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#!/usr/bin/env python3
from ev3dev.ev3 import *
from time import sleep

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mR = LargeMotor('outC')
mL = LargeMotor('outA')
csR = ColorSensor('in1')
csL = ColorSensor('in2')
arm = LargeMotor('outD')
hand = MediumMotor('outB')

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def right(time_sp):
    sleep(1)
    mR.run_timed(time_sp=time_sp, speed_sp=100, stop_action="brake")
def clockwise(time_sp):
    mR.run_timed(time_sp=time_sp, speed_sp=-100, stop_action="brake")
    mL.run_timed(time_sp=time_sp, speed_sp=100, stop_action="brake")

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def left(time_sp):
    sleep(1)
    mL.run_timed(time_sp=time_sp, speed_sp=100, stop_action="brake")
def counter_clockwise(time_sp):
    mR.run_timed(time_sp=time_sp, speed_sp=100, stop_action="brake")
    mL.run_timed(time_sp=time_sp, speed_sp=-100, stop_action="brake")

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def forward(time_sp):
    mR.run_timed(time_sp=time_sp, speed_sp=100, stop_action="brake")
    mL.run_timed(time_sp=time_sp, speed_sp=100, stop_action="brake")
    sleep(1)
def forward_forever(speed_sp):
    mR.run_forever(speed_sp=100, stop_action="brake")
    mL.run_forever(speed_sp=100, stop_action="brake")

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def backward(time_sp):
    mR.run_timed(time_sp=time_sp, speed_sp=-100, stop_action="brake")
    mL.run_timed(time_sp=time_sp, speed_sp=-100, stop_action="brake")

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LineTrace_2.png
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LineTrace_3.png

def line_trace():
    
    black_line_reflection = 15
    
    if csR.value() >= black_line_reflection and csL.value() >= black_line_reflection:
        forward_forever(100)
        sleep(0.1)
    elif csR.value() >= black_line_reflection and csL.value() < black_line_reflection:
        counter_clockwise(100)
        sleep(0.1)
    elif csR.value() < black_line_reflection and csL.value() >= black_line_reflection:
        clockwise(100)
        sleep(0.1)
    else:
        mR.stop()
        mL.stop()
        sleep(0.1)
        break

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FirstStep.png

# Á°¿Ê¤·¤Æ¥×¥éÍÆ´ï¤È½Ä¼´¤ò¹ç¤ï¤»¤ë¡£
line_trace()
sleep(0.1)
forward_forever()
sleep(4)
mL.stop()
mR.stop()
# ¥í¥Ü¥Ã¥È¤ò²óž¤µ¤»¤Æ¥×¥éÍÆ´ï¤Î¤Û¤¦¤ò¸þ¤«¤»¤ë¡£
counter_clockwise(1900)
sleep(2.1)

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SecondStep.png

# line_trace´Ø¿ô¤Ç¥í¥Ü¥Ã¥È¤È¥×¥éÍÆ´ï¤Î´Ö¤Ë¤¢¤ë¹õÀþ¤Þ¤Ç¥í¥Ü¥Ã¥È¤òÁ°¿Ê¤µ¤»¤ë¡£
line_trace()
sleep(0.1)
# ¥×¥éÍÆ´ï¤ò·¹¤±¤ä¤¹¤¤¤è¤¦µ÷Î¥¤òµÍ¤á¤ë¤¿¤á¤Ë¾¯¤·Á°¤Ë¤º¤é¤¹¡£
forward_forever(100)
sleep(0.3)
mL.stop()
mR.stop()

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# ¥×¥éÍƴ狼¤é³Î¼Â¤Ë¥Ô¥ó¥Ý¥ó¶Ì¤ò½Ð¤¹¤¿¤á¤Ë¥×¥éÍÆ´ï¤ò2²ó·¹¤±¤ë¡£
# ¥×¥éÍÆ´ï·¹¤±1²óÌÜ
# ¥¢¡¼¥à¤ò¤µ¤²¤ë
arm.reset()
sleep(0.1)
arm.run_to_rel_pos(position_sp=160, speed_sp=250, stop_action="brake")
sleep(3)

# ¥×¥éÍÆ´ï·¹¤±2²óÌÜ
# ¥¢¡¼¥à¤ò¾å¤²¤ë
arm.reset()
arm.run_to_rel_pos(position_sp=-160, speed_sp=250, stop_action="brake")
hand.reset()
sleep(2)
# ¥¢¡¼¥à¤ò²¼¤²¤ë
arm.reset()
arm.run_to_rel_pos(position_sp=160, speed_sp=250, stop_action="brake")
sleep(2)

# ¥Ü¡¼¥ë¤ò²ó¼ý¤¹¤ë
hand.run_to_rel_pos(position_sp=80, speed_sp=300, stop_action="brake")
sleep(1)

# ¥¢¡¼¥à¤ò¾å¤²¤ë
arm.reset()
arm.run_to_rel_pos(position_sp=-160, speed_sp=100, stop_action="brake")
sleep(3)

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ForthStep.png

counter_clockwise(2000)
sleep(3)
# ľÀþB'C'¤Þ¤ÇÆ°¤«¤·¤¿¤¤¤¬ÅÓÃ椢¤ëľÀþBC¤Î¤»¤¤¤Çline_trace´Ø¿ô1²ó¤Ç¤ÏľÀþB'C'¤ËÆϤ«¤Ê¤¤¡£
# ¤Ê¤Î¤ÇľÀþBC¤òĶ¤¨¤¿¸å¤Ëline_trace´Ø¿ô¤ò»È¤¦¡£

# ľÀþBC¤òĶ¤¨¤µ¤»¤ë
forward_forever(100)
sleep(3)
mR.stop()
mL.stop()
sleep(1)

# ľÀþB'C'¤Þ¤Ç¥í¥Ü¥Ã¥È¤òÆ°¤«¤¹¡£
line_trace()
sleep(1)

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backward(800)
sleep(1)
backward(800)
sleep(1)

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# ¥¢¡¼¥à¤ò²¼¤²¤Æ¥×¥éÍÆ´ï¤ò·¹¤±¤ë
arm.reset()
arm.run_to_rel_pos(position_sp=160, speed_sp=120, stop_action="brake")
sleep(2)

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# ¥Ï¥ó¥É¤ò²¿²ó¤â¤Þ¤ï¤¹¤¿¤á¤Ëposition_sp¤Ë¤ÏÂ礭¤¤¿ô»ú¤òÆþ¤ì¤ë¡£
hand.reset()
hand.run_to_rel_pos(position_sp=-2000, speed_sp=1000, stop_action="brake")
sleep(5)

# ¥¢¡¼¥à¤ò¾å¤²¤ë
arm.reset()
arm.run_to_rel_pos(position_sp=-160, speed_sp=120, stop_action="brake")

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forward(4000)

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forward_forever(100)
sleep(4)
mL.stop()
mR.stop()

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Last-modified: 2019-08-15 (ÌÚ) 05:05:17