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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¤¯

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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礭¤¯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()

*·ë²Ì [#feb3f2d1]
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