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­¡¤Ï¥Ú¥ó¤ò»ý¤ÄÉôʬ¤Çmedium Motor ¤ò+Êý¸þ¡¢-Êý¸þ¤Ë²óž¤µ¤»¤ë¤³¤È¤Ç»ú¤ò½ñ¤¯¡¢½ñ¤«¤Ê¤¤¤Î¥¹¥¤¥Ã¥Á¤Î¥ª¥ó¡¢¥ª¥Õ¤òÀÚ¤êÂؤ¨¤Æ¤¤¤Þ¤¹¡£

­¢large Motor¤Ë¥¿¥¤¥ä¤òÉÕ¤±¡¢È¿ÂЦ¤È¹ç¤ï¤»¤Æ2¤Ä¤Î¥¿¥¤¥ä¤Ç°ÜÆ°¤ò¤·¤Þ¤¹¡£

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*¥×¥í¥°¥é¥ß¥ó¥°¡¢´Ø¿ô¤Ë¤Ä¤¤¤Æ [#lc39cce1]
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 def motor_init():
   ¡¡ mL.reset()
   ¡¡ mR.reset()

 def move_forward(t):
     mL.run_timed(time_sp=t,speed_sp=250,stop_action='hold')
   ¡¡mR.run_timed(time_sp=t,speed_sp=250,stop_action='hold')
     sleep(t/1000)

 def move_back(t):
    ¡¡mL.run_timed(time_sp=t,speed_sp=-250,stop_action='hold')
    ¡¡mR.run_timed(time_sp=t,speed_sp=-250,stop_action='hold')
   ¡¡ sleep(t/1000)

 def turn_left(t):
    ¡¡mL.run_timed(time_sp=t,speed_sp=-190,stop_action='hold')
   ¡¡ mR.run_timed(time_sp=t,speed_sp=190,stop_action='hold')
      sleep(t/1000)

 def turn_right(t):
   ¡¡ mL.run_timed(time_sp=t,speed_sp=190,stop_action='hold')
   ¡¡ mR.run_timed(time_sp=t,speed_sp=-190,stop_action='hold')
   ¡¡ sleep(t/1000)

 def switch_off(t):
   ¡¡ mM.run_timed(time_sp=t,speed_sp=200,stop_action='hold')
    ¡¡sleep(t/1000)

 def switch_on(t):
    ¡¡mM.run_timed(time_sp=t,speed_sp=-200,stop_action='hold')
   ¡¡ sleep(t/1000)

 def back_left(t):
    ¡¡mR.run_timed(time_sp=t,speed_sp=-300,stop_action='hold')
   ¡¡ mL.run_timed(time_sp=t,speed_sp=-100,stop_action='hold')
    ¡¡sleep(t/1000)

 def back_right(t):
    ¡¡mR.run_timed(time_sp=t,speed_sp=-100,stop_action='hold')
   ¡¡ mL.run_timed(time_sp=t,speed_sp=-300,stop_action='hold')
    ¡¡sleep(t/1000)

 def moveforward_harai(t):
    ¡¡mR.run_timed(time_sp=t,speed_sp=100,stop_action='hold')
   ¡¡ mL.run_timed(time_sp=t,speed_sp=300,stop_action='hold')
   ¡¡ sleep(t/1000)

 def moveback_harai(t):
    ¡¡mR.run_timed(time_sp=t,speed_sp=-100,stop_action='hold')
   ¡¡ mL.run_timed(time_sp=t,speed_sp=-300,stop_action='hold')
   ¡¡ sleep(t/1000)

*´Ø¿ô¤ÎÀâÌÀ [#v1c98c85]
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­¡motor_init():¥â¡¼¥¿¡¼¤ÎÀßÄê¤ò¥ê¥»¥Ã¥È¡¢½é´ü²½¤·¤Þ¤¹¡£

­¢move_forward(t)¡§Â®ÅÙ°ìÄê¡¢»þ´Öt¤ò»ØÄꤷ¤Æ¡¢¤½¤Î»þ´Öʬ¤À¤±¥â¡¼¥¿¡¼2¤Ä¤ò²óž¤·¤ÆÁ°¿Ê¤·¤Þ¤¹¡£­£¤ÎÆ°¤­¤ÈÁ°¸åµÕ¤Î´Ø·¸¤Ë¤Ê¤ê¤Þ¤¹¡£

­£move_back(t):®ÅÙ°ìÄê¡¢»þ´Öt¤ò»ØÄꤷ¤Æ¡¢¤½¤Î»þ´Öʬ¤À¤±¥â¡¼¥¿¡¼2¤Ä¤ò²óž¤·¤Æ¸å¿Ê¤·¤Þ¤¹¡£­¢¤ÎÆ°¤­¤ÈÁ°¸åµÕ¤Î´Ø·¸¤Ë¤Ê¤ê¤Þ¤¹¡£

­¤turn_left(t):®ÅÙ°ìÄê¡¢»þ´Öt¤ò»ØÄꤷ¤Æ¡¢¤½¤Î»þ´Öʬ¤À¤±¥â¡¼¥¿¡¼¤ò¤½¤ì¤¾¤ìµÕÊý¸þ¤Ë²óž¤µ¤»¤Æ¡¢¤½¤Î¾ì¤Çº¸¸þ¤­¤ËÀû²ó¤¹¤ë¡£Àû²ó¤·¤¿¤¤³ÑÅÙ¤Î10Çܤλþ´Ö¤ò»ØÄꤹ¤ë¤È¡¢¤½¤Î³ÑÅÙʬÀû²ó¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£Î㤨¤Ð¡¢(t=450)¤È¤¹¤ë¤È45ÅÙ¤À¤±º¸¤ËÀû²ó¤¹¤ë¡£­¥¤ÎÆ°¤­¤Èº¸±¦µÕ¤Î´Ø·¸¤Ë¤Ê¤ê¤Þ¤¹¡£

­¥turn_right():®ÅÙ°ìÄê¡¢»þ´Öt¤ò»ØÄꤷ¤Æ¡¢¤½¤Î»þ´Öʬ¤À¤±¥â¡¼¥¿¡¼¤ò¤½¤ì¤¾¤ìµÕÊý¸þ¤Ë²óž¤µ¤»¤Æ¡¢¤½¤Î¾ì¤Ç±¦¸þ¤­¤ËÀû²ó¤¹¤ë¡£Àû²ó¤·¤¿¤¤³ÑÅÙ¤Î10Çܤλþ´Ö¤ò»ØÄꤹ¤ë¤È¡¢¤½¤Î³ÑÅÙʬÀû²ó¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£Î㤨¤Ð¡¢(t=900)¤È¤¹¤ë¤È90ÅÙ¤À¤±±¦¤ËÀû²ó¤¹¤ë¡£­¤¤ÎÆ°¤­¤Èº¸±¦µÕ¤Î´Ø·¸¤Ë¤Ê¤ê¤Þ¤¹¡£

­¦switch_off(t):®ÅÙ°ìÄê¡¢»þ´Öt¤ò»ØÄꤷ¤Æ¡¢¤½¤Î»þ´Öʬ¤À¤±Á°Éô¤Îmedium¥â¡¼¥¿¡¼¤ò²óž¤µ¤»¤Æ¸ÇÄꤷ¤¿¥Ú¥ó¤òÃÏÌ̤«¤éÎ¥¤ì¤ë¤è¤¦¤Ë¤¹¤ë¡£¤¿¤À¤·²óž»þ´Ö¤ò­§¤ÈƱ¤¸500¤Ë¸ÇÄꤷ¡¢¤¤¤Ä¤âƱ¤¸¾ì½ê¤Ë¤¯¤ë¤è¤¦¤Ë¤¹¤ë¡£

­§switch_on(t):®ÅÙ°ìÄê¡¢»þ´Öt¤ò»ØÄꤷ¤Æ¡¢¤½¤Î»þ´Öʬ¤À¤±Á°Éô¤Îmedium¥â¡¼¥¿¡¼¤ò­¦¤È¤ÏµÕÊý¸þ¤Ë²óž¤µ¤»¤Æ¸ÇÄꤷ¤Æ¥Ú¥ó¤òÃÏÌ̤ˤĤ¯¤è¤¦¤Ë¤¹¤ë¡£¤¿¤À¤·²óž»þ´Ö¤ò­¦¤ÈƱ¤¸500¤Ë¸ÇÄꤷ¡¢¤¤¤Ä¤âƱ¤¸¾ì½ê¤Ë¤¯¤ë¤è¤¦¤Ë¤¹¤ë¡£


­¨back_left(t):®ÅÙ°ìÄê¡¢»þ´Öt¤ò»ØÄꤷ¤Æ¡¢¤½¤Î»þ´Öʬ¤À¤±º¸±¦¤Î¥â¡¼¥¿¡¼¤òµÕ²óž¤·¤Æ¸å¿Ê¤·¤Þ¤¹¡£¤½¤ÎºÝ¤Ë±¦Â¦¤Î¥â¡¼¥¿¡¼¤òº¸¤Î¥â¡¼¥¿¡¼¤è¤êÁ᤯ư¤«¤¹¤³¤È¤Çº¸±¦¤Î²óžº¹¤òÂ礭¤¯À¸¤¸¤µ¤»º¸¸å¤í¤Ë¶Ê¤¬¤ê¤Ê¤¬¤é¸å¿Ê¤·¤Þ¤¹¡£­©¤Èº¸±¦µÕ¤ÎÆ°¤­¤Ë¤Ê¤ê¤Þ¤¹¡£

­©back_right(t):®ÅÙ°ìÄê¡¢»þ´Öt¤ò»ØÄꤷ¤Æ¡¢¤½¤Î»þ´Öʬ¤À¤±º¸±¦¤Î¥â¡¼¥¿¡¼¤òµÕ²óž¤·¤Æ¸å¿Ê¤·¤Þ¤¹¡£¤½¤ÎºÝ¤Ëº¸Â¦¤Î¥â¡¼¥¿¡¼¤ò±¦¤Î¥â¡¼¥¿¡¼¤è¤êÁ᤯ư¤«¤¹¤³¤È¤Çº¸±¦¤Î²óžº¹¤òÂ礭¤¯À¸¤¸¤µ¤»±¦¸å¤í¤Ë¶Ê¤¬¤ê¤Ê¤¬¤é¸å¿Ê¤·¤Þ¤¹¡£­¨¤Èº¸±¦µÕ¤ÎÆ°¤­¤Ë¤Ê¤ê¤Þ¤¹¡£

­ªmoveforward_harai:®ÅÙ°ìÄê¡¢»þ´Öt¤ò»ØÄꤷ¤Æ¡¢¤½¤Î»þ´Öʬ¤À¤±º¸±¦¤Î¥â¡¼¥¿¡¼¤ò²óž¤·¤ÆÁ°¿Ê¤·¤Þ¤¹¡£¤½¤ÎºÝ¡¢º¸Â¦¤Î¥â¡¼¥¿¡¼¤ò±¦¤Î¥â¡¼¥¿¡¼¤è¤ê¾¯¤·Á᤯ư¤«¤¹¤³¤È¤Ç¡¢º¸±¦¤Î²óžº¹¤ò¾¯¤·¤Ä¤±¡¢¿®½£¤Î½£¤Î»ú¤Î2²èÌܤκǸå¤Î¤Ï¤é¤¤¤ò½ñ¤¯¤³¤È¤òÌÜŪ¤ËÄêµÁ¤µ¤ì¤Æ¤¤¤Þ¤¹¡£­«¤ÈÁ°¸åµÕ¤ÎÆ°¤­¤Ë¤Ê¤ê¤Þ¤¹¡£

­«moveback_harai:®ÅÙ°ìÄê¡¢»þ´Öt¤ò»ØÄꤷ¤Æ¡¢¤½¤Î»þ´Öʬ¤À¤±º¸±¦¤Î¥â¡¼¥¿¡¼¤òµÕ²óž¤·¤Æ¸å¿Ê¤·¤Þ¤¹¡£¤½¤ÎºÝ¡¢º¸Â¦¤Î¥â¡¼¥¿¡¼¤ò±¦¤Î¥â¡¼¥¿¡¼¤è¤ê¾¯¤·Á᤯ư¤«¤¹¤³¤È¤Ç¡¢º¸±¦¤Î²óžº¹¤ò¾¯¤·¤Ä¤±¡¢¿®½£¤Î½£¤Î»ú¤Î2²èÌܤκǸå¤Î¤Ï¤é¤¤¤ò½ñ¤¤¤¿¸å¤Ë¸µ¤Î°ÌÃÖ¤ËÌá¤ë¤³¤È¤òÌÜŪ¤ËÄêµÁ¤µ¤ì¤Æ¤¤¤Þ¤¹¡£­ª¤ÈÁ°¸åµÕ¤ÎÆ°¤­¤Ë¤Ê¤ê¤Þ¤¹¡£

*¡Ö¿®½£¡×¤ò½ñ¤¤¤Æ¤ß¤ë [#h3b719bb]
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¤Þ¤º¡Ö¿®¡×¤ò½ñ¤¯¥×¥í¥°¥é¥à¤ò²¼¤Ë½ñ¤¤¤Æ¤ª¤­¤Þ¤¹¡£
 motor_init()
 move_forward(500)
 sleep(1)
 switch_off(500)
 sleep(1)
 move_forward(350)
 sleep(1)
 back_right(2000)
 sleep(1)
 back_left(990)
 sleep(1)
 move_forward(1700)
 sleep(1)
 switch_on(500)
 sleep(1)
 move_forward(800)
 sleep(1)
 switch_off(500)
 sleep(1)
 back_right(1600)
 sleep(1)
 turn_right(250)
 sleep(1)
 move_forward(1090)
 sleep(1)
 switch_on(500)
 sleep(1)
 move_forward(150)
 sleep(1)
 switch_off(500)
 sleep(1)
 move_back(750)
 sleep(1)
 turn_right(600)
 sleep(1)
 move_forward(2400)
 sleep(1)
 back_right(1950)
 sleep(1)
 move_forward(1200)
 sleep(1)
 switch_on(500)
 sleep(1)
 move_forward(700)
 sleep(1)
 switch_off(500)
 sleep(1)
 back_right(500)
 sleep(1)
 back_left(500)
 sleep(1)
 move_forward(100)
 sleep(1)
 switch_on(500)
 sleep(1)
 move_forward(420)
 sleep(1)
 switch_off(500)
 sleep(1)
 move_back(420)
 sleep(1)
 back_right(500)
 sleep(1)
 back_left(500)
 sleep(1)
 move_forward(670)
 sleep(1)
 switch_on(500)
 sleep(1)
 move_forward(420)
 sleep(1)
 switch_off(500)
 sleep(1)
 move_back(420)
 sleep(1)
 back_right(500)
 sleep(1)
 back_left(500)
 sleep(1)
 move_forward(500)
 sleep(1)
 switch_on(500)
 sleep(1)
 move_forward(400)
 sleep(1)
 switch_off(500)
 sleep(1)
 move_back(400)
 sleep(1)
 back_right(500)
 sleep(1)
 back_left(500)
 sleep(1)
 move_forward(450)
 sleep(1)
 switch_on(500)
 sleep(1)
 move_forward(400)
 sleep(1)
 switch_off(500)
 sleep(1)
 move_forward(400)
 sleep(1)
 turn_left(900)
 sleep(1)
 move_back(500)
 sleep(1)
 switch_on(500)
 sleep(1)
 move_forward(200)
 sleep(1)
 switch_off(500)
 sleep(1)
 move_back(200)
 sleep(1)
 turn_right(900)
 sleep(1)
 move_forward(380)
 sleep(1)
 turn_left(900)
 sleep(1)
 switch_on(500)
 sleep(1)
 move_forward(200)
 sleep(1)
 switch_off(500)
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