¡Ö¤³¤ì¤Þ¤Ç½»¤ó¤À¤³¤È¤Î¤¢¤ëÅÔÆ»Éܸ©Ì¾¡¢»ÔĮ¼̾¡¢Ã϶è̾¤Ê¤É¤ÎÃ椫¤é2ʸ»ú°Ê¾å¡¢¤«¤Ä¹ç·×10²è°Ê¾å¤Î¤â¤Î¤òÁª¤Ó¡¢¤½¤ì¤òA4¤Î»æ¤ò½ñ¤¯¥í¥Ü¥Ã¥È¤òÀ½ºî¤»¤è¡£¡×¤È¤¤¤¦²ÝÂê¤À¤Ã¤¿¡£
¼Â²È¤Î¤¢¤ë´ôÉ츩¤«¤é¡Ö´ôÉì¡×¤È¤¤¤¦Ê¸»ú¤òÁª¤ó¤À¡£
ºîÀ®¤·¤¿¥í¥Ü¥Ã¥È¤ÏEV3¤ÎÁȤßΩ¤ÆÀâÌÀ½ñ¤Ë½ñ¤¤¤Æ¤¢¤ë¤â¤Î¤È¤Û¤ÜƱ¤¸¤À¤¬¡¢°Ê²¼¤ÎÆóÅÀ¤òÊѹ¹¤·¤¿¡£
¥Ú¥ó¤Î»ý¤Á¼ê¤Ï¾å¤Î¼Ì¿¿¤Î¤è¤¦¤Ë¤·¤Æ¡¢Ê¸»ú¤ò½ñ¤¤¤Æ¤¤¤ë¤È¤¤Ç¤â¥Ú¥ó¤¬°ÂÄꤹ¤ë¤è¤¦¤Ë¤·¤¿¡£
EV3¤Î¥â¡¼¥¿¡¼¤Ï¤È¤Æ¤âÀºÅÙ¤¬°¤¯¡¢¤½¤Î¤Þ¤Þ»È¤¦¤³¤È¤¬½ÐÍè¤Ê¤«¤Ã¤¿¡£¤½¤³¤Çº£²ó¤Ï¥®¥¢¤ò¤«¤Þ¤»¤ë¤³¤È¤Ç¥â¡¼¥¿¡¼¤ÎÀºÅÙ¤ò¾å¤²¤¿¡£
¤³¤Î¼Ì¿¿¤Î¤è¤¦¤Ë
¥â¡¼¥¿¡¼¢ª»õ¿ô8¤Î»õ¼Ö¢ª»õ¼Ö40¤Î»õ¼Ö
¤È»õ¼Ö¤òÁȤ߹ç¤ï¤»¤ë¤³¤È¤Ë¤è¤Ã¤Æ¥â¡¼¥¿¡¼¤ÎÀºÅÙ¤ò5Çܤˤ·¤¿¡£
¤Þ¤¿¡¢¤³¤Î»þ¤Ë¥¿¥¤¥ä¤òÁȤßΩ¤ÆÀâÌÀ½ñ¤Ë½ñ¤¤¤Æ¤¢¤ë¤è¤ê¾¯¤·Á°Êý¤ËÇÛÃÖ¤·¡¢Ê¸»ú¤ò½ñ¤¤¤Æ¤¤¤ë¤È¤¤Ë¥í¥Ü¥Ã¥È¤Î¸åÉô¤¬É⤯¤È¤¤¤Ã¤¿ÌäÂ꤬µ¯¤³¤é¤Ê¤¤¤è¤¦¤ËÂкö¤·¤¿¡£
#!/usr/bin/env python3 from ev3dev.ev3 import * from time import sleep
mL = LargeMotor("outA") mR = LargeMotor("outB") mP = MediumMotor("outC")
°Ê²¼¤Î´Ø¿ô¤òÄêµÁ¤¹¤ë¡£
¤Þ¤¿¡¢¤³¤ì¤é¤Î´Ø¿ô¤Ç¤Ï°Ê²¼¤ÎÅÀ¤òÅý°ì¤·¤¿¡£
def forward(distance): mL.run_timed(time_sp=distance / 35 * 1000, speed_sp=-360, stop_action="hold") mR.run_timed(time_sp=distance / 35 * 1000, speed_sp=-360, stop_action="hold") sleep(distance / 35 * 1.5)
°ú¿ô:
¤³¤Î´Ø¿ô¤Î²òÀâ:
def backward(distance): mL.run_timed(time_sp=distance / 35 * 1000, speed_sp=360, stop_action="hold") mR.run_timed(time_sp=distance / 35 * 1000, speed_sp=360, stop_action="hold") sleep(distance / 35 * 1.5)
°ú¿ô:
¤³¤Î´Ø¿ô¤Î²òÀâ:
def clockwise(angle): mL.run_timed(time_sp=angle * (3550 / 90), speed_sp=-360, stop_action="hold") mR.run_timed(time_sp=angle * (3550 / 90), speed_sp=360, stop_action="hold") sleep(angle * (3550 / 90) / 1000 * 1.5)
°ú¿ô:
¤³¤Î´Ø¿ô¤Î²òÀâ:
def counter_clockwise(angle): mL.run_timed(time_sp=angle * (3550 / 90), speed_sp=360, stop_action="hold") mR.run_timed(time_sp=angle * (3550 / 90), speed_sp=-360, stop_action="hold") sleep(angle * (3550 / 90) / 1000 * 1.5)
°ú¿ô:
¤³¤Î´Ø¿ô¤Î²òÀâ:
def right(angle): forward(75) clockwise(angle) backward(75)
°ú¿ô:
¤³¤Î´Ø¿ô¤Î²òÀâ:
¡¥í¥Ü¥Ã¥È¤òÁ°¿Ê¤µ¤»¤Æ¡¢¥Ú¥ó¤Î¤¢¤Ã¤¿°ÌÃÖ¤Ë2¤Ä¤Î¥¿¥¤¥ä¤Î¿¿¤óÃæ¤ò¹ç¤ï¤»¤ë¡£ ¢angle¤À¤±»þ·×²ó¤ê¤Ë²óž¤µ¤»¤ë¡£ £¥í¥Ü¥Ã¥È¤ò¸å¿Ê¤µ¤»¤Æ¡¢¥Ú¥ó¤ò¤â¤È¤Î°ÌÃ֤˹ç¤ï¤»¤ë¡£¤È¤¤¤¦¼ê½ç¤Ç¥í¥Ü¥Ã¥È¤òÆ°¤«¤»¤Ð¤¤¤¤¡£
def left(angle): forward(75) counter_clockwise(angle) backward(75)
°ú¿ô:
¤³¤Î´Ø¿ô¤Î²òÀâ:
¡¥í¥Ü¥Ã¥È¤òÁ°¿Ê¤µ¤»¤Æ¡¢¥Ú¥ó¤Î¤¢¤Ã¤¿°ÌÃÖ¤Ë2¤Ä¤Î¥¿¥¤¥ä¤Î¿¿¤óÃæ¤ò¹ç¤ï¤»¤ë¡£ ¢angle¤À¤±È¿»þ·×²ó¤ê¤Ë²óž¤µ¤»¤ë¡£ £¥í¥Ü¥Ã¥È¤ò¸å¿Ê¤µ¤»¤Æ¡¢¥Ú¥ó¤ò¤â¤È¤Î°ÌÃ֤˹ç¤ï¤»¤ë¡£¤È¤¤¤¦¼ê½ç¤Ç¥í¥Ü¥Ã¥È¤òÆ°¤«¤»¤Ð¤¤¤¤¡£
def penup(): mP.run_to_abs_pos(position_sp=30, speed_sp=360, stop_action="hold") sleep(1)
¤³¤Î´Ø¿ô¤Î²òÀâ:
def pendown(): mP.run_to_abs_pos(position_sp=-30, speed_sp=360, stop_action="hold") sleep(1)
¤³¤Î´Ø¿ô¤ÎÀâÌÀ:
½ñ¤»Ï¤á¤Î°ÌÃ֤ϼ¡¤Î¤è¤¦¤Ë¤·¤¿¡£
¡Ö´ô¡×¤Î¡Ö»³¡×¤ò½ñ¤¯
pendown() #¤³¤³¤«¤é¡Ö´ô¡×¤Î1²èÌÜ forward(70) penup() backward(40) right(90) forward(20) left(90) pendown() #¤³¤³¤«¤é¡Ö´ô¡×¤Î2²èÌÜ forward(40) penup() left(90) pendown() forward(40) penup() left(90) pendown() #¤³¤³¤«¤é¡Ö´ô¡×¤Î3²èÌÜ forward(40) penup()
¡Ö´ô¡×¤Î¡Ö»Ù¡×¤ò½ñ¤¯
forward(30) #¡Ö´ô¡×¤Î3²èÌܤ«¤é4²èÌܤΰÌÃ֤˰ÜÆ°¤¹¤ë right(90) forward(20) pendown() forward(60) penup() backward(30) left(90) forward(20) pendown() #¤³¤³¤«¤é¡Ö´ô¡×¤Î4²èÌÜ backward(40) penup() left(90) forward(30) pendown() #¤³¤³¤«¤é¡Ö´ô¡×¤Î5²èÌÜ backward(60) penup() left(45) pendown() #¤³¤³¤«¤é¡Ö´ô¡×¤Î6²èÌÜ forward(90) penup() backward(90) right(45) forward(60) right(45) pendown() #¤³¤³¤«¤é¡Ö´ô¡×¤Î7²èÌÜ backward(90) penup()
left(45) forward(70) left(45) forward(30)
pendown() #¤³¤³¤«¤é¡ÖÉì¡×¤Î1²èÌÜ forward(20) penup() left(45) pendown() #¤³¤³¤«¤é¡ÖÉì¡×¤Î2²èÌÜ forward(60) penup() backward(60) left(90) pendown() #¤³¤³¤«¤é¡ÖÉì¡×¤Î3²èÌÜ forward(80) penup() right(90) pendown() forward(20) penup() right(90) forward(80) pendown() #¤³¤³¤«¤é¡ÖÉì¡×¤Î4²èÌÜ backward(80) penup() forward(80) left(90) forward(20) right(90) pendown() #¤³¤³¤«¤é¡ÖÉì¡×¤Î5²èÌÜ backward(80) penup() left(90) pendown() forward(20) penup() right(90) forward(80) pendown() #¤³¤³¤«¤é¡ÖÉì¡×¤Î6²èÌÜ backward(80) penup() forward(90) left(90) forward(20) right(90) pendown() #¤³¤³¤«¤é¡ÖÉì¡×¤Î7²èÌÜ backward(100) penup() forward(50) right(90) forward(20) pendown() #¤³¤³¤«¤é¡ÖÉì¡×¤Î8²èÌÜ backward(50) penup()
Èæ³ÓŪ¤¦¤Þ¤¯½ñ¤±¤¿¤È»×¤¦¡£¥®¥¢¤òÉÕ¤±¤ëÁ°¤Ïʸ»ú¤ò½ñ¤¤¤Æ¤âÆɤá¤ë¤è¤¦¤Êʸ»ú¤Ï½ñ¤±¤Ê¤«¤Ã¤¿¤¬¡¢¥®¥¢¤òÉÕ¤±¤ë¤³¤È¤ÇÆɤá¤ë¤è¤¦¤Êʸ»ú¤ò½ñ¤¯¤³¤È¤¬½ÐÍ褿¡£¤·¤«¤·¡¢¥®¥¢¤òÉÕ¤±¤Æ¤âÆäˡÖÉì¡×¤Îʸ»ú¤¬Êø¤ì¤Æ¤·¤Þ¤Ã¤¿¡£
(º¸¤¬¥í¥Ü¥Ã¥È¤¬ÍýÁÛÄ̤ê¤ËÆ°¤¤¤¿¤È¤½ñ¤±¤ë¤Ï¤º¤Îʸ»ú¡¡±¦¤¬º£²ó¤Î·ë²Ì)
º£²ó¤Î·ë²Ì¤Ç¤Ï¡¢¤¯¤Ã¤Ä¤¤¤Æ¤¤¤ë¤Ù¤Àþ¤ÈÀþ¤¬¤¯¤Ã¤Ä¤¤¤Æ¤¤¤Ê¤«¤Ã¤¿¤ê¡¢ËÜÍè»ß¤Þ¤ë¤Ù¤¾ì½ê¤ÇÀþ¤¬»ß¤Þ¤Ã¤Æ¤¤¤Ê¤«¤Ã¤¿¤ê¤¹¤ë¡£¤ª¤½¤é¤¯¸¶°ø¤È¤·¤Æ¹Í¤¨¤é¤ì¤ë¤Î¤Ï
Åù¤¬¹Í¤¨¤é¤ì¤ë¡£¤³¤³¤ò¤â¤¦¾¯¤·¤¤¤¸¤ì¤Ð¤â¤¦¾¯¤·Îɤ¤·ë²Ì¤¬½Ð¤¿¤«¤â¤·¤ì¤Ê¤¤¡£¤Þ¤¿¤³¤Î¥×¥í¥°¥é¥à¤Ç¤Ï´ðËÜŪ¤Ë¤Ï´Á»ú¤Î½ñ¤½ç¤ò¼é¤í¤¦¤È¤·¤¿¤¿¤á¡¢¥í¥Ü¥Ã¥È¤¬Æ±¤¸¤È¤³¤í¤ò²¿ÅÙ¤â¹Ô¤Ã¤¿¤êÍ褿¤ê¤·¤Æ¸úΨ¤¬°¤¯¡¢¤½¤ì¤â»ú¤¬Êø¤ì¤¿°ì°ø¤Ë¤Ê¤Ã¤¿¤È»×¤¦¡£
»ú¤ò½ñ¤¯¥×¥í¥°¥é¥à¤¬¤³¤³¤Þ¤ÇÆñ¤·¤¤¤È¤Ï»×¤Ã¤Æ¤¤¤Ê¤«¤Ã¤¿¡£º£²ó¤Ï¥®¥¢¤òÉÕ¤±¤ë¤³¤È¤ò»×¤¤¤Ä¤¯Á°¤Ë»þ´Ö¤ò»È¤¤¤¹¤®¤Æ¡¢¥®¥¢¤òÉÕ¤±¤¿¸å¤Ë»î¹Ôºø¸í¤¹¤ë»þ´Ö¤¬¾¯¤Ê¤¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£¤·¤«¤·¥®¥¢¤òÉÕ¤±¤ë¤È¥â¡¼¥¿¡¼¤ÎÀºÅÙ¤¬¤¢¤ëÄøÅÙ²þÁ±¤Ç¤¤ë¤È¤¤¤¦¤Î¤ÏÂ礤Êȯ¸«¤À¤Ã¤¿¡£º£²ó¤Î·Ð¸³¤ò³è¤«¤·¡¢²ÝÂê2¤â´èÄ¥¤ê¤¿¤¤¡£
ºòÆü¤ÎˬÌä¼Ô¿ô: 0¿Í
º£Æü¤ÎˬÌä¼Ô¿ô: 2¿Í
¹ç·×ˬÌä¼Ô¿ô: &counter([total|today|yesterday]);¿Í