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¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÏºÇ½é¡¢¥«¥é¡¼¥»¥ó¥µ¤ò2¸Ä»È¤¤¹Ô¤ª¤¦¤È»×¤Ã¤¿¤¬¡¢Àè½Ò¤Î¤è¤¦¤Ë¡¢¤¦¤Þ¤¯¤¤¤«¤Ê¤«¤Ã¤¿¡£¤³¤Î¸¶°ø¤È¤·¤Æ¹Í¤¨¤é¤ì¤ë¤Î¤Ï¡¢¥«¥é¡¼¥»¥ó¥µ¤Î°ÌÃÖ¤¬¹â¤¯,¤¦¤Þ¤¯ÃͤòÆɤ߼è¤ë¤³¤È¤¬¤Ç¤¤Ê¤«¤Ã¤¿¤³¤È¤¬¹Í¤¨¤é¤ì¤¿¡£Ä¾¤·¤Æ¡¢¥«¥é¡¼¥»¥ó¥µ¤ò2¤Ä»È¤Ã¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤µ¤»¤Æ¤âÎɤ«¤Ã¤¿¤¬¡¢¥Æ¥¹¥È¤¬¤¢¤ê¡¢¤¢¤Þ¤ê½¸¤Þ¤ì¤Ê¤«¤Ã¤¿¤Î¤â¤¢¤ê¡¢º£²ó¤ÏÁ°²ó¤Î²ÝÂê¤Î¤è¤¦¤Ë1¤Ä¤À¤±»È¤¦ÊýË¡¤Ë¤·¤¿¡£ **¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ [#leba3965] ¥×¥í¥°¥é¥à¤Ë´Ø¤·¤Æ¤Ï¡¢Â礤¯Ê¬¤±¤Æ2¤Ä¤Î¤³¤È¤ò¤É¤Î¤è¤¦¤Ê´Ø¿ô¤Ç½èÍý¤¹¤ì¤Ð¤è¤¤¤«¹Í¤¨¤¿¡£ 1¤ÄÌܤϴ̤òõ¤¹´Ø¿ô¤Ç¤¢¤ë¡£ ´Ì¤òõ¤¹¤Î¤È¡¢´Ì¤Ë¶á¤Å¤¯ *¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#nf30f369] **¥×¥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): #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(): #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(): #¤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(): #¥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(): #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(): #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(): #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(): #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(): #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(): #°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(): #°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(): #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(): #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): #¤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: 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(): #ÀÖ¤ÎÀµ¤·¤¤´Ì¤ò·è¤á¤ë´Ø¿ô¤òÄêµÁ if a<b: return time_a else: return time_b 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 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