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#!/usr/bin/env python3 from ev3dev.ev3 import * from time import sleep
mL = LargeMotor('outB') mR = LargeMotor('outD') mZ = MediumMotor('outA') cs = ColorSensor('in1') cs.mode = 'COL-REFLECT'
def motor_init(): mL.reset() mR.reset() mZ.reset()
def down(): mZ.run_timed(time_sp=600,speed_sp=150,stop_action='brake') sleep(1)
def up(): mZ.run_timed(time_sp=685,speed_sp=-160,stop_action='hold') sleep(1)
def up2(): mZ.run_timed(time_sp=285,speed_sp=-569,stop_action='hold') sleep(1)
def nage(): mZ.run_timed(time_sp=400,speed_sp=-1000,stop_action='brake') sleep(1)
def go(): mL.run_timed(time_sp=80,speed_sp=150,stop_action='brake') mR.run_timed(time_sp=80,speed_sp=150,stop_action='brake')
def over(t): mL.run_timed(time_sp=t,speed_sp=200,stop_action='brake') mR.run_timed(time_sp=t,speed_sp=200,stop_action='brake') sleep(1)
def back(t): mL.run_timed(time_sp=t,speed_sp=-200,stop_action='brake') mR.run_timed(time_sp=t,speed_sp=-200,stop_action='brake')
def turnl2(): mL.run_timed(time_sp=200,speed_sp=45,stop_action='brake') mR.run_timed(time_sp=200,speed_sp=-50,stop_action='brake') sleep(1)
def turnr2(): mR.run_timed(time_sp=200,speed_sp=75,stop_action='brake') mL.run_timed(time_sp=200,speed_sp=-45,stop_action='brake')
def turnr2X(x): mR.run_timed(time_sp=x,speed_sp=-75,stop_action='brake') mL.run_timed(time_sp=x,speed_sp=45,stop_action='brake')
def turnr2Y(y): mR.run_timed(time_sp=y,speed_sp=45,stop_action='brake') mL.run_timed(time_sp=y,speed_sp=-75,stop_action='brake')
def turnC(a): mR.run_timed(time_sp=a,speed_sp=-150,stop_action='brake') mL.run_timed(time_sp=a,speed_sp=150,stop_action='brake') sleep(1)
def turnD(a): mR.run_timed(time_sp=a,speed_sp=150,stop_action='brake') mL.run_timed(time_sp=a,speed_sp=-150,stop_action='brake') sleep(1)
def linel(): S = 1 while S > 0:¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡#·«¤êÊÖ¤·³«»Ï go() if cs.value() > 15:¡¡¡¡¡¡¡¡¡¡¡¡¡¡#Çò(º¸)¤Ë¹Ô¤²á¤®¤ë¤È while cs.value() > 15: turnl2() #¹õ(±¦)¤Ë¸þ¤«¤Ã¤Æ¿Ê¤à if cs.value() < 9: #¹õ(±¦)¤Ë¹Ô¤²á¤®¤ë¤È tS = time.time()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡#»þ´Ö·×¬³«»Ï while cs.value() < 9: turnr2()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ #Çò(º¸)¤Ë¸þ¤«¤Ã¤Æ¿Ê¤à if time.time()-tS > 0.48:¡¡¡¡¡¡¡¡#·×¬»þ´Ö¤¬°ìÄê°Ê¾å¤À¤È¸òº¹ÅÀ¤òǧ¼±¤¹¤ë turnr2X((time.time()-tS)*1400)¡¡#¶Ê¤¬¤ê¤¹¤®¤¿Ê¬¤ò½¤Àµ¤¹¤ë S = 0¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡#·«¤êÊÖ¤·¤ò½ªÎ»¤¹¤ë sleep(1)
def liner(): S = 1 while S > 0:¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡#·«¤êÊÖ¤·³«»Ï go() if cs.value() > 15:¡¡¡¡¡¡¡¡¡¡¡¡¡¡#Çò(±¦)¤Ë¹Ô¤²á¤®¤ë¤È while cs.value() > 15: turnr2()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ #¹õ(º¸)¤Ë¸þ¤«¤Ã¤Æ¿Ê¤à if cs.value() < 9:¡¡¡¡¡¡¡¡¡¡¡¡¡¡ #¹õ(º¸)¤Ë¹Ô¤²á¤®¤ë¤È tS = time.time()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡#»þ´Ö·×¬³«»Ï while cs.value() < 9: turnl2()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ #Çò(±¦)¤Ë¸þ¤«¤Ã¤Æ¿Ê¤à if time.time()-tS > 0.48:¡¡¡¡¡¡ #·×¬»þ´Ö¤¬°ìÄê°Ê¾å¤À¤È¸òº¹ÅÀ¤òǧ¼±¤¹¤ë turnr2Y((time.time()-tS)*1400) #¶Ê¤¬¤ê¤¹¤®¤¿Ê¬¤ò½¤Àµ¤¹¤ë S = 0¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡#·«¤êÊÖ¤·¤ò½ªÎ»¤¹¤ë sleep(1)
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def running(): while cs.value() > 15: go() sleep(1)
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