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mL=LargeMotor('outA')¡¡#¿Ê¹ÔÊý¸þ¤ËÂФ·¤Æº¸Â¦¤Î¥â¡¼¥¿
mR=LargeMotor('outD')  #¿Ê¹ÔÊý¸þ¤ËÂФ·¤Æ±¦Â¦¤Î¥â¡¼¥¿
mA=MediumMotor('outC')  #¥¢¡¼¥àÉôʬ¤Î¥â¡¼¥¿
mC=MediumMotor('outB')  #¥Ï¥ó¥ÉÉôʬ¤Î¥â¡¼¥¿
csR=ColorSensor('in1')¡¡#¥é¥¤¥ó¥È¥ì¡¼¥¹ÍѤΥ«¥é¡¼¥»¥ó¥µ
#csL=ColorSensor('in2')  #»È¤ï¤Ê¤«¤Ã¤¿¤â¤¦°ì¤Ä¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ÍѤΥ«¥é¡¼¥»¥ó¥µ¡£¾Ü¤·¤¯¤Ï¸å½Ò¡£
us=UltrasonicSensor('in3')  #Ķ²»ÇÈ¥»¥ó¥µ

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def linetrace():
	 t0=time.time()
	 while time.time()-t0<0.35  #t0¤Ètime,time¤Îº¹¤¬0.35Éäè¤ê¾®¤µ¤¤¤È¤­¤Ë·«¤êÊÖ¤¹
		 if csR.value()=>50:  # ±¦Â¦¤Î¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬50°Ê¾å¤Ç¼Â¹Ô
			 mR.run_forever(speed_sp=150,stop_action='brake')
			 t0=time.time()
		 if csL.value()=>50:  # º¸Â¦¤Î¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬50°Ê¾å¤Ç¼Â¹Ô
			 mL.run_forever(speed_sp=150,stop_action='brake')
			 t0=time.time
		 if csR.value()<50:  # ±¦Â¦¤Î¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬50¤è¤ê¾®¤µ¤¤¤È¤­¼Â¹Ô
			 mL.run_forever(speed_sp=150,stop_action='brake')
		 if csL.value()<50:¡¡# º¸Â¦¤Î¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬50¤è¤ê¾®¤µ¤¤¤È¤­¼Â¹Ô
			 mR.run_forever(speed_sp=150,stop_action='brake')
mR.stop()
mL.stop()

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def linetrace():
	 t0=time.time()
	 while time.time()-t0<0.35 
		 if csR.value()=>50:  
			 mR.run_forever(speed_sp=150,stop_action='brake')
			 t0=time.time()
		 elif csL.value()=>50:  
			 mL.run_forever(speed_sp=150,stop_action='brake')
			 t0=time.time
		 elif csR.value()<50:  
			 mL.run_forever(speed_sp=150,stop_action='brake')
		 elif csL.value()<50:¡¡
			 mR.run_forever(speed_sp=150,stop_action='brake')
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')

def traceR():
        t0=time.time()
        while time.time()-t0<0.35:
                if cs.value()<35:        #¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬35¤è¤ê¾®¤µ¤¤¤È¤­¤½¤Î¾ì¤Ç±¦¤Ë²ó¤ë
                        turnR2()
                if 35<=cs.value()<40:    #¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬35°Ê¾å¤Ç40¤è¤ê¾®¤µ¤¤¤È¤­Á°¤Ë¿Ê¤ß¤Ê¤¬¤é±¦¤Ë¥«¡¼¥Ö¤¹¤ë
                        turnR1()
                        t0=time.time()
                if 40<=cs.value()<=50:   #¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬40°Ê¾å¤Ç50°Ê²¼¤Î¤È¤­¿¿¤Ã¤¹¤°Áö¤ë
                        run()
                        t0=time.time()   
                if 50<cs.value()<=60:    #¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬50¤è¤êÂ礭¤¯¤Æ60°Ê²¼¤Î¤È¤­Á°¤Ë¿Ê¤ß¤Ê¤¬¤éº¸¤Ë¥«¡¼¥Ö¤¹¤ë
                        turnL1()
                        t0=time.time()
                if cs.value()>60:        #¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬60¤è¤êÂ礭¤¤¤È¤­¤½¤Î¾ì¤Çº¸¤Ë²ó¤ë
                        turnL2()
                        t0=time.time()
        mR.stop()                        #¹õ¤ò°ìÄê¤Î»þ´Ö°Ê¾åǧ¼±¤·¤¿¤éwhile¹½Ê¸¤«¤éÈ´¤±½Ð¤·¡¢Ää»ß¤¹¤ë
        mL.stop()

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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_bit():  #Á°¤Ë¾¯¤·¿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 forward(): #Á°¤Ë°ìÄêµ÷Î¥¿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 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礭¤¤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¤Ð¼Â¹Ô7
                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礭¤¤¤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礭¤¤¤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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