*ロボティクス入門 前期 課題1 &br;17T2037H 押見 洋土 [#i909041a]

*課題1 書道ロボット [#u8acc2e2]
#contents
*制作 [#u1c2870f]
**ロボット [#q3b4631a]
**プログラム [#a3ff3a60]
#!/usr/bin/python3
# -*- coding:utf-8 -*-

import ev3dev.ev3 as ev3
import time

mX=ev3.LargeMotor('outB')
mY=ev3.LargeMotor('outA')
mZ=ev3.MediumMotor('outC')

def motorx(positionX):
    mX.run_to_rel_pos(position_sp=positionX,duty_cycle_sp=60,speed_sp=100,stop_action='hold')

def motory(positionY):
    mY.run_to_rel_pos(position_sp=positionY,duty_cycle_sp=60,speed_sp=100,stop_action='hold')

def motorz(positionZ):
    mZ.run_to_rel_pos(position_sp=positionZ,duty_cycle_sp=60,speed_sp=100,stop_action='hold')

def motorxyz(positionX,positionY,positionZ):
    speedY=positionY*100/positionX
    speedZ=positionZ*100/positionX
    mX.run_to_rel_pos(position_sp=positionX,duty_cycle_sp=60,speed_sp=100,stop_action='hold')
    mY.run_to_rel_pos(position_sp=positionY,duty_cycle_sp=60,speed_sp=speedY,stop_action='hold')
    mZ.run_to_rel_pos(position_sp=positionZ,duty_cycle_sp=60,speed_sp=speedZ,stop_action='hold')

def setz():
    mZ.run_to_rel_pos(position_sp=70,duty_cycle_sp=50,speed_sp=100,stop_action='hold')

def lift():
    mZ.run_to_rel_pos(position_sp=-70,duty_cycle_sp=50,speed_sp=50,stop_action='hold')

motorxyz(100,10,0)~
time.sleep(2)~
setz()~
time.sleep(2)~
motorxyz(15,30,-30)#点~ 
time.sleep(2)~
motorz(-40)~
time.sleep(1)~
motorx(30)~
time.sleep(2)~
setz()~
time.sleep(2)~
motorxyz(-15,60,0)#縦~
time.sleep(2)~
lift()~
time.sleep(2)~
motorxyz(20,-85,0)~
time.sleep(2)~
setz()~
time.sleep(2)~
motorx(-110)#横~
time.sleep(2)~
motorxyz(20,75,0)#縦~
time.sleep(3)~
lift()~
time.sleep(2)~
motorxyz(90,-55,0)~
time.sleep(2)~
setz()~
time.sleep(2)~
motorx(-105)#横~
time.sleep(2)~
lift()~
time.sleep(2)~
motorxyz(95,45,0)~
time.sleep(2)~
setz()~
time.sleep(2)~
motorx(-100)#横~
time.sleep(2)~
lift()~
time.sleep(2)~
motorx(63)~
time.sleep(2)~
setz()~
time.sleep(2)~
motory(80)#縦~
time.sleep(2)~
motorxyz(20,-40,-55)#撥ね~
time.sleep(2)~
motorxyz(30,-60,0)~
time.sleep(2)~
setz()~
time.sleep(2)~
motorx(-70)#横~
time.sleep(2)~
motorxyz(105,120,-70)#払い~
time.sleep(3)~
motorxyz(-150,-125,0)~
time.sleep(2)~
setz()~
time.sleep(2)~
motorxyz(70,40,0)#斜め~
time.sleep(2)~
motorxyz(-80,70,-25)#斜め~
time.sleep(2)~
motorxyz(-15,5,-35)#払い~
time.sleep(1)~
motorz(-10)~
time.sleep(1)~
motorxyz(-20,-155,0)~
time.sleep(2)~
*結果 [#uc856581]
&ref(izumi.gif,);
&ref(DSC_0501.gif,);
*結果 [#mb32a968]


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