#contents *¥³¡¼¥¹¤ÎÀâÌÀ [#n7caae60] &ref(2018b/Member/shaymin/Mission3/s_-uwKn4Dt.jpg,100%); ¡À֤Υܡ¼¥ë¤ò½¦¤¦ ¢ÀĤΥܡ¼¥ë¤ò½¦¤¦ £º÷Ũ¤ò¹Ô¤¤¡¢ÌÜŪ¤Î´Ì¤Ë¶á¤Å¤ÀÖ¤¤¥Ü¡¼¥ë¤ò¾è¤»¤ë¡£¤½¤Î¸å¡¢¸µ¤Î°ÌÃÖ¤ËÌá¤ê180¡ë²óž¤·¤¤Ø¸þ¤«¤¦ ¤ºÆ¤Óº÷Ũ¤ò¹Ô¤¤¡¢ÌÜŪ¤Î´Ì¤Ë¶á¤Å¤ÀĤ¤¥Ü¡¼¥ë¤ò¾è¤»¤ë¡£ *¥ë¡¼¥ë [#k75c299e] **´ðËܥ롼¥ë [#o22db514] ¶¥µ»»þ´Ö¤Ï¿³È½¤¬Â³¹ÔÉÔǽ¤ÈȽÃǤ¹¤ë¤Þ¤Ç¡¢¤¢¤ë¤¤¤Ï¥ê¥¿¥¤¥¢¤¹¤ë¤Þ¤Ç¡£ ¿Þ¤ÎXÃÏÅÀ¤Þ¤¿¤Ï¡Ê¤ª¤è¤Ó¡ËYÃÏÅÀ¤«¤é¥¹¥¿¡¼¥È¤¹¤ë¡£¤¿¤À¤·ÀÜÃϤ·¤Æ¤¤¤ëÉôʬ¤Ï¤½¤ì¤¾¤ì¤ÎÎΰèÆâ¤Ë¼ý¤Þ¤ë¤â¤Î¤È¤¹¤ë¡ÊÀþ¾å¤ÏOK¡Ë¡£¾å¶õÉôʬ¤ÏÎΰ褫¤é¤Ï¤ß½Ð¤·¤Æ¤¤¤Æ¤â¤è¤¤¡£ ÀÖ¤¤¥Ü¡¼¥ë¤ò¿Þ¤Î¥Ô¥ó¥¯¤Î¤¤¤º¤ì¤«¤ËÃÖ¤¤¤¿´Ì¤Ë¡¢ÀĤ¤¥Ü¡¼¥ë¤ò¿Þ¤Î¿å¿§¤Î¤¤¤º¤ì¤«¤ËÃÖ¤¤¤¿´Ì¤Ë¡¢¤½¤ì¤¾¤ì¾è¤»¤ë¡£ ³«»Ï¤Î¹ç¿Þ¤«¤é£µÉðÊÆâ¤Ë¥¹¥¿¡¼¥È¥Ü¥¿¥ó¤ò²¡¤¹ºî¶È¤ò´°Î»¤¹¤ë¤³¤È¡£ ¶¥µ»¤¬½ªÎ»¤¹¤ë¤Þ¤Ç¡¢¥í¥Ü¥Ã¥È¤Ë¿¨¤Ã¤¿¤ê¿Í´Ö¤¬±ó³Ö¤ÇÁàºî¤·¤Æ¤Ï¤Ê¤é¤Ê¤¤ ¡£ ÅÓÃæ¤Ç¤¦¤Þ¤¯Æ°¤«¤Ê¤¯¤Ê¤Ã¤¿¾ì¹ç¡¢£±²ó¸Â¤êºÆ¥¹¥¿¡¼¥È¤¹¤ë¤³¤È¤¬¤Ç¤¤ë¡ÊºÆ¥¹¥¿¡¼¥È¤ÎºÝ¤ËÊÌ¥×¥í¥°¥é¥à¤Çµ¯Æ°¤·¤Æ¤è¤¤¡Ë¡£ **´ðËÜÆÀÅÀ¤Î·×»»ÊýË¡ [#u4b0bdbf] ¥Ü¡¼¥ë¤ò°ì¤Ä¾è¤»¤ì¤Ð¤½¤ì¤¾¤ì10ÅÀ¡¢Æó¤Ä¤È¤â¾è¤»¤ì¤Ð¥Ü¡¼¥Ê¥¹ÅÀ¤È¤·¤Æ¤µ¤é¤Ë10ÅÀ¡£ 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**¥Ü¡¼¥ë¤ò»ý¤Á¾å¤²¤ëµ¡¹½ [#ge0f91ce] &ref(2018b/Member/shaymin/Mission3/s_8P536Ai6.jpg,100%); ¥Ù¥ë¥È¥³¥ó¥Ù¥¢¤ËÄޤΤ褦¤Ê¤â¤Î¤ò¼è¤êÉÕ¤±¡¢¥Ù¥ë¥È¥³¥ó¥Ù¥¢¤ò²óž¤µ¤»¤ë ¾Ü¤·¤¯¤Ï²¼µ¤Î¡Ø¥Ü¡¼¥ë¤ò½¦¤¤¤¢¤²¤ëή¤ì¡Ù¤ò»²¾È **¥Ü¡¼¥ë¤ò½¦¤¤¤¢¤²¤ëή¤ì [#feee1b9f] &ref(2018b/Member/shaymin/Mission3/s_CFfxxwMg.jpg,100%);¥Ù¥ë¥È¥³¥ó¥Ù¥¢¤È¼ÖÂΤδ֤˥ܡ¼¥ë¤¬¤¯¤ë¤è¤¦¤Ë¤¹¤ë ¢ &ref(2018b/Member/shaymin/Mission3/s_He8G1L6q.jpg,100%);¥Ù¥ë¥È¥³¥ó¥Ù¥¢¤ò²óž¤µ¤»Äޤ˰ú¤Ã³Ý¤±¤ë ¢ &ref(2018b/Member/shaymin/Mission3/s_rQ0CRyaG.jpg,100%);¥Ü¡¼¥ë¤òËÜÂΦ¤Ë¤¢¤ëÊɤ˲¡¤·ÉÕ¤±¤Ê¤¬¤é»ý¤Á¾å¤²¤ë ¢ &ref(2018b/Member/shaymin/Mission3/s_bCs47u-C.jpg,100%);´°Î» **¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤ë°ìÏ¢¤ÎÆ°¤ [#t381e9aa] &ref(2018b/Member/shaymin/Mission3/s_xwclcbeT.jpg,100%); ¡´Ì¤ËĶ²»ÇÈ¥»¥ó¥µ¡¼¤¬ÀÜ¿¨¤¹¤ë¤È¤³¤í¤Þ¤Ç¶á¤Å¤¯ &ref(2018b/Member/shaymin/Mission3/s_MU8g2zoU.jpg,63%); ¢¥Ù¥ë¥È¥³¥ó¥Ù¥¢¤ò²óž¤µ¤»¡¢µå¤ò¼Í½Ð¤¹¤ë &ref(2018b/Member/shaymin/Mission3/s_1HURzn1T.jpg,100%); £Àª¤¤¤Î¤Ä¤¤¤¿µå¤òÇò¤¤²ÄÆ°¼°¤ÎÉôÉʤ¬¼õ¤±»ß¤á¡¢´Ì¤Î¾å¤Ë¾è¤»¤ë &ref(2018b/Member/shaymin/Mission3/s_70MwRcJd.jpg,100%); ¤Çò¤¤Éôʬ¤Ï²ÄÆ°¼°¤Ë¤Ê¤Ã¤Æ¤¤¤ë¤Î¤Ç´Ì¤Î¾å¤Ë¾è¤»¤¿µå¤òÍî¤È¤¹¤³¤È¤Ê¤¯²¼¤¬¤ë¤³¤È¤¬¤Ç¤¤ë *¥×¥í¥°¥é¥à [#gac64291] **¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à [#v553580c] 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 ml.run_forever(speed_sp=l,stop_action='brake') 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 ml.run_forever(speed_sp=l,stop_action='brake') mr.run_forever(speed_sp=r,stop_action='brake') stop() def linetrace_rout(): c1=cs.value() while c1<40: c1=cs.value() x=(abs(c1-10)/70)*100 if x>100: x=100 l=(x/100)*120-40 r=40-l ml.run_forever(speed_sp=l,stop_action='brake') 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 ml.run_forever(speed_sp=l,stop_action='brake') mr.run_forever(speed_sp=r,stop_action='brake') stop() ÀÖ¤¤¥Ü¡¼¥ë¤ò5,6È֤δ̤˾褻¤ë¤¿¤á¤Ë¡¢ÀßÄꤷ¤¿»þ´Ö¤Ç½ªÎ»¤¹¤ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤òºîÀ® def linetrace_ltime(j): c1=cs.value() t1=time.time() #¥×¥í¥°¥é¥à¤¬¥¹¥¿¡¼¥È¤·¤¿»þ¹ï¤òÄêµÁ t2=time.time() #¥×¥í¥°¥é¥à¤Î·Ð²á»þ´Ö¤òÄêµÁ while t2-t1<j: #jÉ÷Фä¿»þ¤Ë»ß¤Þ¤ë¡£ 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 ml.run_forever(speed_sp=l,stop_action='brake') mr.run_forever(speed_sp=r,stop_action='brake') stop() **¥Ù¥ë¥È¥³¥ó¥Ù¥¢¤Î¥×¥í¥°¥é¥à [#u3042d27] def roll(s): ma.run_to_rel_pos(position_sp=s,speed_sp=80,stop_action='hold') time.sleep(3) ¥Ù¥ë¥È¥³¥ó¥Ù¥¢¤ò²óž¤µ¤»¤ë¥×¥í¥°¥é¥à¡£220¡ë²óž¤µ¤»¤ë¤Î¤¬Îɤ¤ **¥Ü¡¼¥ë¤ò¼Í½Ð¤¹¤ë¥×¥í¥°¥é¥à [#lf5f9b4f] ÅÅÃӤλÄÎ̤ʤɤˤè¤Ã¤Æ¥â¡¼¥¿¡¼¤Î²óž¿ô¤¬°ìÄê¤ËÄê¤Þ¤é¤º°ÂÄꤷ¤Ê¤«¤Ã¤¿¤Î¤Ç¡¢¥¸¥ã¥¤¥í¥»¥ó¥µ¡¼¤òÍøÍѤ·¤¿¡£ def discover_l(s,t): #º¸²ó¤ê¤Î¾ì¹ç u1=us.value() #Ķ²»ÇÈ¥»¥ó¥µ¡¼¤ÎÃͤòÀè¤ËÄêµÁ¤¹¤ë g1=gs.value() #¥×¥í¥°¥é¥à¥¹¥¿¡¼¥È»þ¤Î³ÑÅÙ¤òÄêµÁ g2=gs.value() #¥×¥í¥°¥é¥à¤ÎÅÓÃæ·Ð²á¤Î³ÑÅÙ¤ò¤¢¤é¤«¤¸¤áÄêµÁ while g1-g2<s: #g1-g2¤Ï²ó¤Ã¤¿³ÑÅÙ¤òɽ¤·¤Æ¤¤¤Æ¡¢¤½¤ì¤¬sÅÙ¤Ë㤷¤¿»þ¥×¥í¥°¥é¥à¤¬½ªÎ»¤¹¤ë ¤Á¤Ê¤ß¤Ë¥¸¥ã¥¤¥í¥»¥ó¥µ¡¼¤Ï±¦²óž¤¹¤ë¤È¤½¤ÎÃͤ¬Áý²Ã¤¹¤ë¤¿¤á¡¢º¸²óž¤·¤Æ¤¤¤¿¾ì¹ç¡¢g1>g2¤È¤Ê¤ë¤Î¤Ç°ú¤¯½çÈ֤˵¤¤ò¤Ä¤±¤ë u2=us.value() #¥×¥í¥°¥é¥à¤Î¿Ê¹ÔÃæ¤ËÃ༡Ķ²»ÇÈ¥»¥ó¥µ¡¼¤ÎÃͤòÊݸ¤¹¤ë ml.run_forever(speed_sp=-70,stop_action='hold') mr.run_forever(speed_sp=70,stop_action='hold') #¼ÖÂΤòº¸²óž¤µ¤»¤ë g2=gs.value() #¥¸¥ã¥¤¥í¥»¥ó¥µ¡¼¤ÎÃͤòÃ༡¹¹¿·¤¹¤ë if u2<u1: #Ķ²»ÇÈ¥»¥ó¥µ¡¼¤ò¹¹¿·¤·¤¿»þ¡¢¤½¤ÎÃͤ¬ºÇ¾®ÃͤÀ¤Ã¤¿¾ì¹ç¤Ï¤½¤ÎÃͤòu1¤ËÊݸ¤·¤Æ¤ª¤¯ u1=u2 g3=gs.value() #¤½¤Î»þ¤Î³ÑÅÙ¤âg3¤ËÊݸ¤·¤Æ¤ª¤¯ g4=gs.value() #´Ìȯ¸«¸å¤Ë±¦²óž¤¹¤ë»þ¤Î¥¹¥¿¡¼¥ÈÃÏÅÀ¤Î³ÑÅÙ¤òÄêµÁ g5=gs.value() #±¦²óž¤·¤Æ¤¤¤ë»þ¤Î³ÑÅÙ¤òÄêµÁ if u1<=t: #»ØÄꤷ¤¿ÈÏ°ÏÆâ¤Ë´Ì¤¬Â¸ºß¤·¤Æ¤¤¤¿¾ì¹ç while g5-g4<g3-g2-6: #´Ì¤Î°ÌÃÖ¤ËÅþ㤹¤ë¤Þ¤Ç±¦²ó¤ê¤¹¤ë -6¤¬¤Ä¤¤¤Æ¤¤¤ë¤Î¤Ï¡¢¥¸¥ã¥¤¥í¥»¥ó¥µ¡¼¤Î¸íº¹Ê¬¤òËä¤á¤ë¤¿¤á¤Ë¤¢¤ë¡£ mr.run_forever(speed_sp=-70,stop_action='hold') ml.run_forever(speed_sp=70,stop_action='hold') g5=gs.value() stop() u3=us.value() #Ķ²»ÇÈ¥»¥ó¥µ¡¼¤ÎÃͤò¤¢¤é¤«¤¸¤áÄêµÁ t1=time.time() #¤³¤Î»þ¤Î»þ´Ö¤òÊݸ while u3<2550: #¢¨1 ml.run_forever(speed_sp=100,stop_action='hold') mr.run_forever(speed_sp=100,stop_action='hold') #´Ì¤Ë¶á¤Å¤¯¤¿¤á¤Ë¿Ê¤à u3=us.value() #Ķ²»ÇÈ¥»¥ó¥µ¡¼¤ÎÃͤò¹¹¿·¤·¤Æ¤¤¤¯ t2=time.time() #¿Ê¤ó¤À·Ð²á»þ´Ö¤ò¬Äꤹ¤ë stop() roll(220) #¥Ù¥ë¥È¥³¥ó¥Ù¥¢¤ò²ó¤·¤Æ¥Ü¡¼¥ë¤ò¼Í½Ð¤¹¤ë ml.run_timed(speed_sp=-100,time_sp=(t2-t1)*1000,stop_action='hold') mr.run_timed(speed_sp=-100,time_sp=(t2-t1)*1000,stop_action='hold') #´Ì¤Ë¶á¤Å¤¯¤¿¤á¤Ë¿Ê¤ó¤Àʬ¤À¤±¸åÂह¤ë time.sleep(t2-t1) #¸åÂष¤Æ¤¤¤ë´Ö¥×¥í¥°¥é¥à¤ò°ì»þÄä»ß¤¹¤ë g6=gs.value() #½é´ü°ÌÃÖ¤ËÌá¤ë¤¿¤á¤Î¥¹¥¿¡¼¥È¤Î»þ´Ö¤òÄêµÁ g7=gs.value() #½é´ü°ÌÃÖ¤ËÌá¤ë»þ¤Î·Ð²á»þ´Ö¤ò¤¢¤é¤«¤¸¤áÄêµÁ while g7-g6<=g1-g3-6: #½é´ü°ÌÃÖ¤ËÌá¤ë¤Þ¤Ç¥ë¡¼¥×¤¹¤ë mr.run_forever(speed_sp=-70,stop_action='hold') ml.run_forever(speed_sp=70,stop_action='hold') #±¦²óž g7=gs.value() stop() else: #¬Äꤷ¤¿ÈÏ°ÏÆâ¤Ç´Ì¤¬¸«¤Ä¤«¤é¤Ê¤«¤Ã¤¿¾ì¹ç while g5-g4<g1-g2: #¬¤ê»Ï¤á¤¿°ÌÃÖ¤Þ¤ÇÌá¤ë mr.run_forever(speed_sp=-70,stop_action='hold') ml.run_forever(speed_sp=70,stop_action='hold') g5=gs.value() stop() def discover_r(s,t): #±¦²óž¤Î¾ì¹ç ´ðËÜŪ¤Ëº¸²óž¤Î»þ¤ÈÊѤï¤é¤Ê¤¤¤Î¤ÇƱ¤¸½ê¤Ï¾Êά u1=us.value() g1=gs.value() g2=gs.value() while g2-g1<s: #º£²ó¤Ï±¦²óž¤È¤Ê¤ë¤¿¤ág2>g1¤È¤Ê¤ë u2=us.value() ml.run_forever(speed_sp=70,stop_action='hold') mr.run_forever(speed_sp=-70,stop_action='hold') g2=gs.value() if u2<u1: u1=u2 g3=gs.value() g4=gs.value() g5=gs.value() if u1<=t: while g4-g5<g2-g3-6: mr.run_forever(speed_sp=70,stop_action='hold') ml.run_forever(speed_sp=-70,stop_action='hold') g5=gs.value() stop() u3=us.value() t1=time.time() while u3<2550: ml.run_forever(speed_sp=100,stop_action='hold') mr.run_forever(speed_sp=100,stop_action='hold') u3=us.value() t2=time.time() stop() roll(220) ml.run_timed(speed_sp=-100,time_sp=(t2-t1)*1000,stop_action='hold') 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: mr.run_forever(speed_sp=70,stop_action='hold') ml.run_forever(speed_sp=-70,stop_action='hold') g7=gs.value() stop() else: while g4-g5<90: mr.run_forever(speed_sp=70,stop_action='hold') ml.run_forever(speed_sp=-70,stop_action='hold') g5=gs.value() stop() **¥×¥í¥°¥é¥à¤ÎÁ´ÂÎ [#n62ff5fd] #!/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(): ¼ÖÎؤò»ß¤á¤ë ml.stop() mr.stop() def linetrace_rin(): #ÀâÌÀºÑ¤ß¤Î¤¿¤á¾Êά 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 ml.run_forever(speed_sp=l,stop_action='brake') 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 ml.run_forever(speed_sp=l,stop_action='brake') mr.run_forever(speed_sp=r,stop_action='brake') stop() def linetrace_rout(): c1=cs.value() while c1<40: c1=cs.value() x=(abs(c1-10)/70)*100 if x>100: x=100 l=(x/100)*120-40 r=40-l ml.run_forever(speed_sp=l,stop_action='brake') 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 ml.run_forever(speed_sp=l,stop_action='brake') mr.run_forever(speed_sp=r,stop_action='brake') stop() def linetrace_ltime(j): #ÀâÌÀºÑ¤ß¤Î¤¿¤á¾Êά 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 ml.run_forever(speed_sp=l,stop_action='brake') mr.run_forever(speed_sp=r,stop_action='brake') stop() def runtime(l,r): #»ØÄꤷ¤¿»þ´Öʬ¥¿¥¤¥ä¤òÆ°¤«¤¹ ml.run_timed(time_sp=l*1000,speed_sp=70,stop_action='brake') mr.run_timed(time_sp=r*1000,speed_sp=70,stop_action='brake') time.sleep((l+r)/2) def angle(l,r,t): #»ØÄꤷ¤¿³ÑÅÙʬ¥¿¥¤¥ä¤òÆ°¤«¤¹ l¤Ïº¸¥¿¥¤¥ä¤Î³ÑÅÙ¡¢r¤Ï±¦¥¿¥¤¥ä¤Î³ÑÅÙ¡¢t¤Ï¥¹¥ê¡¼¥×¤¹¤ë»þ´Ö ml.run_to_rel_pos(position_sp=l,speed_sp=115,stop_action='hold') mr.run_to_rel_pos(position_sp=r,speed_sp=115,stop_action='hold') time.sleep(t) def kaiten_r(s,t): ±¦²ó¤ê¤Ë²óž g1=gs.value() #¥¸¥ã¥¤¥í¥»¥ó¥µ¡¼¤ÎÃͤò¤¢¤é¤«¤¸¤áÄêµÁ g2=gs.value() #¥¸¥ã¥¤¥í¥»¥ó¥µ¡¼¤ÎÃͤò¤¢¤é¤«¤¸¤áÊ̤ÎÊÑ¿ô¤ËÄêµÁ while g2-g1<s: #g2¤Èg1¤òÈæ³Ó¤·¤Æg2-g1¤¬»ØÄꤷ¤¿³ÑÅ٤ˤʤ俤é»ß¤Þ¤ë ml.run_forever(speed_sp=t,stop_action='hold') mr.run_forever(speed_sp=-t,stop_action='hold') #»ØÄꤷ¤¿Â®Å٤DZ¦²óž¤¹¤ë g2=gs.value() #¥ë¡¼¥×¤¹¤ëÅÙ¤Ëg2¤ÎÃͤò¹¹¿·¤·¤Æ¤¤¤¯ stop() #»ß¤Þ¤ë def kaiten_l(s,t): º¸²ó¤ê¤Ë²óž g1=gs.value() g2=gs.value() while g1-g2<s: #¥¸¥ã¥¤¥í¥»¥ó¥µ¡¼¤Ï»þ·×²ó¤ê¤À¤ÈÃͤ¬Áý²Ã¤·¤Æ¤¤¤¯¤¿¤á¡¢º¸²ó¤ê¤Î¾ì¹çg1-g2¤Ë¤·¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤ ml.run_forever(speed_sp=-t,stop_action='hold') mr.run_forever(speed_sp=t,stop_action='hold') #»ØÄꤷ¤¿Â®Å٤Ǻ¸²óž¤¹¤ë g2=gs.value() #¥ë¡¼¥×¤¹¤ëÅÙ¤Ëg2¤ÎÃͤò¹¹¿·¤·¤Æ¤¤¤¯ stop() #»ß¤Þ¤ë def roll(s): ¥Ù¥ë¥È¥³¥ó¥Ù¥¢¤òÆ°¤«¤¹¥×¥í¥°¥é¥à ma.run_to_rel_pos(position_sp=s,speed_sp=80,stop_action='hold') time.sleep(3) def discover_l(s,t): #¾å¤ÇÀâÌÀºÑ¤ß¤Î¤¿¤á¾Êά u1=us.value() g1=gs.value() g2=gs.value() while g1-g2<s: u2=us.value() ml.run_forever(speed_sp=-70,stop_action='hold') mr.run_forever(speed_sp=70,stop_action='hold') g2=gs.value() if u2<u1: u1=u2 g3=gs.value() g4=gs.value() g5=gs.value() if u1<=t: while g5-g4<g3-g2-6: mr.run_forever(speed_sp=-70,stop_action='hold') ml.run_forever(speed_sp=70,stop_action='hold') g5=gs.value() stop() u3=us.value() t1=time.time() while u3<2550: ml.run_forever(speed_sp=100,stop_action='hold') mr.run_forever(speed_sp=100,stop_action='hold') u3=us.value() t2=time.time() stop() roll(220) ml.run_timed(speed_sp=-100,time_sp=(t2-t1)*1000,stop_action='hold') 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: mr.run_forever(speed_sp=-70,stop_action='hold') ml.run_forever(speed_sp=70,stop_action='hold') g7=gs.value() stop() else: while g5-g4<90: mr.run_forever(speed_sp=-70,stop_action='hold') 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() ml.run_forever(speed_sp=70,stop_action='hold') mr.run_forever(speed_sp=-70,stop_action='hold') g2=gs.value() if u2<u1: u1=u2 g3=gs.value() g4=gs.value() g5=gs.value() if u1<=t: while g4-g5<g2-g3-6: mr.run_forever(speed_sp=70,stop_action='hold') ml.run_forever(speed_sp=-70,stop_action='hold') g5=gs.value() stop() u3=us.value() t1=time.time() while u3<2550: ml.run_forever(speed_sp=100,stop_action='hold') mr.run_forever(speed_sp=100,stop_action='hold') u3=us.value() t2=time.time() stop() roll(220) ml.run_timed(speed_sp=-100,time_sp=(t2-t1)*1000,stop_action='hold') 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: mr.run_forever(speed_sp=70,stop_action='hold') ml.run_forever(speed_sp=-70,stop_action='hold') g7=gs.value() stop() else: while g4-g5<90: mr.run_forever(speed_sp=70,stop_action='hold') ml.run_forever(speed_sp=-70,stop_action='hold') g5=gs.value() def Redball(): #¥¹¥¿¡¼¥È¤«¤éÀ֥ܡ¼¥ë¤ò¼è¤ê¤Ë¹Ô¤¯¥×¥í¥°¥é¥à angle(250,250,3) #À֥ܡ¼¥ë¤Î°ÌÃ֤ޤǿʤà kaiten_r(180,110) #¥Ü¡¼¥ë¤òµÅ¤¦Éôʬ¤Ï¼ÖÂΤθå¤í¤Ë¤¢¤ë¤Î¤Ç180Åٲ󞤹¤ë roll(220) #¥Ü¡¼¥ë¤òµÅ¤¦ kaiten_r(195,110) #¼ÖÂΤθþ¤¤òÌ᤹ ¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ò·ï¤Ë°ú¤Ã¤«¤«¤é¤Ê¤¤¤è¤¦¤Ë¤¹¤³¤·Í¾Ê¬¤Ë²ó¤Ã¤Æ¤ª¤¯ linetrace_lin() #GÃÏÅÀ¤Þ¤ÇÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë def Blueball(): Àĥܡ¼¥ë¤ò¼è¤ê¤Ë¹Ô¤¯¤Þ¤Ç¤Î¥×¥í¥°¥é¥à angle(-20,160,2) #G¤Î¸òº¹ÅÀ¤ò¤Þ¤¿¤°¤¿¤á¤Ë°ÌÃÖ¤òÄ´À°¤¹¤ë linetrace_lin() #G¤«¤éH¤Þ¤ÇÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë angle(-35,-35,1.5) #H¤Î¸òº¹ÅÀ¤òǧ¼±¤·¤¿¤é¼ÖÂΤò²óž¤·¤¿ºÝ¡¢¥Ü¡¼¥ë¤È¤Ö¤Ä¤«¤é¤Ê¤¤¤è¤¦¤Ë¾¯¤·²¼¤¬¤ë kaiten_r(175,110) #¼ÖÂΤò180Åٲ󞤵¤»¤ë roll(220) #¥Ü¡¼¥ë¤òµÅ¤¦ def move(): Àĥܡ¼¥ë¤ò½¦¤Ã¤¿¸å¡¢E¤Î¸òº¹ÅÀ¤Ë¹Ô¤¯¤Þ¤Ç¤Î¥×¥í¥°¥é¥à kaiten_r(190,110) #¼ÖÂΤθþ¤¤ò¸µ¤ËÌ᤹ angle(-50,-50,1) #¥é¥¤¥ó¥È¥ì¡¼¥¹¤¬°ÂÄꤹ¤ë¤è¤¦¤Ë¾¯¤·²¼¤¬¤ë linetrace_lin() #H¤Þ¤ÇÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë linetrace_lout() #H¤òǧ¼±¸å¡¢linetrace_lin()¤Ç¤Ï±¦¤Ë¶Ê¤¬¤ê¤¤ì¤Ê¤¤¤¿¤á¡¢¤è¤ê¤æ¤Ã¤¯¤ê¿Ê¤à¤³¤Á¤é¤ËÀÚ¤êÂؤ¨¤ë linetrace_lin() #H¤«¤éI´Ö¤ÎÀþ¤Î¶³¦Àþ¾å¤Þ¤ÇÍ褿¤é¡¢¤³¤Á¤é¤ËÀÚ¤êÂؤ¨ linetrace_lout() #I¤òǧ¼±¸å¡¢¤³¤Á¤é¤ËÀè¤Û¤É¤ÈƱ¤¸Íýͳ¤Ç¤³¤Á¤é¤ËÀÚ¤êÂؤ¨ linetrace_lin() #E¤òǧ¼±¤¹¤ë¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹ def BlueZone(): #À֥ܡ¼¥ë¤ò´Ì¤Ë¾è¤»¤Æʬ´ô¤«¤éµ¢¤Ã¤Æ¤¤¿¸å¡¢Àĥܡ¼¥ë¤ò¾è¤»¤Ë¹Ô¤¯¥×¥í¥°¥é¥à linetrace_rin() #E¤«¤éI´Ö¤ÎÀþ¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë linetrace_rout() #I¤òǧ¼±¸å¡¢linetrace_rin()¤Ç¤Ïº¸¤Ë¶Ê¤¬¤ê¤¤ì¤Ê¤¤¤¿¤á¡¢¤è¤ê¤æ¤Ã¤¯¤ê¿Ê¤à¤³¤Á¤é¤ËÀÚ¤êÂؤ¨¤ë linetrace_rin() #I¤«¤éH´Ö¤ÎÀþ¤Î¶³¦Àþ¾å¤Þ¤ÇÍ褿¤é¡¢¤³¤Á¤é¤ËÀÚ¤êÂؤ¨¡¢¤³¤Î¤Þ¤ÞH¤Þ¤Ç¿Ê¤à angle(70,0,1) #¸òº¹ÅÀ¤ò¸Ù¤° linetrace_rin() #H¤«¤éK¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë def discover2(): #Àĥܡ¼¥ë¤ò¼Í½Ð¤¹¤ë¥×¥í¥°¥é¥à kaiten_l(60,100) #³ÑÅÙ¤òÄ´À°¤·¤Æ¤ª¤¯ discover_r(90,500) #´Ì¤Ë¾è¤»¤ë¥×¥í¥°¥é¥à ¾å¤ÇÀâÌÀºÑ¤ß¤Ê¤Î¤Ç¾Êά def start(): r=int(input("insert numbera")) #ÀÖ¤ÏÈÖ¹æ¤Î¾ì¹çʬ¤±¤¬ÍưפÀ¤Ã¤¿¤¿¤á¡¢À֤ΤߥÀ¥ß¡¼¤òÈò¤±¤ë¤¿¤á¤Ëʬ´ô¤òÀߤ±¤¿¡£¤½¤ÎºÝ¤Ë´Ì¤ËÈÖ¹æ¤òÆþÎϤ¹¤ë¡£ Redball() Blueball() move() if r<=2: #´Ì1´Ì2¤ËÃÖ¤¯»þ E¤Î°ÌÃ֤Ǵ̤òõ¤·»Ï¤á¤ë kaiten_l(90,110) #EÃÏÅÀ¤Ç¾å¤ÎÊý¸þ¤ò¸þ¤¯ discover_l(90,250) #´Ì¤ò¾è¤»¤ë¥×¥í¥°¥é¥à¤òºîÆ° ÈϰϤÏÃϿޤΥԥ󥯿§¤ÎÉôʬ kaiten_l(95,100) #EÃÏÅÀ¤Çº¸Â¦¤ò¸þ¤¯ if r==3: #´Ì3¤ËÃÖ¤¯»þ D¤Þ¤Ç¿Ê¤ó¤Ç´Ì3¤¬¤¢¤ëÈϰϤΤßõ¤¹ angle(-40,180,2) #E¤Îº¸²¼¤«¤é±¦¾å¤Ë¼ÖÂΤò°Ü¤¹ linetrace_lin() #E¤«¤éD´Ö¤ÎÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë discover_r(60,250) #DÃÏÅÀ¤Ç´Ì¤ò¾è¤»¤ë¥×¥í¥°¥é¥à¤òºîÆ° ÈϰϤÏÃÏ¿Þ¤ÎÀÄ¿§¤ÎÉôʬ angle(-150,-150,2) #¸å¤Ë¼ÖÂΤò180Åٲ󞤵¤»¤¿»þ¡¢¼ÖÂΤ¬´Ì3¤Ë¤Ö¤Ä¤«¤é¤Ê¤¤¤è¤¦¤Ë¾¯¤·²¼¤¬¤ë kaiten_l(195,110) #195ÅÙº¸²óž¤ò¤¹¤ë linetrace_rin() #D¤«¤éE¤Î´Ö¤òÀþ¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë angle(230,-40,2) #E¤Î±¦¾å¤«¤éº¸²¼¤Ë°ÜÆ° if r==4: #´Ì4¤ËÃÖ¤¯»þ D¤Þ¤Ç¿Ê¤ó¤Ç´Ì4¤¬¤¢¤ëÈϰϤΤßõ¤¹ angle(-40,180,2) #E¤Îº¸²¼¤«¤é±¦¾å¤Ë¼ÖÂΤò°Ü¤¹ linetrace_lin() #E¤«¤éD´Ö¤ÎÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë discover_l(60,250) #DÃÏÅÀ¤Ç´Ì¤Ë¾è¤»¤ë¥×¥í¥°¥é¥à¤òºîÆ° ÈϰϤÏÃϿޤλ翧¤ÎÉôʬ kaiten_l(195,110) #195ÅÙº¸²óž¤¹¤ë linetrace_rin() #D¤«¤éE¤Î´Ö¤òÀþ¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë angle(230,-40,2) #E¤Î±¦¾å¤«¤éº¸²¼¤Ë°ÜÆ° if 5<=r: #´Ì5´Ì6¤ËÃÖ¤¯»þ U¥¿¡¼¥ó¤Î¼êÁ°¤Þ¤Ç¿Ê¤ß¡¢´Ì¤¬¤¢¤ëÈϰϤòõ¤¹ angle(-40,180,2) #E¤Îº¸²¼¤«¤é±¦¾å¤Ë¼ÖÂΤò°Ü¤¹ linetrace_lin() #E¤«¤éD´Ö¤ÎÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë linetrace_lout() #D¤Î¸òº¹ÅÀ¤òǧ¼±¸å¡¢linetrace_lin()¤Î¤Þ¤Þ¤À¤È±¦¤Ë¶Ê¤¬¤ê¤¤ì¤Ê¤¤¤Î¤Ç¤³¤Á¤é¤ËÀÚ¤êÂؤ¨¤ë linetrace_ltime(3) #D¤«¤éµÞ¥«¡¼¥ÖÁ°¤Î´Ö¤ÇÀþ¤Î¶³¦Àþ¾å¤òǧ¼±¸å¡¢3ÉäÀ¤±¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë discover_l(60,190) #´Ì¤Ë¾è¤»¤ë¥×¥í¥°¥é¥à¤òºîÆ° ÈϰϤÏÃÏ¿Þ¤ÎÎ理ÎÉôʬ angle(-130,-130,3) #¸å¤Ë¼ÖÂΤò180Åٲ󞤹¤ë»þ¤Ë¡¢¼ÖÂΤ¬´Ì5¤Ë¤Ö¤Ä¤«¤é¤Ê¤¤¤è¤¦¤Ë¾¯¤·²¼¤¬¤ë kaiten_l(180,110) #¼ÖÂΤòº¸¤Ë180Åٲ󞤹¤ë linetrace_rin() #DÃÏÅÀ¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹ linetrace_rout() #DÃÏÅÀ¤òǧ¼±¸å¡¢³Ñ¤ò¶Ê¤¬¤êÀÚ¤ì¤ë¤è¤¦¤Ë¤³¤Á¤é¤ËÀÚ¤êÂؤ¨¤ë linetrace_rin() #EÃÏÅÀ¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹ angle(230,-40,2) #E¤Î±¦¾å¤«¤éº¸²¼¤Ë°ÜÆ° BlueZone() discover2() start() #µ¯Æ° *·ë²Ì¤È¿¶¤êÊÖ¤ê¤È´¶ÁÛ [#h0d88539] &ref(2018b/Member/shaymin/Mission3/s_COjGEQdM.jpg,100%); ¼Ì¿¿¤Ë¤¢¤ëÄ̤ꡢ»ä¤¿¤ÁE3E4Èɤ¬¥Ü¡¼¥ë¤ò¤Ò¤È¤Ä´Ì¤Î¾å¤Ë¾è¤»¤ë¤³¤È¤ËÀ®¸ù¤·Í¥¾¡¤·¤¿ ºÇ½é¤Î¼Â¹Ô¤Ç¥×¥í¥°¥é¥à¤Î¥ß¥¹¤¬¸«¤Ä¤«¤ê¡¢Ã»»þ´Ö¤Ç½¤Àµ¤·¤¿¤Î¤Ç¥ß¥¹¤ò¤Ä¤Ö¤·¤¤ì¤º¡¢Æó¸ÄÌܤΥܡ¼¥ë¤ò¾è¤»¤ë¤³¤È¤Ï¤Ç¤¤Ê¤«¤Ã¤¿¤¬¡¢Ìµ»ö¤Ë¤Ò¤È¤Ä¾è¤»¤ë¤³¤È¤¬¤Ç¤¤Æ¤è¤«¤Ã¤¿¤È»×¤¦¡£ &ref(2018b/Member/shaymin/Mission3/xxCGTEuL.jpg,20%);