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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)
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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±
over(833) #¤³¤³¤«¤é¥È¥ì¡¼¤Þ¤Ç¤Î°ÌÃÖ¤òÄ´À°¤¹¤ë
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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