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 #!/usr/bin/env python3¡¡¡ô»ÈÍѸÀ¸ì¤ÏPython3¤È¤¹¤ë
 from ev3dev.ev3 import * ¡ôev3dev¤ò¥¤¥ó¥Ý¡¼¥È¤¹¤ë
 from time import sleep¡¡»þ´Ö¤Ï¥¹¥ê¡¼¥×´Ø¿ô¤ò»È¤¦
 mL = LargeMotor('outA')¡¡¡ôLeft,¤Ä¤Þ¤êº¸¤Î¥â¡¼¥¿¤¬A¥Ý¡¼¥È¤Ë·Ò¤¬¤Ã¤Æ¤¤¤ë¡£°ÜÆ°¤Ë»È¤¦¡£
 mR = LargeMotor('outD')¡¡¡ôRight¡¢¤Ä¤Þ¤ê±¦¤Î¥â¡¼¥¿¡¼¤¬D¥Ý¡¼¥È¤Ë·Ò¤¬¤Ã¤Æ¤¤¤ë¡£¤³¤ì¤â°ÜÆ°¤Ë»È¤¦¡£
 mM = MediumMotor('outB')¡¡¡ôMedium¥â¡¼¥¿¡¼¤¬B¥Ý¡¼¥È¤Ë·Ò¤¬¤Ã¤Æ¤¤¤ë¡£¤³¤ì¤Ï¥Ô¥ó¥Ý¥óµå¤ò¾å²¼¤¹¤ë¥¢¡¼¥à¤òÆ°¤«¤¹¡£
 cs = ColorSensor('in3')¡¡¡ô¥«¥é¡¼¥»¥ó¥µ¡¼¤¬¥Ý¡¼¥È£³¤Ë·Ò¤¬¤Ã¤Æ¤¤¤ë¡£¤³¤ì¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤È¥³¡¼¥Ê¡¼¤Î¸¡ÃΤËÍøÍѤ¹¤ë¡£
 cs.mode = 'COL-REFLECT'¡¡¡ô¥«¥é¡¼¥»¥ó¥µ¡¼¤¬È¿¼Í¤·¤¿¸÷¤ÎÎ̤ÎÃͤòÆɤ߼è¤ë¥â¡¼¥É¤ËÀßÄꤹ¤ë¡£
 def motor_init():¡¡¡ôº¸±¦¤Î¥â¡¼¥¿¡¼¤ÎÀßÄê¤ò¥ê¥»¥Ã¥È¤¹¤ë¡£
        mL.reset()
        mR.reset()
 def arm_move(t,y):¡¡¡ô¥Ô¥ó¥Ý¥óµå¤ò¾å²¼¤Ë°ÜÆ°¤¹¤ë¥¢¡¼¥à¤òÆ°¤«¤¹¡£y>0¤Î¤È¤­¥¢¡¼¥à¤Ï¾å¾º¤·¡¢y<0¤Î¤È¤­²¼¹ß¤¹¤ë¡£
    mM.run_timed(speed_sp=y,time_sp=t,stop_action='hold')
 def move_forward_long(t):¡¡¡ôŤ¤µ÷Î¥¤òÁ°¿Ê¤¹¤ë¤È¤­¤ËÍøÍÑ¡£»þ´Öt¤Î´Ö¤À¤±Á°¿Ê¤¹¤ë¡£t¤Îñ°Ì¤ÏÉÃ(second)¤Ç¤¢¤ë¡£
     x = time.time()
     while time.time() - x < t:¡¡
             mL.run_forever(speed_sp=-100)
             mR.run_forever(speed_sp=-100)
     mL.stop()
     mR.stop()
 def move_back_long(t):¡¡¡ôŤ¤µ÷Î¥¤ò¸å¿Ê¤¹¤ë¤È¤­¤ËÍøÍÑ¡£»þ´Öt¤Î´Ö¤À¤±¸å¿Ê¤¹¤ë¡£t¤Îñ°Ì¤ÏÉÃ(second)¤Ç¤¢¤ë¡£
 
       x = time.time()
       while time.time() - x < t:
             mL.run_forever(speed_sp=100)
             mR.run_forever(speed_sp=100)
       mL.stop()
       mR.stop()
 def move_forward(t):¡¡¡ô»þ´Öt/1000Éäδ֤À¤±Á°¿Ê¤¹¤ë¡£Ã»µ÷Î¥¤ÎÁ°¿Ê¤Ë»ÈÍÑ¡£
    mL.run_timed(speed_sp=-100,time_sp=t,stop_action='brake')
    mR.run_timed(speed_sp=-100,time_sp=t,stop_action='brake')
 def move_back(t):¡¡¡ô»þ´Öt/1000Éäδ֤À¤±Á°¿Ê¤¹¤ë¡£Ã»µ÷Î¥¤ÎÁ°¿Ê¤Ë»ÈÍÑ¡£
    mL.run_timed(speed_sp=100,time_sp=t,stop_action='brake')
    mR.run_timed(speed_sp=100,time_sp=t,stop_action='brake')
 def turn_right(t):¡¡¡ôt/1000Éäδ֤À¤±±¦²óž¤¹¤ë¡£¾®¤µ¤¤²óž¤Ë»ÈÍÑ¡£
    mL.run_timed(speed_sp=-100,time_sp=t,stop_action='brake')
    mR.run_timed(speed_sp=100,time_sp=t,stop_action='brake')
 def turn_right_long(t):¡¡¡ô£ôÉäδ֤À¤±±¦²óž¤¹¤ë¡£Â礭¤Ê²óž¤Ë»ÈÍÑ¡£
    x = time.time()
    while time.time() - x < t:
       mL.run_forever(speed_sp=-100)
       mR.run_forever(speed_sp=100)
    mL.stop()
    mR.stop()
 def turn_left(t):¡¡¡ôt/1000Éäδ֤À¤±º¸²óž¤¹¤ë¡£¾®¤µ¤Ê²óž¤Ë»ÈÍÑ¡£
    mL.run_timed(speed_sp=100,time_sp=t,stop_action='brake')
    mR.run_timed(speed_sp=-100,time_sp=t,stop_action='brake')
 def turn_left_long(t):¡¡¡ôtÉäÀ¤±º¸²óž¤¹¤ë¡£Â礭¤Ê²óž¤Ë»ÈÍÑ¡£
     x = time.time()
     while time.time() - x < t:
        mL.run_forever(speed_sp=100)
        mR.run_forever(speed_sp=-100)
     mL.reset()
     mR.reset()
 def line_trace_left(t,c):¡¡¡ôc¤ÎÃͤò¶­ÌܤËÀþ¤Îº¸Â¦¤ò¥¸¥°¥¶¥°Á°¿Ê¤·¡¢»þ´Öt¤À¤±¹õ¤ò´¶ÃΤ¹¤ë¤ÈÆ°ºî¤òÄä»ß¤¹¤ë¡£¡Ê¾Ü¤·¤¯¤Ï¾å¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»²¾È¡Ë
    x = time.time()
    while time.time() - x < t:
      if cs.value() > c:
         mL.run_forever(speed_sp=-90)
         mR.run_forever(speed_sp=30)
         x = time.time()
      else:
           mL.run_forever(speed_sp=30)
           mR.run_forever(speed_sp=-90)
    if time.time() - x > t:
       mL.stop()
       mR.stop()
 def line_trace_right(t,c):¡ôc¤ÎÃͤò¶­ÌܤËÀþ¤Î±¦Â¦¤ò¥¸¥°¥¶¥°Á°¿Ê¤·¡¢»þ´Öt¤À¤±¹õ¤ò´¶ÃΤ¹¤ë¤ÈÆ°ºî¤òÄä»ß¤¹¤ë¡£¡Ê¾Ü¤·¤¯¤Ï¾å¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»²¾È¡Ë
    x = time.time()
    while time.time() - x < t:
         if cs.value() > c:
            mL.run_forever(speed_sp=30)
            mR.run_forever(speed_sp=-90)
            x = time.time()
         else:
            mL.run_forever(speed_sp=-90)
            mR.run_forever(speed_sp=30)
    if time.time() - x >t:
         mL.stop()
         mR.stop()
 if __name__ == '__main__':
   print (cs.value())¡¡¡ô¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤòɽ¼¨¡£¤³¤ÎÃͤòËè²ó³Îǧ¤·¡¢¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤ¬Àµ¾ï¤«È½ÃǤ¹¤ë¡£
   sleep(1)
   motor_init()¡¡¡ô¥â¡¼¥¿¡¼¤ò¥ê¥»¥Ã¥È¤¹¤ë
   sleep(1)¡¡¡ô1ÉôÖÄä»ß¡£¡Ê°Ê²¼Æ±Íͤˡ¢¡Ê¡Ë¤ÎÃæ¤Î¿ô»ú¤ÎÉÿô¤À¤±Ää»ß¤¹¤ë¡£¡Ë
   arm_move(1300,100)¡¡¡ô¥³¡¼¥¹¤ÎÅÓÃæ¤Ç¥Ô¥ó¥Ý¥óµå¤Ë¥¢¡¼¥à¤¬Åö¤¿¤é¤Ê¤¤¤è¤¦¤Ë¾å¤²¤Ê¤¬¤é°ÜÆ°¤¹¤ë¡£
   sleep(5)¡¡
   line_trace_left(1.1,40)¡¡¡ô¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¡¢M¤«¤éK¤Þ¤Ç°ÜÆ°¤·¡¢K¤Ç¥³¡¼¥Ê¡¼¤ò¸¡ÃΤ·¤ÆÄä»ß¤¹¤ë¡£
   sleep(1)
   turn_right(655)¡¡¡ô¥Ô¥ó¥Ý¥óµå¤ò²ó¼ý¤¹¤ë¤è¤¦¤Ë³ÑÅÙ¤òÄ´À°
   sleep(1)
   move_back_long(4)¡¡¡ôK¤ÇÄä»ß¤·¤¿¤Þ¤Þ¥¢¡¼¥à¤ò²¼¤¹¤È¡¢¥¢¡¼¥à¤¬¥Ô¥ó¥Ý¥óµå¤Ë¤Ö¤Ä¤«¤Ã¤Æ¤·¤Þ¤¦¤Î¤Ç¸å¿Ê¤¹¤ë¡£
   sleep(5)
   arm_move(700,-100)¡¡¡ô¥¢¡¼¥à¤ò²¼¤¹¡£
   sleep(1)
   motor_init()
   sleep(1)
   move_forward_long(1.3)¡¡¡ô¥¢¡¼¥à¤ò¥Ô¥ó¥Ý¥óµå¤Î²¼¤ËÀø¤é¤»¤ë¡£
   sleep(1)
   arm_move(1500,100)¡¡¡ô¥¢¡¼¥à¤ò¾å¾º¤µ¤»¡¢¥Ô¥ó¥Ý¥óµå¤ò»ý¤Á¾å¤²¤ë¡£
   sleep(1)
   move_forward_long(5.5)¡¡¡ôL¤Þ¤Ç°ÜÆ°¤¹¤ë¡£
   sleep(1)
   turn_left_long(2.4)¡¡¡ôL¤Þ¤Ç°ÜÆ°¤¹¤ë¡£
   sleep(1)
   line_trace_right(0.8,40)¡¡¡ôL¤«¤éK¤Þ¤Ç°ÜÆ°¤·¡¢K¤Ç¥³¡¼¥Ê¡¼¤ò¸¡ÃΤ·¤ÆÄä»ß¤¹¤ë¡£
   sleep(1)
   turn_left_long(0.5)
   sleep(1)
   move_forward_long(1.5)
   sleep(1)
   turn_right_long(2)
   sleep(1)
   line_trace_right(0.8,20)
   sleep(1)
   move_forward(200)
   sleep(1)
   turn_left_long(1.3)
   sleep(1)
   line_trace_left(0.87,40)
   sleep(1)
   turn_right(600)
   sleep(1)
   move_forward(350)
   sleep(1)
   line_trace_left(0.87,40)
   sleep(1)
   turn_right(600)
   sleep(1)
   move_forward(350)
   sleep(1)
   line_trace_left(0.87,40)
   sleep(1)
   turn_right(1000)
   sleep(1)
   move_forward(400)
   sleep(3)
   turn_left_long(1.5)
   sleep(1)
   line_trace_left(1,20)
   sleep(1)
   move_forward(500)
   sleep(1)
   turn_left(900)
   sleep(1)
   line_trace_left(1,20)
   sleep(1)
   move_forward(500)
   sleep(1)
   turn_left(900)
   sleep(1)
   line_trace_left(1,20)
   sleep(1)   
   turn_right(800)
   sleep(1)
   move_forward(800)
   sleep(1)
   line_trace_right(1,20)
   sleep(1)
   turn_left(600)
   sleep(1)
   move_back_long(5)
   sleep(1)
   arm_move(150,-500)
   sleep(1)

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