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 #!/usr/bin/env python3
 from ev3dev.ev3 import *
 from time import sleep

 mL = LargeMotor('outB')
 mR = LargeMotor('outD')
 mZ = MediumMotor('outA')
 cs = ColorSensor('in1')
 cs.mode = 'COL-REFLECT'

 def motor_init():
  mL.reset()
  mR.reset()
  mZ.reset()

-¥¢¡¼¥à¤ò²¼¤²¤ë¥×¥í¥°¥é¥à
 def down():
  mZ.run_timed(time_sp=600,speed_sp=150,stop_action='brake')
  sleep(1)

-¥È¥ì¡¼¤´¤È¥¢¡¼¥à¤ò¾å¤²¤ë¥×¥í¥°¥é¥à
 def up():
  mZ.run_timed(time_sp=685,speed_sp=-160,stop_action='hold')
  sleep(1)

-¥È¥ì¡¼¤ò¹¹¤Ë»ý¤Á¾å¤²¡¢¥Ü¡¼¥ë¤ò¥´¡¼¥ë¤Ëή¤·¹þ¤à¥×¥í¥°¥é¥à
 def up2():
  mZ.run_timed(time_sp=285,speed_sp=-569,stop_action='hold')
  sleep(1)

-¥È¥ì¡¼¤òÊü¤êÅꤲ¡¢¥ë¡¼¥ë¤Ë§¤ë¤è¤¦¤Ë¥È¥ì¡¼¤ò½èÍý¤¹¤ë¥×¥í¥°¥é¥à
 def nage():
  mZ.run_timed(time_sp=400,speed_sp=-1000,stop_action='brake')
  sleep(1)

-¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ë¤ª¤±¤ëÁ°¤Ø¿Ê¤à¥×¥í¥°¥é¥à
 def go():
  mL.run_timed(time_sp=80,speed_sp=150,stop_action='brake')
  mR.run_timed(time_sp=80,speed_sp=150,stop_action='brake')

-¸òº¹ÅÀǧ¼±¸åÀþ¤òĶ¤¨¤¿¤ê¡¢¿ÍÎϤˤè¤ëÄ´À°ÍѤÎÁ°¿Ê
 def over(t):
  mL.run_timed(time_sp=t,speed_sp=200,stop_action='brake')
  mR.run_timed(time_sp=t,speed_sp=200,stop_action='brake')
  sleep(1)

-¿ÍÎϤˤè¤ëÄ´À°ÍѤθå¿Ê
 def back(t):
  mL.run_timed(time_sp=t,speed_sp=-200,stop_action='brake')
  mR.run_timed(time_sp=t,speed_sp=-200,stop_action='brake')

-¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ë¤ª¤±¤ë±¦ÀÞÍÑ
 def turnl2():
  mL.run_timed(time_sp=200,speed_sp=45,stop_action='brake')
  mR.run_timed(time_sp=200,speed_sp=-50,stop_action='brake')
  sleep(1)
 
-¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ë¤ª¤±¤ëº¸ÀÞÍÑ
 def turnr2():
  mR.run_timed(time_sp=200,speed_sp=75,stop_action='brake')
  mL.run_timed(time_sp=200,speed_sp=-45,stop_action='brake')

-º¸Â¦¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ë¤ª¤±¤ë¸òº¹ÅÀǧ¼±¸å¤Î½¤ÀµÍÑ¥×¥í¥°¥é¥à
 def turnr2X(x):
  mR.run_timed(time_sp=x,speed_sp=-75,stop_action='brake')
  mL.run_timed(time_sp=x,speed_sp=45,stop_action='brake')

-±¦Â¦¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ë¤ª¤±¤ë¸òº¹ÅÀǧ¼±¸å¤Î½¤ÀµÍÑ¥×¥í¥°¥é¥à
 def turnr2Y(y):
  mR.run_timed(time_sp=y,speed_sp=45,stop_action='brake')
  mL.run_timed(time_sp=y,speed_sp=-75,stop_action='brake')

 def turnl2():
  mL.run_timed(time_sp=200,speed_sp=45,stop_action='brake')
  mR.run_timed(time_sp=200,speed_sp=-50,stop_action='brake')

-¿ÍÎϤˤè¤ëº¸ÀÞÄ´À°ÍÑ
 def turnC(a):
  mR.run_timed(time_sp=a,speed_sp=-150,stop_action='brake')
  mL.run_timed(time_sp=a,speed_sp=150,stop_action='brake')
  sleep(1)

-¿ÍÎϤˤè¤ë±¦ÀÞÄ´À°ÍÑ
 def turnD(a):
  mR.run_timed(time_sp=a,speed_sp=150,stop_action='brake')
  mL.run_timed(time_sp=a,speed_sp=-150,stop_action='brake')
  sleep(1)

 def stop():
  mL.stop
  mR.stop

 def modi():
  mR.run_timed(time_sp=400,speed_sp=120,stop_action='brake')
  mL.run_timed(time_sp=400,speed_sp=-40,stop_action='brake')
  sleep(0.5)

-º¸Â¦¤Ë¤ª¤±¤ë¥é¥¤¥ó¥È¥ì¡¼¥¹
 def linel():
  S = 1
  while S > 0:
  while S > 0:¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡#·«¤êÊÖ¤·³«»Ï
   go()
   if cs.value() > 15:
   if cs.value() > 15:¡¡¡¡¡¡¡¡¡¡¡¡¡¡#Çò(º¸)¤Ë¹Ô¤­²á¤®¤ë¤È
    while cs.value() > 15:
     turnl2()
   if cs.value() < 9:
    tS = time.time()
    while cs.value() < 9:
     turnr2()
   if time.time()-tS > 0.48:
    turnr2X((time.time()-tS)*1400)
     S = 0
     turnl2()                       #¹õ(±¦)¤Ë¸þ¤«¤Ã¤Æ¿Ê¤à
   if cs.value() < 9:               #¹õ(±¦)¤Ë¹Ô¤­²á¤®¤ë¤È
    tS = time.time()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡#»þ´Ö·×¬³«»Ï
     while cs.value() < 9:           
     turnr2()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ #Çò(º¸)¤Ë¸þ¤«¤Ã¤Æ¿Ê¤à
   if time.time()-tS > 0.48:¡¡¡¡¡¡¡¡#·×¬»þ´Ö¤¬°ìÄê°Ê¾å¤À¤È¸òº¹ÅÀ¤òǧ¼±¤¹¤ë
    turnr2X((time.time()-tS)*1400)¡¡#¶Ê¤¬¤ê¤¹¤®¤¿Ê¬¤ò½¤Àµ¤¹¤ë
     S = 0¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡#·«¤êÊÖ¤·¤ò½ªÎ»¤¹¤ë
     sleep(1)
 
-±¦Â¦¤Ë¤ª¤±¤ë¥é¥¤¥ó¥È¥ì¡¼¥¹
 def liner():
  S = 1
  while S > 0:
  while S > 0:¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡#·«¤êÊÖ¤·³«»Ï
   go()
   if cs.value() > 15:
   if cs.value() > 15:¡¡¡¡¡¡¡¡¡¡¡¡¡¡#Çò(±¦)¤Ë¹Ô¤­²á¤®¤ë¤È
    while cs.value() > 15:
     turnr2()
   if cs.value() < 9:
    tS = time.time()
     turnr2()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ #¹õ(º¸)¤Ë¸þ¤«¤Ã¤Æ¿Ê¤à
   if cs.value() < 9:¡¡¡¡¡¡¡¡¡¡¡¡¡¡ #¹õ(º¸)¤Ë¹Ô¤­²á¤®¤ë¤È
    tS = time.time()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡#»þ´Ö·×¬³«»Ï
    while cs.value() < 9:
     turnl2()
    if time.time()-tS > 0.48:
     turnr2Y((time.time()-tS)*1400)
     S = 0
     turnl2()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ #Çò(±¦)¤Ë¸þ¤«¤Ã¤Æ¿Ê¤à
    if time.time()-tS > 0.48:¡¡¡¡¡¡ #·×¬»þ´Ö¤¬°ìÄê°Ê¾å¤À¤È¸òº¹ÅÀ¤òǧ¼±¤¹¤ë
     turnr2Y((time.time()-tS)*1400) #¶Ê¤¬¤ê¤¹¤®¤¿Ê¬¤ò½¤Àµ¤¹¤ë
     S = 0¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡#·«¤êÊÖ¤·¤ò½ªÎ»¤¹¤ë
  sleep(1)

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-¹õ¤¤Àþ¤¬¸«¤Ä¤«¤ë¤Þ¤Çľ¿Ê¤¹¤ë¥×¥í¥°¥é¥à
 def running():
  while cs.value() > 15:
   go()
 sleep(1)

-ÄêµÁ¤òƧ¤Þ¤¨¤Æ¤Î¥×¥í¥°¥é¥à
 motor_init()
 sleep(110)
 liner()
 over(833)
 sleep(110)     #¤â¤¦°ì¤Ä¤Î¥í¥Ü¥Ã¥È¤È¤Ö¤Ä¤«¤é¤Ê¤¤¤è¤¦¤ËÂÔ¤Ä
 liner()¡¡¡¡¡¡¡¡#A¤«¤é¥¹¥¿¡¼¥È¤·¡¢±¦Â¦¤òé¤ê¸òº¹ÅÀC¤òǧ¼±
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 sleep(1)
 turnC(1760)
 back(2000)
 sleep(3)
 down()
 over(2000)
 down()¡¡¡¡¡¡¡¡ #¥¢¡¼¥à¤ò²¼¤²¤ë
 over(2000)¡¡¡¡ #¥È¥ì¡¼¤Î²¼¤Ë¥¢¡¼¥à¤òÄ̤¹
 sleep(3)
 up()
 up()¡¡¡¡¡¡¡¡¡¡ #¥¢¡¼¥à¤ò¾å¤²¤ë
 sleep(1)
 turnC(800)
 turnC(800)¡¡¡¡ #ÊÕBC¤ËÊý¸þž´¹
 over(400)
 linel()
 turnC(900)
 over(500)
 running()
 linel()¡¡¡¡¡¡¡¡#C¤«¤éB¤Øº¸Â¦¤òé¤ê¡¢B¤Ç¸òº¹ÅÀǧ¼±¤ò¤¹¤ë
 turnC(900)¡¡¡¡ #ÀþB'D'¤Ë¸þ¤«¤Ã¤ÆÊý¸þž´¹
 over(500)¡¡¡¡¡¡#Àþ¤ò¤Þ¤¿¤°
 running()¡¡¡¡¡¡#ÀþB'D'¤ËÃ夯¤Þ¤ÇÁ°¿Ê
 sleep(3)
 turnC(1910)
 turnC(1910)¡¡¡¡#180ÅÙÊý¸þž´¹
 sleep(4)
 back(300)
 back(300)¡¡¡¡¡¡#¥È¥ì¡¼¤Ë¶á¤Å¤¯
 sleep(1)
 up2()
 up2()¡¡¡¡¡¡¡¡¡¡#¥È¥ì¡¼¤Ø¥Ü¡¼¥ë¤òή¤·¹þ¤à
 sleep(2)
 down()
 down()¡¡¡¡¡¡¡¡ #¤³¤³¤Ç¥¢¡¼¥à¤ò¾å¤²²¼¤²¤ò¤·¤Æ¡¢Î®¤·¤½¤Ó¤ì¤¿¥Ü¡¼¥ë¤ò³Î¼Â¤ËÆþ¤ì¤è¤¦¤È¤¹¤ë
 sleep(1)
 up()
 over(150)
 over(150)¡¡¡¡¡¡#Ʊ¤¸¤¯Á°¿Ê¤È¸å¿Ê¤ò¹Ô¤¤¡¢¥Ü¡¼¥ë¤ò³Î¼Â¤Ë½èÍý¤¹¤ë
 sleep(0.5)
 back(150)
 sleep(1)
 turnD(500)
 running()
 linel()
 turnD(500)¡¡¡¡ #ÀþBD¤Ë¸þ¤«¤Ã¤ÆÊý¸þž´¹
 running()¡¡¡¡¡¡#ÀþBD¤ËÃ夯¤Þ¤ÇÁ°¿Ê
 linel()¡¡¡¡¡¡¡¡#ÀþBD¤Îº¸Â¦¤òé¤ê¡¢D¤Ç¸òº¹ÅÀǧ¼±¤ò¤¹¤ë
 over(150)
 sleep(1)
 turnC(1100)
 down()
 turnC(1100)    #±ßGHIJ¤Ë¸þ¤«¤Ã¤ÆÊý¸þž´¹
 down()¡¡¡¡¡¡¡¡ #¤³¤³¤ÎÆó¤Ä¤Ç¥È¥ì¡¼¤òÈàÊý¤ØÈô¤Ð¤·¡¢¥ë¡¼¥ë°ãÈ¿¤òÁ˻ߤ¹¤ë
 nage()
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