*課題3 [#ref7fa70] **課題内容 [#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()