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def line_trace_left(t,c):¡¡¡ôÀþ¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹
   x = time.time()¡¡¡ô¥¹¥¿¡¼¥È¤Î»þ¹ï
   while time.time() - x < t:¡¡¡ô¸½ºß»þ¹ï¡Ý¥¹¥¿¡¼¥È»þ¹ï¤¬t¤è¤ê¾®¤µ¤¤´Ö·«¤êÊÖ¤¹
     if cs.value() > c:¡¡¡ô¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤ¬c¤è¤êÂ礭¤¤¡¢¤Ä¤Þ¤êÇò¤¬Â¿¤¤¤È±¦Á°Êý¤Ë°ÜÆ°
        mL.run_forever(speed_sp=-90)
        mR.run_forever(speed_sp=30)
        x = time.time()¡¡¡ô¥¹¥¿¡¼¥È»þ¹ï¤ò¹¹¿·¤¹¤ë
     else:¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ô¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤ¬c¤è¤ê¾®¤µ¤¤¡¢¤Ä¤Þ¤ê¹õ¤¬Â¿¤¤¤Èº¸Á°Êý¤Ë°ÜÆ°¡£¤³¤Î¤È¤­¥¹¥¿¡¼¥È»þ¹ï¤Ï¹¹¿·¤·¤Ê¤¤¤Î¤¬½ÅÍס£
          mL.run_forever(speed_sp=30)
          mR.run_forever(speed_sp=-90)
   if time.time() - x > t:¡¡¡ô¸½ºß»þ¹ï¡Ý¥¹¥¿¡¼¥È»þ¹ï¤¬t¤è¤êÂ礭¤¯¤Ê¤ë¡£¤Ä¤Þ¤ê¹õ¤Î³ä¹ç¤¬Â¿¤¤¥³¡¼¥Ê¡¼¤À¤È¡¢¥¹¥¿¡¼¥È»þ¹ï¤¬¹¹¿·¤µ¤ì¤º¡¢¤³¤Îº¹¤¬Â礭¤¯¤Ê¤ë¡£¤³¤ì¤Ë¤è¤ê¥³¡¼¥Ê¡¼¤ò¸¡ÃΤ·¡£¥â¡¼¥¿¡¼¤ÎÆ°¤­¤¬»ß¤Þ¤ë¡£
      mL.stop()
      mR.stop()
line_trace_left
def line_trace_right(t,c): ¡ôÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹
   x = time.time()¡¡¡¡¡¡¡¡¡¡¡ô¥¹¥¿¡¼¥È¤Î»þ¹ï
   while time.time() - x < t:¡¡¡ô¸½ºß»þ¹ï¡Ý¥¹¥¿¡¼¥È»þ¹ï¤¬t¤è¤ê¾®¤µ¤¤´Ö·«¤êÊÖ¤¹
        if cs.value() > c:¡¡¡ô¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤ¬c¤è¤êÂ礭¤¤¡¢¤Ä¤Þ¤êÇò¤¬Â¿¤¤¤Èº¸Á°Êý¤Ë°ÜÆ°
           mL.run_forever(speed_sp=30)
           mR.run_forever(speed_sp=-90)
           x = time.time()¡¡¡ô¥¹¥¿¡¼¥È»þ¹ï¤ò¹¹¿·
        else:¡¡¡ô¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤ¬c¤è¤ê¾®¤µ¤¤¡¢¤Ä¤Þ¤ê¹õ¤¬Â¿¤¤¤È±¦Á°Êý¤Ë°ÜÆ°¡£¤³¤Î¤È¤­¥¹¥¿¡¼¥È»þ¹ï¤Ï¹¹¿·¤·¤Ê¤¤¤Î¤¬½ÅÍס£
           mL.run_forever(speed_sp=-90)
           mR.run_forever(speed_sp=30)
   if time.time() - x >t:¡¡¡ô¸½ºß»þ¹ï¡Ý¥¹¥¿¡¼¥È»þ¹ï¤¬t¤è¤êÂ礭¤¯¤Ê¤ë¡£¤Ä¤Þ¤ê¹õ¤Î³ä¹ç¤¬Â¿¤¤¥³¡¼¥Ê¡¼¤À¤È¡¢¥¹¥¿¡¼¥È»þ¹ï¤¬¹¹¿·¤µ¤ì¤º¡¢¤³¤Îº¹¤¬Â礭¤¯¤Ê¤ë¡£¤³¤ì¤Ë¤è¤ê¥³¡¼¥Ê¡¼¤ò¸¡ÃΤ·¡£¥â¡¼¥¿¡¼¤ÎÆ°¤­¤¬»ß¤Þ¤ë¡£
        mL.stop()
        mR.stop()
line_trace_right

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#!/usr/bin/env python3¡¡¡ô»ÈÍѸÀ¸ì¤ÏPython3¤È¤¹¤ë
from ev3dev.ev3 import * ¡ôev3dev¤ò¥¤¥ó¥Ý¡¼¥È¤¹¤ë
from time import sleep¡¡»þ´Ö¤Ï¥¹¥ê¡¼¥×´Ø¿ô¤ò»È¤¦
mL = LargeMotor('outA')¡¡¡ôLeft,¤Ä¤Þ¤êº¸¤Î¥â¡¼¥¿¤¬A¥Ý¡¼¥È¤Ë·Ò¤¬¤Ã¤Æ¤¤¤ë¡£°ÜÆ°¤Ë»È¤¦¡£
mR = LargeMotor('outD')¡¡¡ôRight¡¢¤Ä¤Þ¤ê±¦¤Î¥â¡¼¥¿¡¼¤¬D¥Ý¡¼¥È¤Ë·Ò¤¬¤Ã¤Æ¤¤¤ë¡£¤³¤ì¤â°ÜÆ°¤Ë»È¤¦¡£
mM = MediumMotor('outB')¡¡¡ôMedium¥â¡¼¥¿¡¼¤¬B¥Ý¡¼¥È¤Ë·Ò¤¬¤Ã¤Æ¤¤¤ë¡£¤³¤ì¤Ï¥Ô¥ó¥Ý¥óµå¤ò¾å²¼¤¹¤ë¥¢¡¼¥à¤òÆ°¤«¤¹¡£
cs = ColorSensor('in3')¡¡¡ô¥«¥é¡¼¥»¥ó¥µ¡¼¤¬¥Ý¡¼¥È£³¤Ë·Ò¤¬¤Ã¤Æ¤¤¤ë¡£¤³¤ì¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤È¥³¡¼¥Ê¡¼¤Î¸¡ÃΤËÍøÍѤ¹¤ë¡£
cs.mode = 'COL-REFLECT'¡¡¡ô¥«¥é¡¼¥»¥ó¥µ¡¼¤¬È¿¼Í¤·¤¿¸÷¤ÎÎ̤ÎÃͤòÆɤ߼è¤ë¥â¡¼¥É¤ËÀßÄꤹ¤ë¡£
def motor_init():¡¡¡ôº¸±¦¤Î¥â¡¼¥¿¡¼¤ÎÀßÄê¤ò¥ê¥»¥Ã¥È¤¹¤ë¡£
       mL.reset()
       mR.reset()
def arm_move(t,y):¡¡¡ô¥Ô¥ó¥Ý¥óµå¤ò¾å²¼¤Ë°ÜÆ°¤¹¤ë¥¢¡¼¥à¤òÆ°¤«¤¹¡£y>0¤Î¤È¤­¥¢¡¼¥à¤Ï¾å¾º¤·¡¢y<0¤Î¤È¤­²¼¹ß¤¹¤ë¡£
   mM.run_timed(speed_sp=y,time_sp=t,stop_action='hold')
def move_forward_long(t):¡¡¡ôŤ¤µ÷Î¥¤òÁ°¿Ê¤¹¤ë¤È¤­¤ËÍøÍÑ¡£»þ´Öt¤Î´Ö¤À¤±Á°¿Ê¤¹¤ë¡£t¤Îñ°Ì¤ÏÉÃ(second)¤Ç¤¢¤ë¡£
    x = time.time()
    while time.time() - x < t:¡¡
            mL.run_forever(speed_sp=-100)
            mR.run_forever(speed_sp=-100)
    mL.stop()
    mR.stop()
def move_back_long(t):¡¡¡ôŤ¤µ÷Î¥¤ò¸å¿Ê¤¹¤ë¤È¤­¤ËÍøÍÑ¡£»þ´Öt¤Î´Ö¤À¤±¸å¿Ê¤¹¤ë¡£t¤Îñ°Ì¤ÏÉÃ(second)¤Ç¤¢¤ë¡£

      x = time.time()
      while time.time() - x < t:
            mL.run_forever(speed_sp=100)
            mR.run_forever(speed_sp=100)
      mL.stop()
      mR.stop()
def move_forward(t):¡¡¡ô»þ´Öt/1000Éäδ֤À¤±Á°¿Ê¤¹¤ë¡£Ã»µ÷Î¥¤ÎÁ°¿Ê¤Ë»ÈÍÑ¡£
   mL.run_timed(speed_sp=-100,time_sp=t,stop_action='brake')
   mR.run_timed(speed_sp=-100,time_sp=t,stop_action='brake')
def move_back(t):¡¡¡ô»þ´Öt/1000Éäδ֤À¤±Á°¿Ê¤¹¤ë¡£Ã»µ÷Î¥¤ÎÁ°¿Ê¤Ë»ÈÍÑ¡£
   mL.run_timed(speed_sp=100,time_sp=t,stop_action='brake')
   mR.run_timed(speed_sp=100,time_sp=t,stop_action='brake')
def turn_right(t):¡¡¡ôt/1000Éäδ֤À¤±±¦²óž¤¹¤ë¡£¾®¤µ¤¤²óž¤Ë»ÈÍÑ¡£
   mL.run_timed(speed_sp=-100,time_sp=t,stop_action='brake')
   mR.run_timed(speed_sp=100,time_sp=t,stop_action='brake')
def turn_right_long(t):¡¡¡ô£ôÉäδ֤À¤±±¦²óž¤¹¤ë¡£Â礭¤Ê²óž¤Ë»ÈÍÑ¡£
   x = time.time()
   while time.time() - x < t:
      mL.run_forever(speed_sp=-100)
      mR.run_forever(speed_sp=100)
   mL.stop()
   mR.stop()
def turn_left(t):¡¡¡ôt/1000Éäδ֤À¤±º¸²óž¤¹¤ë¡£¾®¤µ¤Ê²óž¤Ë»ÈÍÑ¡£
   mL.run_timed(speed_sp=100,time_sp=t,stop_action='brake')
   mR.run_timed(speed_sp=-100,time_sp=t,stop_action='brake')
def turn_left_long(t):¡¡¡ôtÉäÀ¤±º¸²óž¤¹¤ë¡£Â礭¤Ê²óž¤Ë»ÈÍÑ¡£
    x = time.time()
    while time.time() - x < t:
       mL.run_forever(speed_sp=100)
       mR.run_forever(speed_sp=-100)
    mL.reset()
    mR.reset()
def line_trace_left(t,c):¡¡¡ôc¤ÎÃͤò¶­ÌܤËÀþ¤Îº¸Â¦¤ò¥¸¥°¥¶¥°Á°¿Ê¤·¡¢»þ´Öt¤À¤±¹õ¤ò´¶ÃΤ¹¤ë¤ÈÆ°ºî¤òÄä»ß¤¹¤ë¡£¡Ê¾Ü¤·¤¯¤Ï¾å¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»²¾È¡Ë
   x = time.time()
   while time.time() - x < t:
     if cs.value() > c:
        mL.run_forever(speed_sp=-90)
        mR.run_forever(speed_sp=30)
        x = time.time()
     else:
          mL.run_forever(speed_sp=30)
          mR.run_forever(speed_sp=-90)
   if time.time() - x > t:
      mL.stop()
      mR.stop()
def line_trace_right(t,c):¡¡¡ôc¤ÎÃͤò¶­ÌܤËÀþ¤Î±¦Â¦¤ò¥¸¥°¥¶¥°Á°¿Ê¤·¡¢»þ´Öt¤À¤±¹õ¤ò¡¡´¶ÃΤ¹¤ë¤ÈÆ°ºî¤òÄä»ß¤¹¤ë¡£¡Ê¾Ü¤·¤¯¤Ï¾å¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»²¾È¡Ë
   x = time.time()
   while time.time() - x < t:
        if cs.value() > c:
           mL.run_forever(speed_sp=30)
           mR.run_forever(speed_sp=-90)
           x = time.time()
        else:
           mL.run_forever(speed_sp=-90)
           mR.run_forever(speed_sp=30)
   if time.time() - x >t:
        mL.stop()
        mR.stop()
if __name__ == '__main__':
  print (cs.value())¡¡¡ô¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤòɽ¼¨¡£¤³¤ÎÃͤòËè²ó³Îǧ¤·¡¢¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤ¬Àµ¾ï¤«È½ÃǤ¹¤ë¡£
  sleep(1)
  motor_init()¡¡¡ô¥â¡¼¥¿¡¼¤ò¥ê¥»¥Ã¥È¤¹¤ë
  sleep(1)¡¡¡ô1ÉôÖÄä»ß¡£¡Ê°Ê²¼Æ±Íͤˡ¢¡Ê¡Ë¤ÎÃæ¤Î¿ô»ú¤ÎÉÿô¤À¤±Ää»ß¤¹¤ë¡£¡Ë
  arm_move(1300,100)¡¡¡ô¥³¡¼¥¹¤ÎÅÓÃæ¤Ç¥Ô¥ó¥Ý¥óµå¤Ë¥¢¡¼¥à¤¬Åö¤¿¤é¤Ê¤¤¤è¤¦¤Ë¾å¤²¤Ê¤¬¤é°ÜÆ°¤¹¤ë¡£
  sleep(5)¡¡
  line_trace_left(1.1,40)¡¡¡ô¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¡¢M¤«¤éK¤Þ¤Ç°ÜÆ°¤·¡¢K¤Ç¥³¡¼¥Ê¡¼¤ò¸¡ÃΤ·¤ÆÄä»ß¤¹¤ë¡£
  sleep(1)
  turn_right(655)¡¡¡ô¥Ô¥ó¥Ý¥óµå¤ò²ó¼ý¤¹¤ë¤è¤¦¤Ë³ÑÅÙ¤òÄ´À°
  sleep(1)
  move_back_long(4)¡¡¡ôK¤ÇÄä»ß¤·¤¿¤Þ¤Þ¥¢¡¼¥à¤ò²¼¤¹¤È¡¢¥¢¡¼¥à¤¬¥Ô¥ó¥Ý¥óµå¤Ë¤Ö¤Ä¤«¤Ã¤Æ¤·¤Þ¤¦¤Î¤Ç¸å¿Ê¤¹¤ë¡£
  sleep(5)
  arm_move(700,-100)¡¡¡ô¥¢¡¼¥à¤ò²¼¤¹¡£
  sleep(1)
  motor_init()
  sleep(1)
  move_forward_long(1.3)¡¡¡ô¥¢¡¼¥à¤ò¥Ô¥ó¥Ý¥óµå¤Î²¼¤ËÀø¤é¤»¤ë¡£
  sleep(1)
  arm_move(1500,100)¡¡¡ô¥¢¡¼¥à¤ò¾å¾º¤µ¤»¡¢¥Ô¥ó¥Ý¥óµå¤ò»ý¤Á¾å¤²¤ë¡£
  sleep(1)
  move_forward_long(5.5)¡¡¡ôL¤Þ¤Ç°ÜÆ°¤¹¤ë¡£
  sleep(1)
  turn_left_long(2.4)¡¡¡ôL¤Þ¤Ç°ÜÆ°¤¹¤ë¡£
  sleep(1)
  line_trace_right(0.8,40)¡¡¡ôL¤«¤éK¤Þ¤Ç°ÜÆ°¤·¡¢K¤Ç¥³¡¼¥Ê¡¼¤ò¸¡ÃΤ·¤ÆÄä»ß¤¹¤ë
  sleep(1)
  turn_left_long(0.5) ¡ôK¤Î¥¹¥¿¡¼¥È°ÌÃ֤ޤǰÜÆ°
  sleep(1)
  move_forward_long(1.5)¡¡¡ôK¤Î¥¹¥¿¡¼¥È°ÌÃ֤ޤǰÜÆ°
  sleep(1)
  turn_right_long(2)¡¡¡ôK¤Î¥¹¥¿¡¼¥È°ÌÃ֤ޤǰÜÆ°
  sleep(1)
  line_trace_right(0.8,20)¡¡¡ôK¤«¤éJ¤ÞÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£J¤Ç¥³¡¼¥Ê¡¼¤ò¸¡ÃΤ·¤ÆÄä»ß¤¹¤ë¡£
  sleep(1)
  move_forward(200)¡¡¡ôJ¤«¤é¥¹¥¿¡¼¥È¤¹¤ë¤¿¤á¤Î°ÜÆ°
  sleep(1)
  turn_left_long(1.3)¡¡¡ôJ¤«¤é¥¹¥¿¡¼¥È¤¹¤ë¤¿¤á¤Î°ÜÆ°
  sleep(1)
  line_trace_left(0.87,40)¡¡¡ôJ¤«¤éI¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£I¤Ç¥³¡¼¥Ê¡¼¤ò¸¡ÃΤ·¤ÆÄä»ß¤¹¤ë¡£
  sleep(1)
  turn_right(600)¡¡¡ôI¤Î¥¹¥¿¡¼¥È°ÌÃ֤ޤǰÜÆ°
  sleep(1)
  move_forward(350)¡¡¡ôI¤Î¥¹¥¿¡¼¥È°ÌÃ֤ޤǰÜÆ°
  sleep(1)
  line_trace_left(0.87,40)¡¡¡ôI¤«¤éH¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£H¤Ç¥³¡¼¥Ê¡¼¤ò¸¡ÃΤ·¤ÆÄä»ß¤¹¤ë¡£
  sleep(1)
  turn_right(600)¡¡¡ôH¤Î¥¹¥¿¡¼¥È°ÌÃ֤ޤǰÜÆ°¡¡
  sleep(1)
  move_forward(350)¡¡¡ôH¤Î¥¹¥¿¡¼¥È°ÌÃ֤ޤǰÜÆ°
  sleep(1)
  line_trace_left(0.87,40)¡¡¡ôH¤«¤éG¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£G¤Ç¥³¡¼¥Ê¡¼¤ò¸¡ÃΤ·¤ÆÄä»ß¤¹¤ë¡£
  sleep(1)
  turn_right(1000)¡¡¡ôG¤Î¥¹¥¿¡¼¥È°ÌÃ֤ޤǰÜÆ°
  sleep(1)
  move_forward(400)¡¡¡ôG¤Î¥¹¥¿¡¼¥È°ÌÃ֤ޤǰÜÆ°
  sleep(3)
  turn_left_long(1.5)¡¡¡ôG¤Î¥¹¥¿¡¼¥È°ÌÃ֤ޤǰÜÆ°
  sleep(1)
  line_trace_left(1,20)¡¡¡ôG¤«¤éF¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£F¤Ç¥³¡¼¥Ê¡¼¤ò¸¡ÃΤ·¤ÆÄä»ß¤¹¤ë¡£
  sleep(1)
  move_forward(500)¡¡¡ôF¤Î¥¹¥¿¡¼¥È°ÌÃ֤ޤǰÜÆ°
  sleep(1)
  turn_left(900)¡¡¡ôF¤Î¥¹¥¿¡¼¥È°ÌÃ֤ޤǰÜÆ°
  sleep(1)
  line_trace_left(1,20)¡¡¡ôF¤«¤éE¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£E¤Ç¥³¡¼¥Ê¡¼¤ò¸¡ÃΤ·¤ÆÄä»ß¤¹¤ë¡£
  sleep(1)
  move_forward(500)¡¡¡ôE¤Î¥¹¥¿¡¼¥È°ÌÃ֤ޤǰÜÆ°¤¹¤ë
  sleep(1)
  turn_left(900)¡¡¡ôE¤Î¥¹¥¿¡¼¥È°ÌÃ֤ޤǰÜÆ°¤¹¤ë
  sleep(1)
  line_trace_left(1,20)¡¡¡ôE¤«¤éD¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£D¤Ç¥³¡¼¥Ê¡¼¤ò¸¡ÃΤ·¤ÆÄä»ß¤¹¤ë¡£
  sleep(1)   
  turn_right(800)¡¡¡ôD¤Î¥¹¥¿¡¼¥È°ÌÃ֤ޤǰÜÆ°¤¹¤ë¡£¤¿¤À¤·¥é¥¤¥ó¥È¥ì¡¼¥¹¤òº¸Â¦¤«¤é±¦Â¦¤ËÀÚ¤êÂؤ¨¤ë¡£
  sleep(1)
  move_forward(800)¡ôD¤Î¥¹¥¿¡¼¥È°ÌÃ֤ޤǰÜÆ°¤¹¤ë¡£¤¿¤À¤·¥é¥¤¥ó¥È¥ì¡¼¥¹¤òº¸Â¦¤«¤é±¦Â¦¤ËÀÚ¤êÂؤ¨¤ë¡£
  sleep(1)
  line_trace_right(1,20)¡¡¡ôD¤«¤éB¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£C¤Ïľ¿Ê¤¹¤ë¡£B¤ÇÄä»ß¤¹¤ë¡£
  sleep(1)
  turn_left(600)¡¡¡ô°ÌÃÖÄ´À°
  sleep(1)
  move_back_long(5)¡¡¡ôŤ¤¥¢¡¼¥à¤ò²¼¤¹¤Î¤Ç¸å¤í¤Ë²¼¤¬¤ë¡£
  sleep(1)
  arm_move(150,-500)¡¡¡ô¥¢¡¼¥à¤òÁ᤯²¼¤·¡¢¥Ô¥ó¥Ý¥óµå¤òA¤Ë¥·¥å¡¼¥È¤¹¤ë¡£
  sleep(1)

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http://yakushi.shinshu-u.ac.jp/robotics/?2016b%2FMember%2Fbeing%2FMission2

http://yakushi.shinshu-u.ac.jp/robotics/?2016b%2FMember%2Fbicky%2FMission2

http://yakushi.shinshu-u.ac.jp/robotics/?2016a%2FMember%2Fmaria55%2FMission2

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Last-modified: 2019-07-19 (¶â) 19:06:59