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**¥×¥í¥°¥é¥à¤ÎƳÆþ [#t49ebfe6]
 #!/usr/bin/env python3
 from ev3dev.ev3 import *
 import time
 mL=LargeMotor('outA') #ÁõÃÖA¤Î¥â¡¼¥¿¡¼¤òmL¤È¤ª¤¯
 mR=LargeMotor('outD') #ÁõÃÖD¤Î¥â¡¼¥¿¡¼¤òmR¤È¤ª¤¯
 mA=MediumMotor('outC') #ÁõÃÖC¤Î¥â¡¼¥¿¡¼¤òmA¤È¤ª¤¯
 mC=MediumMotor('outB') #ÁõÃÖB¤Î¥â¡¼¥¿¡¼¤òmC¤È¤ª¤¯
 csR=ColorSensor('in1') #ÁõÃÖ1¤Î¥â¡¼¥¿¡¼¤òcsR¤È¤ª¤¯
 #csL=ColorSensor('in2') #·ë¶É»È¤ï¤Ê¤«¤Ã¤¿
 us=UltrasonicSensor('in3') #ÁõÃÖ3¤Î¥â¡¼¥¿¡¼¤òus¤È¤ª¤¯

**ÄêµÁ¤ÎƳÆþ [#ldeee58a]
 def turnR1():¡¡#´Ë¤ä¤«¤Ë±¦¤Ë¶Ê¤¬¤ë´Ø¿ô¤òÄêµÁ
    mL.run_forever(speed_sp=100,stop_action='brake')
    mR.stop()

 
 def turnL1(): #´Ë¤ä¤«¤Ëº¸¤Ë¶Ê¤¬¤ë´Ø¿ô¤òÄêµÁ
    mR.run_forever(speed_sp=100,stop_action='brake')
    mL.stop()


 def run1(): #®¤á¤Ë¤Þ¤Ã¤¹¤°¿Ê¤à´Ø¿ô¤òÄêµÁ
    mR.run_forever(speed_sp=100,stop_action='brake')
    mL.run_forever(speed_sp=100,stop_action='brake')

 
 def turnR2(): #±¦¤ËµÞ¥«¡¼¥Ö¤¹¤ë´Ø¿ô¤òÄêµÁ
    mL.run_forever(speed_sp=100,stop_action='brake')
    mR.run_forever(speed_sp=-70,stop_action='brake')


 def turnL2(): #º¸¤ËµÞ¥«¡¼¥Ö¤¹¤ë´Ø¿ô¤òÄêµÁ
    mR.run_forever(speed_sp=100,stop_action='brake')
    mL.run_forever(speed_sp=-70,stop_action='brake')


 def traceR(): #±¦Â¦¤ò¥È¥ì¡¼¥¹¤¹¤ë´Ø¿ô¤òÄêµÁ
    t0=time.time()
    while time.time()-t0<0.35:
        if cs.value()<35:
            turnR2()
        if 35<=cs.value()<40:
            turnR1()
            t0=time.time()
        if 40<=cs.value()<=50:
            run1()
            t0=time.time()
        if 50<cs.value()<=60:
            turnL1()
            t0=time.time()
        if cs.value()>60:
            turnL2()
            t0=time.time()
    mR.stop()
    mL.stop()


 def traceRa(t):
 def traceRa(t): #¹¥¤­¤Ê»þ´Ö¤À¤±±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë´Ø¿ô¤òÄêµÁ
    t1=time.time()
    while time.time()-t1<t:
            if cs.value()<35:
                turnR2()
            if 35<=cs.value()<40:
                turnR1()
            if 40<=cs.value()<=50:
                run1()
            if 50<cs.value()<=60:
                turnL1()
            if cs.value()>60:
                turnL2()
        mR.stop()
        mL.stop()


 def run2(): #ÃÙ¤á¤Ë¤Þ¤Ã¤¹¤°¿Ê¤à´Ø¿ô¤òÄêµÁ
    mL.run_forever(speed_sp=50, stop_action='brake')
    mR.run_forever(speed_sp=50, stop_action='brake')

 

 def forward():
 def forward(): #¾¯¤·¿Ê¤à´Ø¿ô¤òÄêµÁ
    mL.run_to_rel_pos(position_sp=360, speed_sp=500, stop_action='brake')
    mR.run_to_rel_pos(position_sp=360, speed_sp=500, stop_action='brake')
 

 def forward_bit():
    mL.run_to_rel_pos(position_sp=20, speed_sp=500, stop_action='brake')
 def forward_bit(): #¤Û¤ó¤Î¾¯¤·¿Ê¤à´Ø¿ô¤òÄêµÁ
    mL.run_to_rel_pos(position_sp=200, speed_sp=500, stop_action='brake')
    mR.run_to_rel_pos(position_sp=200, speed_sp=500, stop_action='brake')

 

 def catchup():
 def catchup(): #¥Ü¡¼¥ë¤Ë¶á¤Å¤¤¤Æ¼è¤Ã¤Æ»ý¤Á¾å¤²¤ë´Ø¿ô¤òÄêµÁ
    while us.value()>=50:
        run2()
    mR.stop()
    mL.stop()
    mC.reset()
    mC.run_to_abs_pos(position_sp=60 ,speed_sp=20, stop_action='brake')
    time.sleep(3)
    mA.run_to_abs_pos(position_sp=100, speed_sp=30, stop_action='brake')
    time.sleep(4)
    mC.run_to_abs_pos(position_sp=0, speed_sp=20, stop_action='brake')
    time.sleep(6)
    mA.run_to_abs_pos(position_sp=0, speed_sp=100, stop_action='hold')
    time.sleep(3)


 def puton_red():
 def puton_red(): #À֤δ̤˶á¤Å¤¤¤Æ¥Ü¡¼¥ë¤òÃÖ¤¯´Ø¿ô¤òÄêµÁ
    time4=time.time()
    while us.value>=40:
        run()
    time_kan=time.time()
    mC.run_to_rel_abs(position_sp=30, speed_sp=20, stop_action='brake')
    time.sleep(1)
    timenow=time.time()
    while time.time()-timenow<=time_kan-time4:
        mL.run_forever(speed_sp=-50, stop_action='brake')
        mR.run_forever(speed_sp=-50, stop_action='brake')


 def puton_blue():
 def puton_blue(): #ÀĤδ̤˶á¤Å¤¤¤Æ¥Ü¡¼¥ë¤òÃÖ¤¯´Ø¿ô¤òÄêµÁ
    while us.value>=40:
        run()
     mC.run_to_rel_abs(position_sp=30, speed_sp=20, stop_action='brake')


 def direct_one():
 def direct_one(): #À֤έ¡¤Î´Ì¤ÎÊý¸þ¤ò¸þ¤¯´Ø¿ô¤òÄêµÁ
    time1=time.time()
    while time.time()-time1<=20:
        mL.run_forever(speed_sp=-50, stop_action='brake')
        mR.run_forever(speed_sp=50, stop_action='brake')
 

 def Round_red():
 def Round_red(): #À֤δ̤Υ¨¥ê¥¢¤ò²ó¤ë´Ø¿ô¤òÄêµÁ
    time1=time.time()
    while time.time()-time1<=fuga:
        mL.run_forever(speed_sp=50, stop_action='brake')
        mR.run_forever(speed_sp=-50, stop_action='brake')


 def direct_redkan():
 def direct_redkan(): #ÀÖ¤ÎÀµ¤·¤¤´Ì¤ò¸«¤Ä¤±¤ë´Ø¿ô¤òÄêµÁ
    time1=time()
    while time.time()-time1<=fuga-(think_red()-time_start):
        mL.run_forever(speed_sp=-50, stop_action='brake')
        mR.run_forever(speed_sp=50, stop_action='brake')
 

 def direct_I():
 def direct_I(): #°ÌÃÖI¤ÎÊý¸þ¤ò¸þ¤¯´Ø¿ô¤òÄêµÁ
    time1=time.time()
    while time.time()-time1<=think_red()-time_start+¤¤¤¯¤é¤«:
        mL.run_forever(speed_sp=-50, stop_action='brake')
        mR.run_forever(speed_sp=50, stop_action='brake')


 def direct_B():
 def direct_B(): #°ÌÃÖB¤ÎÊý¸þ¤ò¸þ¤¯´Ø¿ô¤òÄêµÁ
    time1=time.time()
    while time.time()-time1<=20:
        mL.run_forever(speed_sp=-50, stop_action='brake')
        mR.run_forever(speed_sp=50, stop_action='brake')
 

 def Round_blue():
 def Round_blue(): #ÀĤδ̤Υ¨¥ê¥¢¤ò²ó¤ë´Ø¿ô¤òÄêµÁ
    time1=time.time()
    while time.time()-time1<=fuga2:
        mL.run_forever(speed_sp=50, stop_action='brake')
        mR.run_forever(speed_sp=-50, stop_action='brake')
 

 def direct_bluekan():
 def direct_bluekan(): #ÀĤÎÀµ¤·¤¤´Ì¤ò¸«¤Ä¤±¤ë´Ø¿ô¤òÄêµÁ
    time1=time()
    while time.time()-time1<=fuga2-(think_blue()-time_start):
        mL.run_forever(speed_sp=-50, stop_action='brake')
        mR.run_forever(speed_sp=50, stop_action='brake')
 

 time_start=0
 time_a=0
 time_b=0
 def search(fuga,hoge):
 def search(fuga,hoge): #¤É¤ì¤¬Àµ¤·¤¤´Ì¤«¤ò¸«¤Ä¤±¤ë´Ø¿ô¤òÄêµÁ
    global time_start
    global time_a
    global time_b
    a=1250
    b=1250
    time0=time_start=time.time()
    while us.value()>=hoge:
    while us.value()>=hoge: 
        continue
    while time.time()-time0<=fuga:
        if us.value()<=hoge:
            if us.value()<=a:
                a=us.value()
                time_a=time.time()
        else:
            break   
    while time.time()-time0<=fuga and us.value()>=hoge:
        continue
    while time.time()-time0<=fuga:
        if us.value()<=hoge:
            if us.value()<=b:
                b=us.value()
                time_b=time.time()
        else:
            break
 

 def think_red():
 def think_red(): #ÀÖ¤ÎÀµ¤·¤¤´Ì¤ò·è¤á¤ë´Ø¿ô¤òÄêµÁ
    if a<b:
        return time_a
    else:
        return time_b


 def think_blue():
 def think_blue(): #ÀĤÎÀµ¤·¤¤´Ì¤ò·è¤á¤ë´Ø¿ô¤òÄêµÁ
    if a<150 and b<150:
        return time_b
    if a<150 and 150<=b<300:
        return time_a
    if 150<=a<300 and 150<=b<300:
        return time_a
    if a<300 and b=1250:
        return time_a
    if a>=300 and b=1250:
        return time_b
    if 450<b<550:
        return time_b
 
#°Ê²¼ËÜÍ褷¤¿¤«¤Ã¤¿¼Â¹ÔÌ¿Îá¡Ê°ì±þ¡Ë 

*²ÝÂê [#mf770ef7]
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´Ì¤Î¿§¤Ë¤è¤Ã¤Æ´Ø¿ô¤òʬ¤±¤¿¤³¤È hoge¤äfuga¤ÎÀâÌÀ¡¡ºÇûµ÷Î¥¤ÎÀâÌÀ

 catchup()
 forword()
 linetrace()
 direct_one()
 Round_red()
 search(fuga)
 direct_redkan()
 puton_red()
 direct_I()
 catchup()
 linetrace()
 forword_bit()
 linetrace()
 direct_B()
 Round_blue()
 search_blue()
 direct_bluekan()
 puton_blue()


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