2017a/Member/oshimin/Mission3 の履歴ソース(No.1)

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• 差分 を表示
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• 2017a/Member/oshimin/Mission3 へ行く。
  • 1 (2017-08-09 (水) 12:40:08)
  • 2 (2017-08-09 (水) 12:42:57)
  • 3 (2017-08-10 (木) 17:37:32)
  • 4 (2017-08-11 (金) 08:02:39)
  • 5 (2017-08-12 (土) 02:34:42)
  • 6 (2017-08-12 (土) 16:56:44)
  • 7 (2017-08-12 (土) 17:21:43)

*課題３　17T2037H 押見　洋土 [#ref7fa70]
**課題３ [#b449e8b6]
[[課題３:http://yakushi.shinshu-u.ac.jp/robotics/?2017a%2FMission3]]
**ロボット [#pa4bfb32]
**プログラム [#w1c633b1]
#!/usr/bin/python3
# -*- coding:utf-8 -*-

import ev3dev.ev3 as ev3
import time

mR=ev3.LargeMotor('outA')
mL=ev3.LargeMotor('outB')
mT=ev3.LargeMotor('outC')
mA=ev3.LargeMotor('outD')
us=ev3.UltrasonicSensor('in1')
ts=ev3.TouchSensor('in2')
t1=time.time()
t2=time.time()
t3=time.time()
t4=time.time()
minimum=10000

def search():#seach for cans while spinning 
    global t1
    global t2
    global minimum
    while time.time()-t1<5:#search around
        mR.run_forever(duty_cycle_sp=50,speed_sp=-10)
        mL.run_forever(duty_cycle_sp=50,speed_sp=10)
        if minimum>=us.value():#not minimum
            minimum=us.value()
        if minimum<us.value():#minimum
            t2=time.time()
    while time.time()-t1>=5 and time.time()-t1<=5.5+t2 and us.value()>minimum:#research
        mR.run_forever(duty_cycle_sp=50,speed_sp=10)
        mL.run_forever(duty_cycle_sp=50,speed_sp=-10)
        
def catch():#catch the can
    global t3
    global t4
    t3=time.time()
    while us.value()>40:
        mR.run_forever(duty_cycle_sp=50,speed_sp=-100)
        mL.run_forever(duty_cycle_sp=50,speed_sp=-100)
        t4=time.time()
    else :
        mR.run_timed(time_sp=800,duty_cycle_sp=40,speed_sp=100)
        mL.run_timed(time_sp=800,duty_cycle_sp=40,speed_sp=100)
        time.sleep(1.5)
        mT.run_timed(time_sp=1000,duty_cycle_sp=40,speed_sp=100,stop_action='brake')
        time.sleep(1)
        mA.run_timed(time_sp=2000,duty_cycle_sp=30,speed_sp=100,stop_action='hold')
        time.sleep(2)
        mT.run_timed(time_sp=2000,duty_cycle_sp=40,speed_sp=-100,stop_action='hold')

def build():#pile the cans
    global t3
    global t4
    t3=time.time()
    while us.value()>40:
        mR.run_forever(duty_cycle_sp=50,speed_sp=-100)
        mL.run_forever(duty_cycle_sp=50,speed_sp=-100)
        t4=time.time()-t3
    else :
        mR.run_timed(time_sp=800,duty_cycle_sp=40,speed_sp=100)
        mL.run_timed(time_sp=800,duty_cycle_sp=40,speed_sp=100)
        time.sleep(1.5)
        mT.run_timed(time_sp=650,duty_cycle_sp=70,speed_sp=40,stop_action='hold')
        time.sleep(1.5)
        mA.run_timed(time_sp=2000,duty_cycle_sp=30,speed_sp=-100,stop_action='hold')
        time.sleep(1.5)
        mR.run_timed(time_sp=1200,duty_cycle_sp=40,speed_sp=100)
        mL.run_timed(time_sp=1200,duty_cycle_sp=40,speed_sp=100)
        time.sleep(1.5)
        mT.run_timed(time_sp=2000,duty_cycle_sp=70,speed_sp=30,stop_action='brake')
        time.sleep(2)
        mA.run_timed(time_sp=2000,duty_cycle_sp=30,speed_sp=100,stop_action='hold')
        time.sleep(2)
        mT.run_timed(time_sp=710,duty_cycle_sp=40,speed_sp=-100,stop_action='hold')

def end():#get out of the goal
    mR.run_timed(time_sp=1000,duty_cycle_sp=50,speed_sp=200)
    mL.run_timed(time_sp=1000,duty_cycle_sp=50,speed_sp=200)

for loop in [0]:
    search()
    mR.stop()
    mL.stop()
    time.sleep(2)
    catch()
    time.sleep(2)
    time.sleep(3)
for loop in [0]:
    t1=time.time()
    search()
    mR.stop()
    mL.stop()
    time.sleep(2)
    build()
    time.sleep(2)
mR.run_timed(time_sp=3000,duty_cycle_sp=50,speed_sp=-55)
mL.run_timed(time_sp=3000,duty_cycle_sp=50,speed_sp=-120)
time.sleep(3)
mR.run_timed(time_sp=1500,duty_cycle_sp=50,speed_sp=-200)
mL.run_timed(time_sp=1500,duty_cycle_sp=50,speed_sp=-200)
time.sleep(3)
mR.stop()
mL.stop()
mA.run_timed(time_sp=1000,duty_cycle_sp=30,speed_sp=-40)
time.sleep(3)
mA.run_timed(time_sp=2000,duty_cycle_sp=30,speed_sp=-110,stop_action='brake')
end()
time.sleep(2)
mT.reset()