目次 #contents *はじめに [#x70dfc76] 課題はA4サイズの紙に収まる大きさの似顔絵を描くお絵かきロボットの作成である。~ *ロボットの説明 [#dd7d14cc] #ref(DSC_0397.JPG) #ref(DSC_0398.JPG) ペンの固定がうまくいかず、結局輪ゴムとセロテープでつけるだけになってしまった。~ *ロボットの動作・プログラミングの説明 [#h6098d3b] #!/usr/bin/python import ev3dev.ev3 as ev3 import time motor_left = ev3.LargeMotor('outA') motor_right = ev3.LargeMotor('outB') motor_front = ev3.MediumMotor('outC') def forward(t,dl,dr): motor_left.run_forever(duty_cycle_sp=dl) motor_right.run_forever(duty_cycle_sp=dr) time.sleep(t/1000) motor_left.stop() motor_right.stop() def pen(t,df): motor_front.run_forever(duty_cycle_sp=df) time.sleep(t/1000) motor_front.stop() pen(1000,-38) time.sleep(2) forward(1000,-15,15) pen(1000,50) time.sleep(1) forward(1000,-12,-17) time.sleep(2) pen(1000,-38) time.sleep(2) forward(1000,-12,-12) time.sleep(1) forward(1000,-20,0) pen(1000,50) forward(2000,25,25) forward(1000,-26,26) forward(1000,-30,-30) pen(1000,-38) forward(1000,-15,-15) time.sleep(1) pen(1000,50) forward(1000,-15,-15) pen(1000,-38) forward(1000,-15,-15) time.sleep(1) pen(1000,50) forward(1000,35,35) pen(1000,-38) forward(1000,28,-36) time.sleep(1) forward(1000,-18,-25) pen(1000,50) forward(1000,0,90) time.sleep(1) forward(1000,-50,-50) pen(1000,-38) forward(1000,30,30) pen(1000,50) forward(1000,35,0) time.sleep(1) forward(1000,-17,-17) pen(1000,-38) forward(1000,-30,-30) time.sleep(1) pen(1000,50) forward(1000,-10,-10) time.sleep(1) forward(1000,0,-18) time.sleep(1) forward(1000,16,16) pen(1000,-38) forward(1000,20,20) pen(1000,50) forward(1000,-20,-20) time.sleep(1) forward(1000,-15,15) time.sleep(1) forward(1000,-20,-20) forward(1000,25,25) pen(1000,-38) time.sleep(1) forward(1000,25,25) pen(1000,50) forward(1000,-27,27) time.sleep(1) forward(1000,-18,-18) pen(1000,-38) forward(1000,-25,-25) time.sleep(1) pen(1000,50) forward(1000,15,-10) time.sleep(1) pen(1000,-38) forward(1000,18,18) time.sleep(1) pen(1000,50) exit() *顔を描く [#d8a83f97] *感想・考察 [#u82222bd]