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#!/usr/bin/env python3
from ev3dev.ev3 import *
from time import sleep
ml=LargeMotor('outA') #ÁõÃÖA¤Î¥â¡¼¥¿¡¼¤òml¤È¤ª¤¯
mr=LargeMotor('outB') #ÁõÃÖB¤Î¥â¡¼¥¿¡¼¤òmr¤È¤ª¤¯
mm=MediumMotor('outC')} #¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼¤òmm¤È¤ª¤¯
**ÄêµÁ¤ÎƳÆþ [#hee039ac]
Á°¤Ë°ÜÆ°¡¦¸å¤í¤Ë°ÜÆ°¡¦¥Ú¥ó¤ò²¼¤²¤ë¡¦¥Ú¥ó¤ò¾å¤²¤ë¡¦²óž¤¹¤ë¡¢¤Î5¤Ä¤ÎÄêµÁ¤òƳÆþ¤·¤¿¡£
def fd(t):
ml.run_timed(time_sp=t,speed_sp=100,stop_action='coast')
mr.run_timed(time_sp=t,speed_sp=100,stop_action='coast')
sleep(3)
def back(t):
ml.run_timed(time_sp=t,speed_sp=-100,stop_action='coast')
mr.run_timed(time_sp=t,speed_sp=-100,stop_action='coast')
sleep(3)
def pd():
mm.run_to_rel_pos(position_sp=-15,speed_sp=25,stop_action='coast')
sleep(3)
def pu():
mm.run_to_rel_pos(position_sp=15,speed_sp=25,stop_action='coast')
sleep(3)
def turn(x):
mr.run_to_rel_pos(position_sp=x,duty_cycle_sp=50)
ml.run_to_rel_pos(position_sp=-x,duty_cycle_sp=50)
time.sleep(3)
fd¤Ïforward¡¢pd¡¦pu¤Ïpen down¡¦pen up¤Ç¤¢¤ë¡£Ê¸»ú¤ò¾Êά¤¹¤ë¤³¤È¤Ç¡¢ºî¶È¤òÁ᤯¤¹¤ë¤³¤È¤¬¤Ç¤¤¿¡£
stop_action¤òhold¤Ë¤¹¤ë¤È¡¢ºî¶È¤Î»Ï¤á¤Ë¥¢¡¼¥à¤òÆ°¤«¤»¤Ê¤¤¤Î¤Çcoast¤Ë¤·¤¿¡£
pd¤äpf¤Îposition_sp¤ÏºÇ½é45Å٤ˤ·¤Æ¤¤¤¿¤¬¡¢¤³¤ì¤À¤È¥¢¡¼¥à¤¬Â礤¯Æ°¤¤¤Æ¥Ú¥ó¤ÎºÇ½é¤Î°ÌÃÖ¤òËè²óÄ´À°¤¹¤ë¤Î¤¬ÂçÊѤʤΤÇ15Å٤ˤ·¤ÆÄ´À°¤·¤ä¤¹¤¤¤è¤¦¤Ë¤·¤¿¡£
turn¤Îposition_sp¤Ï¡¢¼ÂºÝ¤ÎÆ°¤«¤·¤Æ¤ß¤¿·ë²Ì¤«¤é¡¢¼«Ê¬¤¬¶Ê¤²¤¿¤¤³ÑÅÙ¤ÎÌó2ÇܤÎÃͤòÆþ¤ì¤ë¤³¤È¤Ë¤è¤Ã¤Æ¡Ê90Å٤ʤé180ÅÙ¤òÆþ¤ì¤ë¡Ë¤¦¤Þ¤¯¤¤¤¯»ö¤¬Ê¬¤«¤Ã¤¿¡£
**¡Ö¾¾ËÜ¡×¤Î¥×¥í¥°¥é¥à[#b94d6b45]
ml.reset()
mr.reset()
mm.reset()
pd() #1²èÌܤ«¤é2²èÌÜ ¼Ì¿¿¤Î¡
fd(1000)
pu()
fd(1500)
turn(-170)
back(2500)
pd()¡¡#2²èÌܤ«¤é3²èÌÜ ¼Ì¿¿¤Î¢
fd(2000)
pu()
fd(900)
turn(-90)
back(2200)
pd() #3²èÌܤ«¤é4²èÌÜ ¼Ì¿¿¤Î£
fd(800)
pu()
fd(1200)
turn(180)
back(2200)
pd() #4²èÌܤ«¤é5²èÌÜ ¼Ì¿¿¤Î¤
fd(800)
pu()
fd(2300)
turn(210)
back(1800)
pd() #5²èÌܤ«¤é6²èÌÜ ¼Ì¿¿¤Î¥
fd(800)
pu()
fd(2000)
turn(-120)
fd(600)
turn(-120)
back(2300)
pd() #6²èÌܤ«¤é7²èÌÜ ¼Ì¿¿¤Î¦
fd(800)
pu()
fd(2000)
turn(-200)
fd(500)
turn(90)
back(2000)
pd() #7²èÌܤ«¤é8²èÌÜ ¼Ì¿¿¤Î§
fd(800)
pu()
fd(2000)
turn(260)
back(2000)
pd() #8²èÌܤ«¤é9²èÌÜ ¼Ì¿¿¤Î¨
fd(900)
pu()
fd(2200)
turn(-120)
back(2500)
pd() #9²èÌܤ«¤é10²èÌÜ ¼Ì¿¿¤Î©
fd(800)
pu()
fd(5000)
turn(-260)
back(1000)
pd() #10²èÌܤ«¤é11²èÌÜ ¼Ì¿¿¤Îª
fd(2000)
pu()
fd(1000)
turn(150)
back(2500)
pd() #11²èÌܤ«¤é12²èÌÜ ¼Ì¿¿¤Î¡¡
fd(2000)
pu()
fd(800)
turn(-90)
back(2100)
pd() #12²èÌܤ«¤é13²èÌÜ ¼Ì¿¿¤Î¡¢
fd(1000)
pu()
fd(1000)
turn(180)
back(2300)
pd() #13²èÌܤ«¤é14²èÌÜ ¼Ì¿¿¤Î¡£
fd(1000)
pu()
fd(2200)
turn(-260)
back(1900)
pd() #14²èÌÜ ¼Ì¿¿¤Î¡¤
fd(800)
pu()
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