¢¨ÊÔ½¸Ãæ

#contents
*Mission2 [#g4cc89ea]
**²ÝÂê [#s94f1aec]

²¼¿Þ¤Î¹õÀþ¤òÄ󼨤µ¤ì¤¿¥ë¡¼¥ëÄ̤ê¤Ë±è¤Ã¤ÆÆ°¤¯¥í¥Ü¥Ã¥È¤ÎºîÀ®¡£&br;&ref(2017a/Member/kyo/Mission2/2017a-mission2.png,60%);&br;¾Ü¤·¤¤ÆâÍƤÏ[[2018a/Mission2]]¤ò»²¾È¡£
**ÌÜɸ [#h71693b9]
²ÝÂê¤ËÎפà¤Ë¤¢¤¿¤Ã¤Æº£²ó¤Ï¥×¥í¥°¥é¥à¤ò¤è¤ê´Êñ¤Ë¤¹¤ë¤È¤¤¤¦¤³¤È¤òÌÜɸ¤Ë¤·¤¿¡£Á°²ó¤Î²ÝÂ꣱¤Ç¤Ï¥µ¥Ö¥ë¡¼¥Á¥ó¤ä°ú¿ô¤ò¤¢¤Þ¤ê»È¤¦¤³¤È¤¬¤Ç¤­¤Ê¤«¤Ã¤¿¤Î¤Çº£²ó¤Ï¤½¤ì¤é¤ò»È¤Ã¤Æ¤¤¤±¤ì¤Ð¤È»×¤¤Îפó¤À¡£

*¥í¥Ü¥Ã¥È [#pd8bb293]
&ref(2018a/Member/montbell/Mission2/IMG_20180719_001833.jpg,30%,Mission2 );
&ref(2018a/Member/montbell/Mission2/IMG_20180719_001944.jpg,30%,Mission2 );
&ref(2018a/Member/montbell/Mission2/IMG_20180719_002013.jpg,30%,Mission2 );

­¡mA = MediumMotor('outA')
¡¡¡¡

¡¡¡¡´Ì¤ò¥­¥ã¥Ã¥Á¤¹¤ë¥¢¡¼¥à¤òÆ°ºî¤µ¤»¤ë¤¿¤á¤Î¥â¡¼¥¿¡¼¡£
¡¡¡¡ºîÆ°¤µ¤»¤ë¤È»Í³Ñ¤¤ÏȾå¤Î¥¢¡¼¥à¤¬¹ß¤ê¡¤´Ì¤ò°Ï¤à¤è¤¦¤Ë¤·¤ÆÊÝ»ý¤¹¤ë¡¥


­¢mR = LargeMotor('outB')

¡¡¡¡¿Ê¹ÔÊý¸þ±¦Â¦¤Î¥¿¥¤¥ä¤òÆ°¤«¤¹¥â¡¼¥¿¡¼¡£


­£mL = LargeMotor('outC')

¡¡¡¡¿Ê¹ÔÊý¸þº¸Â¦¤Î¥¿¥¤¥ä¤òÆ°¤«¤¹¥â¡¼¥¿¡¼¡£


­¤cs = ColorSensor('in1')

¡¡¡¡ÃÏÌ̤理òȽÊ̤¹¤ë¥»¥ó¥µ¡£¤³¤ì¤ò»ÈÍѤ·¹õ¤¤Àþ¤òȽÊ̤µ¤»¤ë¡£
*¥×¥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·
 £±¡¥£¸Éôֹõ¤òǧ¼±¤·Â³¤±¤ë¤È¸å½Ò¤¹¤ëÍÍ¡¹¤Ê´Ø¿ô¤¬ºîÆ°¤¹¤ë¡¥

 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')
 Á°¤Ë¿Ê¤ß³¤±¤ë´Ø¿ô

 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')
 ¶Ï¤«¤Ë±¦¤Ë¸þ¤«¤¤¤Ê¤¬¤éÁ°¿Ê¤¹¤ë

 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')
 ¾¯¤·±¦¤Ë¸þ¤«¤¤¤Ê¤¬¤éÁ°¿Ê

 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')
 Â礭¤¯±¦Á°Êý¤Ë¸þ¤«¤¦

 def turn_right():
    mR.run_forever(speed_sp=-80, stop_action='brake')
    mL.run_forever(speed_sp=80, stop_action='brake')
 ¥í¥Ü¥Ã¥ÈËÜÂΤò±¦¤Ë90ÅÙ¥¿¡¼¥ó¤¹¤ë

 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')
 º¸¤Ë¥¿¡¼¥ó

 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')
 Á´¤Æ¤Î¥¿¥¤¥ä¤ÎÆ°ºî¤òÄä»ß¤µ¤»¤ë

 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礭¤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礭¤¯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')
 ¾å¤Î´Ø¿ô¤ÈƱÍͤÎÌÜŪ¤À¤¬¤³¤Á¤é¤Ï±ß¸Ì¤Ë³°Â¦¤«¤éÉüµ¢¤¹¤ë¤¿¤á¤Î¤â¤Î

 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¤¸


°Ê¹ß¤Ï´Ø¿ô¤òÁȤ߹ç¤ï¤»¤Æ¥í¥Ü¥Ã¥È¤Ë½Ð¤·¤¿Ì¿Îá¤Ç¤¢¤ë¡¥


 return_toresu_right(180,180)
 toresu_right()
 toresu_left()
 stop()
 sleep(1)
 armturn(30)
 sleep(1)
 toresu_left()
 return_circle_left()
 stop()




*´¶ÁÛ¡¦¹Í»¡ [#q53e94fb]
º£²ó¤Ï²ÝÂê¤òãÀ®¤Ç¤­¤Ê¤«¤Ã¤¿¡¥
°ì¤ÄÌܤζʤ¬¤ê³Ñ¤ò¶Ê¤¬¤ê¡¤´Ì¤òÊÝ»ý¤¹¤ëÃʳ¬¤«¤éÀè¤Ø¤Ï¿Ê¤á¤Ê¤«¤Ã¤¿¡¥

¤³¤ì¤Ïºî¶È¤Î»þ´Ö¤ò½½Ê¬¤Ë³ÎÊݤǤ­¤Ê¤«¤Ã¤¿¤¿¤á¤Ç¤¢¤ë¡¥
¼¡²ó¤Ï¥Á¡¼¥à¥á¥¤¥È¤È¶¨ÎϤ·¤Æ¸úΨ¤è¤¯À©ºî¤Ë¼è¤êÁȤߤ¿¤¤¡¥


¥È¥Ã¥×   ¿·µ¬ °ìÍ÷ ¸¡º÷ ºÇ½ª¹¹¿·   ¥Ø¥ë¥×   ºÇ½ª¹¹¿·¤ÎRSS