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#contents
*Mission2 [#g4cc89ea]
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**ÌÜɸ [#h71693b9]
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*¥í¥Ü¥Ã¥È [#pd8bb293]
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¡mA = MediumMotor('outA')
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¢mR = LargeMotor('outB')
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£mL = LargeMotor('outC')
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¤cs = ColorSensor('in1')
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*¥×¥í¥°¥é¥à [#qd85b783]
#!/usr/bin/env python3¡¡¡¡¡¡¥í¥Ü¥Ã¥È¤òÆ°¤«¤¹¤¿¤á¤Î´ðËÜŪ¤Ê¥×¥í¥°¥é¥à
#!/usr/bin/env python3
from ev3dev.ev3 import *
from time import sleep
from time import sleep#¥í¥Ü¥Ã¥È¤òÆ°¤«¤¹¤¿¤á¤Î´ðËÜŪ¤Ê¥×¥í¥°¥é¥à
mA = MediumMotor('outA')
mR = LargeMotor('outB')
mL = LargeMotor('outC')
cs = ColorSensor('in1')¡¡¥×¥í¥°¥é¥àÃæ¤Ç¤Î¥»¥ó¥µ¡¼¤ä¥â¡¼¥¿¡¼¤Î¸Æ¤Ó̾
cs = ColorSensor('in1')#Á°½Ò¤Î¥â¡¼¥¿¡¼¤ä¥»¥ó¥µ¡¼
cs.mode = 'COL-REFLECT'
Itime = 1.8#¥»¥ó¥µ¡¼¤ÎÀßÄê¡¥ÌÀ¤ë¤µ¡ÊÇò¤È¹õ¡Ë¤òȽÊ̤·
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def move_forward():
mR.run_forever(speed_sp=-400, stop_action='brake')
mL.run_forever(speed_sp=-400, stop_action='brake')Á°¿Ê¤¹¤ë¥×¥í¥°¥é¥à
def move_foward():
mR.run_forever(speed_sp=100, stop_action='brake')
mL.run_forever(speed_sp=100, stop_action='brake')
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def move_right1():
mR.run_forever(speed_sp=-300, stop_action='brake')
mL.run_forever(speed_sp=-400, stop_action='brake')
mR.run_forever(speed_sp=60, stop_action='brake')
mL.run_forever(speed_sp=90, stop_action='brake')
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def move_right2():
mR.run_forever(speed_sp=-100, stop_action='brake')
mL.run_forever(speed_sp=-400, stop_action='brake')
mR.run_forever(speed_sp=35, stop_action='brake')
mL.run_forever(speed_sp=90, stop_action='brake')
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def move_right3():
mR.run_forever(speed_sp=200, stop_action='brake')
mL.run_forever(speed_sp=-200, stop_action='brake')
mR.run_forever(speed_sp=-45, stop_action='brake')
mL.run_forever(speed_sp=80, stop_action='brake')
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def turn_right():
mR.run_forever(speed_sp=-80, stop_action='brake')
mL.run_forever(speed_sp=80, stop_action='brake')
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def move_left1():
mR.run_forever(speed_sp=-400, stop_action='brake')
mL.run_forever(speed_sp=-300, stop_action='brake')
mR.run_forever(speed_sp=90, stop_action='brake')
mL.run_forever(speed_sp=60, stop_action='brake')¡¡
def move_left2():
mR.run_forever(speed_sp=-100, stop_action='brake')
mL.run_forever(speed_sp=-400, stop_action='brake')
mR.run_forever(speed_sp=90, stop_action='brake')
mL.run_forever(speed_sp=35, stop_action='brake')
move_right¤Îº¸ÈÇ
def move_left3():
mR.run_forever(speed_sp=-200, stop_action='brake')
mL.run_forever(speed_sp=200, stop_action='brake')
def turn_left():
mR.run_forever(speed_sp=80, stop_action='brake')
mL.run_forever(speed_sp=-80, stop_action='brake')
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def stop():
mR.run_timed(time_sp=0, speed_sp=0, stop_action='coast')
mL.run_timed(time_sp=0, speed_sp=0, stop_action='coast')
mR.run_timed(time_sp=0, speed_sp=0, stop_action='coast')
mL.run_timed(time_sp=0, speed_sp=0, stop_action='coast')
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def along_right()
if cs<
def armturn(t):
mA.run_to_rel_pos(position_sp=t, speed_sp=300, stop_action='hold')
sleep(1)
mA.run_to_rel_pos(position_sp=t, speed_sp=70, stop_action='brake')
sleep(1)#¥¢¡¼¥à¤ò¾å²¼¤µ¤»¤ë
def toresu_right():#¹õÀþ¤Î±¦Ã¼¤ò¤Ê¤¾¤Ã¤ÆÁö¤ë
t0 = time.time()
while time.time() - t0 < Itime:
if 80 < cs.value(0):
move_left3()
t0 = time.time()
if 60 < cs.value(0) < 80:
move_left2()
t0 = time.time()
if 45 < cs.value(0) < 60:
move_left1()
t0 = time.time()
if 40 < cs.value(0) < 45:
move_foward()
t0 = time.time()
if 40 < cs.value(0) < 45:
move_right1()
if 35 < cs.value(0) < 40:
move_right2()
if cs.value(0) < 35:
move_right3()#ÌÀ¤ë¤µ(cs.value¤ÎÃͤÎÂ礤µ)¤Ë¤è¤Ã¤ÆÁ°½Ò¤Î´Ø¿ô¤¿¤Á¤òÀÚ¤êÂؤ¨¤ÆºîÆ°¤µ¤»¤Æ¤¤¤ë
def toresu_left():#¾å¤ÈƱÍͺ¸Â¦¤ò¤Ê¤¾¤ë
t0 = time.time()
while time.time() - t0 < Itime:
if 80 < cs.value(0):
move_right3()
t0 = time.time()
if 60 < cs.value(0) < 80:
move_right2()
t0 = time.time()
if 45 < cs.value(0) < 60:
move_right1()
t0 = time.time()
if 40 < cs.value(0) < 45:
move_foward()
t0 = time.time()
if 40 < cs.value(0) < 45:
move_left1()
if 35 < cs.value(0) < 40:
move_left2()
if cs.value(0) < 35:
move_left3()
def return_toresu_left(R,L):#R,L¤Ï¤½¤ì¤¾¤ìº¸±¦¤Î¥¿¥¤¥ä¤Î¥¹¥Ô¡¼¥É
mR.run_to_rel_pos(position_sp=R, speed_sp=100, stop_action='brake')
mL.run_to_rel_pos(position_sp=L, speed_sp=100, stop_action='brake')
sleep(3.5)
while cs.value(0) > 45:
move_right1()#¹õÀþ¤«¤éÂ礤¯³°¤ì¤¿¤È¤Àþ¤ËÌá¤ë¤¿¤á¤Î´Ø¿ô
def return_toresu_right(R,L):
mR.run_to_rel_pos(position_sp=R, speed_sp=100, stop_action='brake')
mL.run_to_rel_pos(position_sp=L, speed_sp=100, stop_action='brake')
sleep(4)
while cs.value(0) > 45:
move_left1()#¾å¤ËƱ¤¸
def return_circle_right():
mR.run_to_rel_pos(position_sp=180, speed_sp=80, stop_action='brake')
sleep(4)
while cs.value(0) > 45:
mR.run_forever(speed_sp=100, stop_action='brake')
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mR.reset()
mL.reset()
mA.reset()
def return_circle_left():
mL.run_to_rel_pos(position_sp=180, speed_sp=80, stop_action='brake')
sleep(4)
while cs.value(0) > 45:
mL.run_forever(speed_sp=100, stop_action='brake')#¾å¤ËƱ¤¸
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return_toresu_right(180,180)
toresu_right()
toresu_left()
stop()
sleep(1)
armturn(30)
sleep(1)
toresu_left()
return_circle_left()
stop()
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