[[2018a/Member]] #!/usr/bin/env python3 from ev3dev.ev3 import * from time import sleep mA = MediumMotor('outA') mH = LargeMotor('outB') mR = LargeMotor('outC') mL = LargeMotor('outD') cs = ColorSensor('in1') cs.mode = 'COL-REFLECT' mA.reset() mH.reset() mR.reset() mL.reset() def move_position(R,L,s): mR.run_to_rel_pos(position_sp=R, speed_sp=50, stop_action='brake') mL.run_to_rel_pos(position_sp=L, speed_sp=50, stop_action='brake') sleep(s) def move_arm(x,s): mA.run_to_rel_pos(position_sp=x, speed_sp=100, stop_action='brake') sleep(s) def move_high(x,s): mH.run_to_rel_pos(position_sp=x, speed_sp=130, stop_action='brake') sleep(s) def move_straight(): t0 = time.time() while time.time() - t0 < 0.3: mR.run_to_rel_pos(position_sp=20, speed_sp=50, stop_action='brake') mL.run_to_rel_pos(position_sp=20, speed_sp=50, stop_action='brake') if cs.value() >= 75: t0 = time.time() move_position(920,920,18) move_position(180,-180,8) move_position(360,360,10) move_straight() move_arm(700,6) move_position(380,-380,11) move_arm(-300,6) move_high(1500,15) move_arm(300,6) move_high(800,10) move_position(-200,200,8) move_high(-2300,16) move_position(-150,135,8) move_arm(-300,6) mA.reset() mH.reset() mR.reset() mL.reset()