ¤ÎÃͤ¬Â礤¤¤È¤¥ë¡¼¥×¤òÈ´¤±¤ë break def think_red(): if a<b: return time_a else: return time_b
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def think_blue(): #ÀĤÎÀµ¤·¤¤´Ì¤ò·è¤á¤ë´Ø¿ô¤òÄêµÁ if a<150 and b<150: #1¤Î´Ì¤À¤È·èÄê return time_b #time_b¤òÌá¤ê¤È¤·¤ÆÊÖ¤¹ if a<150 and 150<=b<300: #2¤Î´Ì¤À¤È·èÄê return time_a #time_a¤òÌá¤êÃͤȤ·¤ÆÊÖ¤¹ if 150<=a<300 and 150<=b<300: #3¤Î´Ì¤À¤È·èÄê return time_a¡¡ #time_a¤òÌá¤êÃͤȤ·¤ÆÊÖ¤¹ if a<300 and b=1250: #4¤Î´Ì¤É¤È·èÄê return time_a #time_a¤òÌá¤êÃͤȤ·¤ÆÊÖ¤¹ if a>=300 and b=1250: #5¤Î´Ì¤À¤È·èÄê return time_b #time_b¤òÌá¤êÃͤȤ·¤ÆÊÖ¤¹ if 450<b<550: #6¤Î´Ì¤À¤È·èÄê return time_b #time_b¤òÌá¤êÃͤȤ·¤ÆÊÖ¤¹
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