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#!/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(): #À֤Ρ¤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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¥«¥é¡¼¥»¥ó¥µ¤ò2¸ÄÉÕ¤±¤¿¤³¤È¤Ë¤è¤ë¤â¤Î
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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()