[[2018b/Member]]
*ロボットの説明 [#d696e17a]
**ロボットの外見 [#had9efa4]
&ref(2018b/Member/shaymin/Mission3/s_hdnTaVh2.jpg,100%);
**ボールを持ち上げる機構 [#ge0f91ce]
&ref(2018b/Member/shaymin/Mission3/s_8P536Ai6.jpg,100%);
**ボールを缶に乗せる [#t381e9aa]
&ref(2018b/Member/shaymin/Mission3/s_xwclcbeT.jpg,100%);
&ref(2018b/Member/shaymin/Mission3/s_1HURzn1T.jpg,100%);
&ref(2018b/Member/shaymin/Mission3/s_70MwRcJd.jpg,100%);
**ボールを拾いあげる方法 [#feee1b9f]
&ref(2018b/Member/shaymin/Mission3/s_CFfxxwMg.jpg,100%);
&ref(2018b/Member/shaymin/Mission3/s_He8G1L6q.jpg,100%);
&ref(2018b/Member/shaymin/Mission3/s_rQ0CRyaG.jpg,100%);
&ref(2018b/Member/shaymin/Mission3/s_bCs47u-C.jpg,100%);
*プログラム [#gac64291]
#!/usr/bin/env python3
from ev3dev.ev3 import *
import time
ml=LargeMotor('outA')
mr=LargeMotor('outD')
ma=LargeMotor('outB')
cs=ColorSensor('in3')
us=UltrasonicSensor('in4')
gs=GyroSensor('in1')
def stop():
ml.stop()
mr.stop()
def linetrace_rin():
c1=cs.value()
while c1>13:
c1=cs.value()
x=(abs(c1-10)/70)*100
if x>100:
x=100
l=(x/100)*210-30
r=150-l
http://ml.run _forever(speed_sp=l,stop_action='brake')
http://mr.run _forever(speed_sp=r,stop_action='brake')
stop()
def linetrace_lin():
c1=cs.value()
while c1>13:
c1=cs.value()
x=abs((c1-10)/70)*100
if x>100:
x=100
r=(x/100)*210-30
l=150-r
http://ml.run _forever(speed_sp=l,stop_action='brake')
http://mr.run _forever(speed_sp=r,stop_action='brake')
stop()
def linetrace_ltime(j):
c1=cs.value()
t1=time.time()
t2=time.time()
while t2-t1<j:
c1=cs.value()
t2=time.time()
x=abs((c1-10)/70)*100
if x>100:
x=100
r=(x/100)*210-30
l=150-r
http://ml.run _forever(speed_sp=l,stop_action='brake')
http://mr.run _forever(speed_sp=r,stop_action='brake')
stop()
def linetrace_lout():
c1=cs.value()
while c1<40:
c1=cs.value()
x=(abs(c1-10)/70)*100
if x>100:
x=100
r=(x/100)*120-40
l=40-r
http://ml.run _forever(speed_sp=l,stop_action='brake')
http://mr.run _forever(speed_sp=r,stop_action='brake')
stop()
def runtime(l,r):
http://ml.run _timed(time_sp=l*1000,speed_sp=70,stop_action='brake')
http://mr.run _timed(time_sp=r*1000,speed_sp=70,stop_action='brake')
time.sleep((l+r)/2)
def angle(l,r,t):
http://ml.run _to_rel_pos(position_sp=l,speed_sp=115,stop_action='hold')
http://mr.run _to_rel_pos(position_sp=r,speed_sp=115,stop_action='hold')
time.sleep(t)
def kaiten_r(s,t):
g1=gs.value()
g2=gs.value()
while g2-g1<s:
http://ml.run _forever(speed_sp=t,stop_action='hold')
http://mr.run _forever(speed_sp=-t,stop_action='hold')
g2=gs.value()
stop()
def kaiten_l(s,t):
g1=gs.value()
g2=gs.value()
while g1-g2<s:
http://ml.run _forever(speed_sp=-t,stop_action='hold')
http://mr.run _forever(speed_sp=t,stop_action='hold')
g2=gs.value()
stop()
def g():
g1=gs.value()
while g1<10000:
g1=gs.value()
print(g1)
def roll(s):
http://ma.run _to_rel_pos(position_sp=s,speed_sp=80,stop_action='hold')
time.sleep(3)
def discover_l(s,t):
u1=us.value()
g1=gs.value()
g2=gs.value()
while g1-g2<s:
u2=us.value()
http://ml.run _forever(speed_sp=-70,stop_action='hold')
http://mr.run _forever(speed_sp=70,stop_action='hold')
g2=gs.value()
if u2<u1:
u1=u2
g3=gs.value()
http://ml.run _forever(speed_sp=70,stop_action='hold')
http://mr.run _forever(speed_sp=-70,stop_action='hold')
g4=gs.value()
g5=gs.value()
if u1<=t:
while g5-g4<g3-g2-6:
http://mr.run _forever(speed_sp=-70,stop_action='hold')
http://ml.run _forever(speed_sp=70,stop_action='hold')
g5=gs.value()
stop()
u3=us.value()
t1=time.time()
while u3<2550:
http://ml.run _forever(speed_sp=100,stop_action='hold')
http://mr.run _forever(speed_sp=100,stop_action='hold')
u3=us.value()
t2=time.time()
stop()
roll(220)
http://ml.run _timed(speed_sp=-100,time_sp=(t2-t1)*1000,stop_action='hold')
http://mr.run _timed(speed_sp=-100,time_sp=(t2-t1)*1000,stop_action='hold')
time.sleep(t2-t1)
g6=gs.value()
g7=gs.value()
while g7-g6<=g1-g3-6:
http://mr.run _forever(speed_sp=-70,stop_action='hold')
http://ml.run _forever(speed_sp=70,stop_action='hold')
g7=gs.value()
stop()
else:
while g5-g4<90:
http://mr.run _forever(speed_sp=-70,stop_action='hold')
http://ml.run _forever(speed_sp=70,stop_action='hold')
g5=gs.value()
stop()
def discover_r(s,t):
u1=us.value()
g1=gs.value()
g2=gs.value()
while g2-g1<s:
u2=us.value()
http://ml.run _forever(speed_sp=70,stop_action='hold')
http://mr.run _forever(speed_sp=-70,stop_action='hold')
g2=gs.value()
if u2<u1:
u1=u2
g3=gs.value()
http://ml.run _forever(speed_sp=-70,stop_action='hold')
http://mr.run _forever(speed_sp=70,stop_action='hold')
g4=gs.value()
g5=gs.value()
if u1<=t:
while g4-g5<g2-g3-6:
http://mr.run _forever(speed_sp=70,stop_action='hold')
http://ml.run _forever(speed_sp=-70,stop_action='hold')
g5=gs.value()
stop()
u3=us.value()
t1=time.time()
while u3<2550:
http://ml.run _forever(speed_sp=100,stop_action='hold')
http://mr.run _forever(speed_sp=100,stop_action='hold')
u3=us.value()
t2=time.time()
stop()
roll(220)
http://ml.run _timed(speed_sp=-100,time_sp=(t2-t1)*1000,stop_action='hold')
http://mr.run _timed(speed_sp=-100,time_sp=(t2-t1)*1000,stop_action='hold')
time.sleep(t2-t1)
g6=gs.value()
g7=gs.value()
while g6-g7<=g3-g1-6:
http://mr.run _forever(speed_sp=70,stop_action='hold')
http://ml.run _forever(speed_sp=-70,stop_action='hold')
g7=gs.value()
stop()
else:
while g4-g5<90:
http://mr.run _forever(speed_sp=70,stop_action='hold')
http://ml.run _forever(speed_sp=-70,stop_action='hold')
g5=gs.value()
def Redball():
angle(250,250,3)
kaiten_r(180,110)
roll(220)
kaiten_r(195,110)
linetrace_lin()
def Blueball():
angle(-20,160,2)
linetrace_lin()
angle(-35,-35,1.5)
kaiten_r(175,110)
roll(220)
def move():
kaiten_r(190,110)
angle(-50,-50,1)
linetrace_lin()
linetrace_lout()
linetrace_lin()
linetrace_lout()
linetrace_lin()
def BlueZone():
linetrace_rin()
linetrace_rout()
linetrace_rin()
angle(0,70,1)
linetrace_rin()
angle(70,0,1)
linetrace_rin()
def discover2():
kaiten_l(60,100)
discover_r(90,500)
def start():
r=int(input("insert numbera"))
Redball()
Blueball()
move()
if r<=2:
kaiten_l(90,110)
discover_l(90,250)
kaiten_l(95,100)
if r==3:
angle(-40,180,2)
linetrace_lin()
discover_r(60,250)
angle(-150,-150,2)
kaiten_l(195,110)
linetrace_rin()
angle(230,-40,2)
if r==4:
angle(-40,180,2)
linetrace_lin()
discover_l(60,250)
kaiten_l(195,110)
linetrace_rin()
angle(230,-40,2)
if 5<=r:
angle(-40,180,2)
linetrace_lin()
linetrace_lout()
linetrace_ltime(3)
discover_l(60,190)
angle(-130,-130,3)
kaiten_l(180,110)
linetrace_rin()
linetrace_rout()
linetrace_rin()
angle(230,-40,2)
BlueZone()
discover2()
def vv():
u1=gs.value()
while u1>0:
u1=gs.value()
print(u1)
time.sleep(1)
start()
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