#contents
*Mission2 [#g4cc89ea]

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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
 from ev3dev.ev3 import *
 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')#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_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=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=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=-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')
 ±¦¤Ë90ÅÙ¥¿¡¼¥ó¤¹¤ë

 def move_left1():
    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=90, stop_action='brake')
    mL.run_forever(speed_sp=35, stop_action='brake')
 move_right¤Îº¸ÈÇ

 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')
 Á´¤Æ¤Î¥¿¥¤¥ä¤ÎÆ°ºî¤òÄä»ß¤µ¤»¤ë

 def armturn(t):
    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¤Ë¤è¤Ã¤Æ¾å¤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):
    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¤¿¤Á¤ÈƱÍͤÎÌÜŪ¤À¤¬¤³¤Á¤é¤Ï±ß¸Ì¤Ë³°Â¦¤«¤éÀÜ¿¨¤¹¤ë¤¿¤á¤Î¤â¤Î

 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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