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**¥×¥í¥°¥é¥à [#qe1ea633]
 #!/usr/bin/python3
 # -*- coding:utf-8 -*-

 import ev3dev.ev3 as ev3
 import time

 mR=ev3.LargeMotor('outA')
 mL=ev3.LargeMotor('outB')
 t0=time.time()#°ìÊý¸þ¤Î¥«¡¼¥Ö»þ´Ö
 t1=time.time()#¸òº¹ÅÀȽÄê¤ÎºÇÄã»þ´Ö´Ö³Ö¤òÊݤĤ¿¤á¤Î»þ´Ö
 t2=time.time()#¸òº¹ÅÀ¤Ç¤ÎÆ°ºî¤ò»Ê¤ë»þ´Ö
 cs=ev3.ColorSensor('in3')
 tsR=ev3.TouchSensor('in1')
 tsL=ev3.TouchSensor('in2')
 modeA = 0#¥«¡¼¥Ö¤ÎÊý¸þ¤ò·èÄꤹ¤ë·¿
 modeB = 1#modeA¤ËÁ°²ó¤Î¥«¡¼¥Ö¤ÎÊý¸þ¤ò¥Õ¥£¡¼¥É¥Ð¥Ã¥¯¤¹¤ëÊÑ¿ô
 modeC = 0#¸òº¹ÅÀ¤ÎÈÖ¹æ¤ò¥«¥¦¥ó¥È¤¹¤ëÊÑ¿ô
ÊÑ¿ô¤ÎÄêµÁ¤È¥â¡¼¥¿¡¢¥»¥ó¥µ¤ÎƳÆþ
¡¡ÊÑ¿ô¤ÎÄêµÁ¤È¥â¡¼¥¿¡¢¥»¥ó¥µ¤ÎƳÆþ
 mL.run_timed(time_sp=2000,duty_cycle_sp=50,speed_sp=100,stop_action='brake')
 mR.run_timed(time_sp=2000,duty_cycle_sp=50,speed_sp=100,stop_action='brake')    
 time.sleep(2)
½é¤á¤Î¥¹¥¿¡¼¥ÈÃÏÅÀ¤«¤é̵¾ò·ï¤ÇÁ°¿Ê¤¹¤ë¡£¤³¤Î¥¹¥¿¡¼¥È¤ò¤·¤Ê¤¤¤ÈÇò¤¤ÃÏÅÀ¤ÈȽÃǤ·¤Æ¤°¤ë¤°¤ë²ó¤Ã¤Æ¤·¤Þ¤¦¡£
¡¡½é¤á¤Î¥¹¥¿¡¼¥ÈÃÏÅÀ¤«¤é̵¾ò·ï¤ÇÁ°¿Ê¤¹¤ë¡£¤³¤Î¥¹¥¿¡¼¥È¤ò¤·¤Ê¤¤¤ÈÇò¤¤ÃÏÅÀ¤ÈȽÃǤ·¤Æ¤°¤ë¤°¤ë²ó¤Ã¤Æ¤·¤Þ¤¦¡£
 for loop in range(100000):
    if tsR.value()==1 or tsL.value()==1:
        break
forʸ¤ÇÆ°ºî¤ò¥ë¡¼¥×¤µ¤»¡¢¥¿¥Ã¥Á¥»¥ó¥µ¤ËÈ¿±þ¤¬¤¢¤ë¤È¶ÛµÞÄä»ß¤¹¤ë¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡£
¡¡forʸ¤ÇÆ°ºî¤ò¥ë¡¼¥×¤µ¤»¡¢¥¿¥Ã¥Á¥»¥ó¥µ¤ËÈ¿±þ¤¬¤¢¤ë¤È¶ÛµÞÄä»ß¤¹¤ë¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡£
    if cs.value()>55 and cs.value()<=60:
        mL.run_forever(duty_cycle_sp=50,speed_sp=120)
        mR.run_forever(duty_cycle_sp=50,speed_sp=120)
        t0=time.time()
        t2=time.time() 
ïçÃͤòÀßÄꤷ¤Æ¡¢Áö¹Ô¤Î³ÑÅÙ¤ò4¥Ñ¥¿¡¼¥óÍÑ°Õ¤·¤¿¡£É¬ÍפʤȤ³¤í¤ÏÁö¹Ô¶è²è¡ÊmodeC¡Ë¤Ë¤è¤Ã¤Æº¸±¦¤Îȿž¤ò¤·¤Æ¤¤¤ë¡£¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬(55,60]¤Î»þ¤Ïľ¿Ê
¡¡ïçÃͤòÀßÄꤷ¤Æ¡¢Áö¹Ô¤Î³ÑÅÙ¤ò4¥Ñ¥¿¡¼¥óÍÑ°Õ¤·¤¿¡£É¬ÍפʤȤ³¤í¤ÏÁö¹Ô¶è²è¡ÊmodeC¡Ë¤Ë¤è¤Ã¤Æº¸±¦¤Îȿž¤ò¤·¤Æ¤¤¤ë¡£¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬(55,60]¤Î»þ¤Ïľ¿Ê
    elif cs.value()>37 and cs.value()<=55:
¥«¥é¡¼¥»¥ó¥µ(37,55]¤Î»þ
¡¡¥«¥é¡¼¥»¥ó¥µ(37,55]¤Î»þ
        if modeC==3 or modeC==2:
            mL.run_forever(duty_cycle_sp=50,speed_sp=60)
            mR.run_forever(duty_cycle_sp=50,speed_sp=100)
            t0=time.time()
            t2=time.time()
¥Á¥§¥Ã¥¯¥Ý¥¤¥ó¥È­¢­£¤Î»þ¡¢º¸¤Ë¾®¤µ¤¯µ°Æ»¤ò½¤Àµ
¡¡¥Á¥§¥Ã¥¯¥Ý¥¤¥ó¥È­¢­£¤Î»þ¡¢º¸¤Ë¾®¤µ¤¯µ°Æ»¤ò½¤Àµ
        elif modeC!=2 and modeC!=3:
            mL.run_forever(duty_cycle_sp=50,speed_sp=100)
            mR.run_forever(duty_cycle_sp=50,speed_sp=60)
            t0=time.time()
            t2=time.time()
­¢­£°Ê³°¤Ç¡¢±¦¤Ë¾®¤µ¤¯µ°Æ»¤ò½¤Àµ
¡¡­¢­£°Ê³°¤Ç¡¢±¦¤Ë¾®¤µ¤¯µ°Æ»¤ò½¤Àµ
    elif cs.value()>26 and cs.value()<=37:
¥«¥é¡¼¥»¥ó¥µ(26,37]¤Î»þ
¡¡¥«¥é¡¼¥»¥ó¥µ(26,37]¤Î»þ
        if modeC==3 or modeC==2:
            mL.run_forever(duty_cycle_sp=50,speed_sp=0)
            mR.run_forever(duty_cycle_sp=50,speed_sp=100)
            t0=time.time()
            t2=time.time()
¥Á¥§¥Ã¥¯¥Ý¥¤¥ó¥È­¢­£¤Î»þ¡¢º¸¤ËÀû²ó
¡¡¥Á¥§¥Ã¥¯¥Ý¥¤¥ó¥È­¢­£¤Î»þ¡¢º¸¤ËÀû²ó
        elif modeC!=2 and modeC!=3:
            mL.run_forever(duty_cycle_sp=50,speed_sp=100)
            mR.run_forever(duty_cycle_sp=50,speed_sp=0)
            t0=time.time()
            t2=time.time()
­¢­£°Ê³°¤Î»þ¡¢±¦¤ËÀû²ó
¡¡­¢­£°Ê³°¤Î»þ¡¢±¦¤ËÀû²ó
    elif cs.value()>14 and cs.value()<=26:
¥«¥é¡¼¥»¥ó¥µ(14,26]¤Î»þ
¡¡¥«¥é¡¼¥»¥ó¥µ(14,26]¤Î»þ
        if modeC==3 or modeC==2:
            mL.run_forever(duty_cycle_sp=50,speed_sp=-70)
            mR.run_forever(duty_cycle_sp=50,speed_sp=100)
            t0=time.time()
            t2=time.time()
¥Á¥§¥Ã¥¯¥Ý¥¤¥ó¥È­¢­£¤Î»þ¡¢º¸¤ËµÞÀû²ó
¡¡¥Á¥§¥Ã¥¯¥Ý¥¤¥ó¥È­¢­£¤Î»þ¡¢º¸¤ËµÞÀû²ó
        elif modeC!=2 and modeC!=3:
            mL.run_forever(duty_cycle_sp=50,speed_sp=100)
            mR.run_forever(duty_cycle_sp=50,speed_sp=-70)
            t0=time.time()
            t2=time.time()
­¢­£°Ê³°¤Î»þ¡¢±¦¤ËµÞÀû²ó
¡¡­¢­£°Ê³°¤Î»þ¡¢±¦¤ËµÞÀû²ó
    if time.time()-t0<=1.8:
        modeA=modeB#¥Õ¥£¡¼¥É¥Ð¥Ã¥¯
        if modeA==0 and cs.value()>60 and modeC!=3 and modeC!=2:
            mL.run_forever(duty_cycle_sp=50,speed_sp=100)
            mR.run_forever(duty_cycle_sp=50,speed_sp=25)#Çò¸¡ÃΡ¡±¦¸þ¤­¤Ëµ°Æ»½¤Àµ
            modeB=0
        elif modeA==1 and cs.value()>60 and modeC!=3 and modeC!=2:
            mL.run_forever(duty_cycle_sp=50,speed_sp=25)
            mR.run_forever(duty_cycle_sp=50,speed_sp=100)#Çò¸¡ÃΡ¡º¸¸þ¤­¤Ëµ°Æ»½¤Àµ
            modeB=1
        elif modeA==0 and cs.value()>60:
            if modeC==2 or modeC==3:
                mL.run_forever(duty_cycle_sp=50,speed_sp=100)
                mR.run_forever(duty_cycle_sp=50,speed_sp=25)#Çò¸¡ÃΡ¡±¦¸þ¤­¤Ëµ°Æ»½¤Àµ
                modeB=0
Çò¤¤ÃÏÅÀ¤Ë¤¤¤ë¤È¤­¡¢°ìÄê»þ´ÖÆâ¤Ï¹õÀþ¤òõÃΤ¹¤ë¤Þ¤ÇÀû²ó¡£Æ±¤¸Êý¸þ¤Ë¶Ê¤¬¤ê³¤±¤ë¤¿¤ámodeB¤ÏmodeA¤ÈƱ¤¸¤Ë¤·¤Æ¡¢¥Õ¥£¡¼¥É¥Ð¥Ã¥¯¤ÇmodeA¤ÎÃͤϰìÄê»þ´ÖÆâ¤ÏÊѤï¤é¤Ê¤¤¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡£
¡¡Çò¤¤ÃÏÅÀ¤Ë¤¤¤ë¤È¤­¡¢°ìÄê»þ´ÖÆâ¤Ï¹õÀþ¤òõÃΤ¹¤ë¤Þ¤ÇÀû²ó¡£Æ±¤¸Êý¸þ¤Ë¶Ê¤¬¤ê³¤±¤ë¤¿¤ámodeB¤ÏmodeA¤ÈƱ¤¸¤Ë¤·¤Æ¡¢¥Õ¥£¡¼¥É¥Ð¥Ã¥¯¤ÇmodeA¤ÎÃͤϰìÄê»þ´ÖÆâ¤ÏÊѤï¤é¤Ê¤¤¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡£
        elif cs.value()<=60 and cs.value()>17 and time.time()-t0>0.9:
            ev3.Sound.play('tyokkaku.wav')
            mR.stop()
            mL.stop()
            time.sleep(1)
            modeC+=1
        t2=time.time()
ÀßÄꤷ¤¿»þ´ÖÈÏ°ÏÆâ¤Ë2²ó¹õÀþ¾å¤Ë¾è¤Ã¤¿¤È¤­Ä¾³Ñ¤ÈȽÃǤ¹¤ë¡£
¡¡ÀßÄꤷ¤¿»þ´ÖÈÏ°ÏÆâ¤Ë2²ó¹õÀþ¾å¤Ë¾è¤Ã¤¿¤È¤­Ä¾³Ñ¤ÈȽÃǤ¹¤ë¡£
    elif cs.value()>60:
        if modeA==1:
            mL.run_forever(duty_cycle_sp=50,speed_sp=100)
            mR.run_forever(duty_cycle_sp=50,speed_sp=0)#Çò¸¡ÃΡ¡±¦¸þ¤­¤ËÀû²ó
            modeB=0
        elif modeA==0:
            mL.run_forever(duty_cycle_sp=50,speed_sp=0)
            mR.run_forever(duty_cycle_sp=50,speed_sp=100)#Çò¸¡ÃΡ¡º¸¸þ¤­¤ËÀû²ó
            modeB=1
        t2=time.time()
Çò¤ÎÀû²ó¤¬°ìÄê»þ´Ö¤òĶ¤¨¤ë¤ÈµÕ¸þ¤­¤ËÀû²ó¤¹¤ë¡£¤³¤Á¤é¤ÏmodeB¤ÏmodeA¤ÈµÕ¤ÎÃͤˤ·¤Æ¡¢¼¡²ó¤ÎÇò¤ÎÀû²ó¤ÎÊý¸þ¤ò·èÄꤹ¤ë¡£¤³¤³¤Ç¤ÏmodeA¤Ï·èÄêºÑ¤ß¤Ç¡¢modeB¤Ë´Ø·¸¤Ê¤¯Àû²ó¤¹¤ë¤¿¤á¥Õ¥£¡¼¥É¥Ð¥Ã¥¯¤Ï¤Ê¤¤¡£
¡¡Çò¤ÎÀû²ó¤¬°ìÄê»þ´Ö¤òĶ¤¨¤ë¤ÈµÕ¸þ¤­¤ËÀû²ó¤¹¤ë¡£¤³¤Á¤é¤ÏmodeB¤ÏmodeA¤ÈµÕ¤ÎÃͤˤ·¤Æ¡¢¼¡²ó¤ÎÇò¤ÎÀû²ó¤ÎÊý¸þ¤ò·èÄꤹ¤ë¡£¤³¤³¤Ç¤ÏmodeA¤Ï·èÄêºÑ¤ß¤Ç¡¢modeB¤Ë´Ø·¸¤Ê¤¯Àû²ó¤¹¤ë¤¿¤á¥Õ¥£¡¼¥É¥Ð¥Ã¥¯¤Ï¤Ê¤¤¡£
    if cs.value()<=14 and time.time()-t1>3:
        while time.time()-t2<=1:
            mL.stop()
            mR.stop()
        modeC += 1
¡¡¸òº¹ÅÀ¤ÈȽÃǤ¹¤ë¤È³Æ¥Á¥§¥Ã¥¯¥Ý¥¤¥ó¥È¤Ç¥«¥¦¥ó¥ÈÍÑÊÑ¿ô¡ÊmodeC¡Ë¤ò£±Áý²Ã¤µ¤»¡¢°ìÅÙ¥¹¥È¥Ã¥×¤µ¤»¤ë¡£
        while time.time()-t2>1 and time.time()-t2<=3:
            if modeC==1:#­¡
                ev3.Sound.play('tziro.wav')
                mL.run_timed(time_sp=210,duty_cycle_sp=50,speed_sp=170,stop_action='brake')
                mR.run_timed(time_sp=210,duty_cycle_sp=50,speed_sp=-80,stop_action='brake')
¡¡¥Ý¥¤¥ó¥È­¡¤ÎÆ°ºî¡§±¦¤Ëľ³Ñ¤Ë¶Ê¤¬¤ë
            elif modeC==2 or modeC==7:­¢­§                
                ev3.Sound.play('tziro.wav')
                mL.run_timed(time_sp=400,duty_cycle_sp=50,speed_sp=-50,stop_action='brake')
                mR.run_timed(time_sp=400,duty_cycle_sp=50,speed_sp=110,stop_action='brake')
¡¡¥Ý¥¤¥ó¥È­¢­§¤ÎÆ°ºî¡§º¸¤Ë¹õÀþ¤ò²£Àڤäƥµ¡¼¥¯¥ë¤Îº¸Â¦¤Ø°ÜÆ°
            elif modeC==3 or modeC==8:­£­¨
                ev3.Sound.play('tziro.wav')
                mL.run_timed(time_sp=400,duty_cycle_sp=50,speed_sp=165,stop_action='brake')
                mR.run_timed(time_sp=400,duty_cycle_sp=50,speed_sp=70,stop_action='brake')
                while time.time()-t2>2 and cs.value()>70:
                    mL.run_forever(duty_cycle_sp=50,speed_sp=140)
                    mR.run_forever(duty_cycle_sp=50,speed_sp=50)
¡¡¥Ý¥¤¥ó¥È­£­¨¤ÎÆ°ºî¡§¥Ý¥¤¥ó¥È¤Î¹õÀþ¤òÄ̤êÈ´¤±¡¢±¦Â¦¤ËÊý¸þ¤ò¶Ê¤²¤ë
            elif modeC==4 or modeC==9:­¤­©
                ev3.Sound.play('tziro.wav')
                mL.run_timed(time_sp=800,duty_cycle_sp=50,speed_sp=40,stop_action='brake')
                mR.run_timed(time_sp=800,duty_cycle_sp=50,speed_sp=150,stop_action='brake')
¡¡¥Ý¥¤¥ó¥È­¤­©¤ÎÆ°ºî¡§¥Ý¥¤¥ó¥È¤Î¹õÀþ¤òÄ̤êÈ´¤±¡¢º¸Â¦¤Ëľ³Ñ¤Ë¶Ê¤¬¤ë
            elif modeC==5 or modeC==6 or modeC==10:­¥­¦­ª            
                ev3.Sound.play('kousaten.wav')
                mL.run_timed(time_sp=500,duty_cycle_sp=50,speed_sp=100,stop_action='brake')
                mR.run_timed(time_sp=500,duty_cycle_sp=50,speed_sp=100,stop_action='brake')
            t0=time.time()
            t1=time.time()
¡¡¥Ý¥¤¥ó¥È­¥­¦­ª¤ÎÆ°ºî¡§¥Ý¥¤¥ó¥È¤Î¹õÀþ¤òÄ̤êÈ´¤±¤ë¡£
#ref(route.png)
¡¡¹õÀþ¾å¤Ë¾è¤Ã¤¿¾ì¹ç¤Ë¸òº¹ÅÀ¤ÈȽÃǤ¹¤ë¡£ïçÃͤǤÀ¤¤¤ÖÀþ¤«¤éÎ¥¤ì¤ÆÁö¹Ô¤·¤Æ¤¤¤ë¤¿¤á¡¢¤³¤Î¥·¥ó¥×¥ë¤ÊÊýË¡¤Ç¤âÀµ³ÎÀ­¤Ï¹â¤¤¡£~
¡¡³Æ¡¹¤Î¥Ý¥¤¥ó¥È¤ÎÆ°ºî¤ò¤¹¤ë¡£»÷¤¿·Á¾õ¤Î¥Ý¥¤¥ó¥È¤ÏÆ°ºî¤âƱ¤¸¤Ë¤·¤ÆÌäÂê¤Ê¤¤¤¿¤á¡¢Ê£¿ô¤Î¥Ý¥¤¥ó¥È¤ò¤Þ¤È¤á¤Æʬ¤±¤¿¡£²»À¼¤Ï¤æ¤Ã¤¯¤ê¤ò»ÈÍѤ·¤¿¡£
    elif cs.value()<=14 and time.time()-t2<=3:
        mL.run_forever(duty_cycle_sp=50,speed_sp=100)
        mR.run_forever(duty_cycle_sp=50,speed_sp=-70)
        t0=time.time()
        t2=time.time()
¥Á¥§¥Ã¥¯¥Ý¥¤¥ó¥È¤ÈȽÃǤ·¤Æ¤«¤é°ìÄê»þ´Ö¤Ï¼¡¤Î¥Á¥§¥Ã¥¯¥Ý¥¤¥ó¥È¤Ï¤Ê¤¤¤È¤·¤Æ¡¢µ°Æ»¤ò¶Ê¤²¤ë¡£~
¡¡¥Á¥§¥Ã¥¯¥Ý¥¤¥ó¥È¤ÈȽÃǤ·¤Æ¤«¤é°ìÄê»þ´Ö¤Ï¼¡¤Î¥Á¥§¥Ã¥¯¥Ý¥¤¥ó¥È¤Ï¤Ê¤¤¤È¤·¤Æ¡¢µ°Æ»¤ò¶Ê¤²¤ë¡£
¡¡mR.stop()~
¡¡mL.stop()


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