[[2019a/Member]]
#contents

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**¥â¥¸¥å¡¼¥ë¤Î¥¤¥ó¥Ý¡¼¥È¡¢¥¤¥ó¥¹¥¿¥ó¥¹¤ÎºîÀ®¡¢°ú¿ô [#e1169d77]
 #!/usr/bin/env python3
 from ev3dev.ev3 import*
 from time import sleep

 cs = ColorSensor('in2')¡¡¡¡¡¡¥«¥é¡¼¥»¥ó¥µ¡¼
 l = LargeMotor('outA')¡¡¡¡¡¡ º¸¤Î¥¿¥¤¥ä
 r = LargeMotor('outB')¡¡¡¡¡¡ ±¦¤Î¥¿¥¤¥ä
 a = Motor('outC')¡¡¡¡¡¡¡¡¡¡¡¡¥·¥ã¥Ù¥ë
 cs.mode = 'COL-REFLECT'¡¡¡¡¡¡¥«¥é¡¼¥»¥ó¥µ¡¼¤Î¥â¡¼¥É
¥«¥é¡¼¥»¥ó¥µ¡¼¤Î¥â¡¼¥É¤òÌÀ¤ë¤µ¤òȽÃǤ¹¤ë¤â¤Î¤ËÊѤ¨¤Æ¤ª¤¯
 i = 0
 k = 0
 p = 0
i,k,p¤Ï¸Ä¿ÍŪ¤Ë¤ï¤«¤ê¤ä¤¹¤¯¤¹¤ë¤¿¤á¤Ëʬ¤±¤¿¤¬Ìò³ä¤¬Æ±¤¸¤Ê¤Î¤Ç°ì¤Ä¤Ë¤·¤Æ¤â¹½¤ï¤Ê¤¤¡£
¹õ¤¤Àþ¤ò²¿²ó±Û¤¨¤¿¤«¤ò¿ô¤¨¤ëÊÑ¿ô¡£¹õ¤¤Àþ¤ò¿ô¤¨¤ë¤³¤È¤Ç¸òº¹ÅÀ¤äT»úÏ©¤òǧ¼±¤µ¤»¡¢¤½¤Î²ó¿ô¤Ë¤è¤Ã¤Æº£»È¤Ã¤Æ¤¤¤ë¥×¥í¥°¥é¥à¤«¤éÊÌ¤Î¥×¥í¥°¥é¥à¤Ø°Ü¹Ô¤µ¤»¤¿¡£i,k,p¤Ï¸Ä¿ÍŪ¤Ë¾ì½ê¤Çʬ¤±¤¿Êý¤¬¤ï¤«¤ê¤ä¤¹¤¤µ¤¤¬¤·¤¿¤Î¤Çʬ¤±¤¿¤¬Ìò³ä¤¬Æ±¤¸¤Ê¤Î¤Ç°ì¤Ä¤Ë¤·¤Æ¤â¹½¤ï¤Ê¤¤¡£¤à¤·¤íʬ¤±¤Ê¤¤Êý¤¬¤ï¤«¤ê¤ä¤¹¤«¤Ã¤¿¤«¤â¤·¤ì¤Ê¤¤¡£
**´Ø¿ô [#f5771746]
º£²ó°ì²ó¤·¤«»È¤ï¤Ê¤¤Æ°ºî¤ò´Ø¿ô¤È¤·¤Æºî¤Ã¤¿¤ê¤·¤¿¤¿¤á¸å¤«¤éÆɤà¤È¤¹¤´¤¯¤ï¤«¤ê¤Ë¤¯¤¯¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£

¥ê¥»¥Ã¥È
 def motor_init():
     l.reset()
     r.reset()
     a.reset()
Á°¤Ë¿Ê¤à
 def move_forward():
     l.run_timed(time_sp=100, speed_sp=120, stop_action='hold')
     r.run_timed(time_sp=100, speed_sp=120, stop_action='hold')
     sleep(0.1)
Á°¤Ë¿Ê¤à2
 def move_forward2():
     l.run_timed(time_sp=250, speed_sp=200, stop_action='hold')
     r.run_timed(time_sp=250, speed_sp=200, stop_action='hold')
     sleep(0.25)
Á°¤Ë¿Ê¤à3
 def move_forward3():
     l.run_timed(time_sp=300, speed_sp=240, stop_action='hold')
     r.run_timed(time_sp=300, speed_sp=60, stop_action='hold')
     sleep(0.3)
Á°¤Ë¿Ê¤à4
 def move_forward4():
     l.run_timed(time_sp=300, speed_sp=200, stop_action='hold')
     r.run_timed(time_sp=300, speed_sp=200, stop_action='hold')
     sleep(0.3)
º¸¤Ë¶Ê¤¬¤ë¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹ÍÑ¡£
 def move_left():
     r.run_timed(time_sp=100, speed_sp=120, stop_action='hold')
     sleep(0.1)
º¸¤Ë¶Ê¤¬¤ë2
 def move_left2():
     l.run_timed(time_sp=2000, speed_sp=0, stop_action='hold')
     r.run_timed(time_sp=2000, speed_sp=90, stop_action='hold')
     sleep(2)
º¸¤Ë¶Ê¤¬¤ë3
 def move_left3():
     l.run_timed(time_sp=2000, speed_sp=20, stop_action='hold')
     r.run_timed(time_sp=2000, speed_sp=100, stop_action='hold')
     sleep(2)
±¦¤Ë¶Ê¤¬¤ë¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹ÍÑ¡£
 def move_right():
     l.run_timed(time_sp=100, speed_sp=120, stop_action='hold')
     sleep(0.1)
±¦¤Ë¶Ê¤¬¤ë2
 def move_right2():
     r.run_timed(time_sp=2000, speed_sp=-40, stop_action='hold')
     l.run_timed(time_sp=2000, speed_sp=100, stop_action='hold')
     sleep(2)
±¦¤Ë¶Ê¤¬¤ë3
 def move_right3():
     l.run_timed(time_sp=100, speed_sp=200, stop_action='hold')
     sleep(0.1)
¥Ð¥Ã¥¯¤¹¤ë
 def move_back():
     l.run_timed(time_sp=100, speed_sp=-80, stop_action='hold')
     r.run_timed(time_sp=100, speed_sp=-80, stop_action='hold')
     sleep(0.1)
¥Ð¥Ã¥¯¤¹¤ë2
 def move_back2():
     l.run_timed(time_sp=100, speed_sp=-120, stop_action='hold')
     r.run_timed(time_sp=100, speed_sp=-120, stop_action='hold')
     sleep(0.1)
¥Ð¥Ã¥¯¤¹¤ë3
 def move_back3():
     l.run_timed(time_sp=3200, speed_sp=-120, stop_action='hold')
     r.run_timed(time_sp=3200, speed_sp=-120, stop_action='hold')
     sleep(3.2)
¥·¥ã¥Ù¥ë¤ò¾å¤²¤ë
 def move_up():
     a.run_timed(time_sp=800, speed_sp=-80, stop_action='hold')
     sleep(0.8)
¥·¥ã¥Ù¥ë¤ò²¼¤²¤ë
 def move_down():
     a.run_timed(time_sp=800, speed_sp=80, stop_action='hold')
     sleep(0.8)
¤½¤Î¾ì¤Ç²óž¡¢¤À¤¤¤¿¤¤180ÅÙ²ó¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë
 def move_kaiten():
     l.run_timed(time_sp=3000, speed_sp=110, stop_action='hold')
     r.run_timed(time_sp=3000, speed_sp=-110, stop_action='hold')
     sleep(3)
ºÇ¸å¤ÎÆ°ºî¡¢ÀµÄ¾²¿¤Î¤¿¤á¤ÎÆ°ºî¤Ê¤Î¤«»ä¤Ë¤â¤ï¤«¤é¤Ê¤¤¡£Â¿Ê¬µ¤Ê¬¤Çºî¤Ã¤¿¤â¤Î¡£
 def move_last():
     l.run_timed(time_sp=500, speed_sp=50, stop_action='hold')
     r.run_timed(time_sp=500, speed_sp=50, stop_action='hold')
     sleep(0.5)
     l.run_timed(time_sp=3000, speed_sp=100, stop_action='hold')
     r.run_timed(time_sp=3000, speed_sp=100, stop_action='hold')
     sleep(3)
**M¤«¤éL¤Þ¤Ç [#d5d0a39a]
¥ê¥»¥Ã¥È
 motor_init()

 while i == 0:
     state = cs.value()
     print (state)
     if 80 > state > 65:
         move_right()
     elif 50 > state > 15:
         move_left()
     elif 86 >= state >= 80:
         move_back()
     elif state > 86:
         i+=1
         move_up()
         move_kaiten()
     else:
         move_forward()
 else:
º£²ó¤Î¥×¥í¥°¥é¥à¤Ï¾ï¤Ë¸½ºß¤Î¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤòstate¤Ë¤ª¤­ÊѤ¨Â³¤±¡¢state¤ÎÃͤˤè¤Ã¤ÆÆ°ºî¤ò·èÄꤹ¤ë¡£¤Ê¤ª¡¢Í½ÁÛ¤ÈÆ°ºî¤¬¾ì¹ç¡¢½¤Àµ¤¬¤·¤ä¤¹¤¤¤è¤¦¤Ë¤½¤Î»þ¤Î¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤ¬³Îǧ¤Ç¤­¤ë¤è¤¦¤Ëprint(state)¤Ç¤·¤Æ¤¤¤ë¡£
&br;while´Ø¿ô¤ò»È¤¤¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¦¡£
&br;Àþ¤Îº¸Â¦¤òÄ̤롣¤Þ¤¿¡¢¾å¤Ë½ñ¤¤¤¿¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÊýË¡¤Ë²Ã¤¨¤ÆÇò¤¬Â¿¤¹¤®¤ë¤È¤­¸å¤í¤ËÌá¤ë¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡£¤³¤¦¤·¤Ê¤¤¤ÈµÞ¤Ê¥«¡¼¥Ö¤¬¤¦¤Þ¤¯¶Ê¤¬¤ì¤Ê¤«¤Ã¤¿¡£
&br;M¤«¤éK¤Þ¤Ç¤Ï¤¿¤À¥é¥¤¥ó¥È¥ì¡¼¥¹¤·¤Æ¤¤¤ì¤Ð¤¤¤¤¤Î¤À¤¬¤½¤Î¤Þ¤Þ¤À¤ÈK¤«¤éJ¤Ë¹Ô¤Ã¤Æ¤·¤Þ¤¦¡£¤Î¤Çstate¤¬15°Ê²¼¤Î»þ¡¢¤Ä¤Þ¤êÀþKL¤Î¾å¤òÄ̤ë»þ¤Þ¤Ã¤¹¤°¿Ê¤à¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡£²¿Åٻ¤¿·ë²Ì¤«¤éM¤«¤éL¤Þ¤Çstate¤Ï86¤Þ¤Ç¤·¤«¤¤¤«¤Ê¤¤¤³¤È¤¬Ê¬¤«¤Ã¤¿¡£¤Þ¤¿¡¢L¤ËÃ夯¤ÈÁ°¤Ë¿Ê¤ß¡¢¸å¤í¤ËÌá¤ë¤È¤¤¤¦Æ°ºî¤ò²¿²ó¤«·«¤êÊÖ¤·¤¿¸åstate¤¬87¤òĶ¤¨¤ë¤³¤È¤¬Ê¬¤«¤Ã¤¿¡£¤Ê¤Î¤Çstate>86¤È¤Ê¤Ã¤¿¤È¤­i¤ò+1¤·¡¢¥Ü¡¼¥ë¤ò½¦¤¤¡¢180Åٲ󞤹¤ë¤è¤¦¤Ë¤·¤¿¡£¤Þ¤¿¤³¤Î¥×¥í¥°¥é¥à¤Ïi¤¬0¤Î´Ö¤À¤±Â³¤¯¤Î¤Çi¤ò+1¤·¤¿¤³¤È¤Ç¼¡¤Î¥×¥í¥°¥é¥à¤Ë¹Ô¤¯¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡£¤Á¤Ê¤ß¤Ë¤³¤³¤Ç¤Á¤ã¤ó¤È¥Ü¡¼¥ë¤ò½¦¤¨¤¿¤Î¤Ï2²ó¤À¤±¤À¤Ã¤¿¡£
**L¤«¤éK¤Þ¤Ç [#p8b007b5]
L¤Ç²óž¤¹¤ëÁ°¤Ï¥í¥Ü¥Ã¥È¤Ï²¼¿Þ¤Î¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£
#ref(2019a/Member/reifur/Mission2/kadai2_4.jpg,40%,Á´ÂÎ)
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 while i == 1:
     state = cs.value()
     print (state)
     if 80 > state > 65:
         move_left()
     elif 50 > state > 15:
         move_right()
     elif 15 >= state:
         i+=1
         move_forward2()
         move_right2()
     elif state >= 80:
         move_back()
     else:
         move_forward()
 else:
º£²ó¤ÏK¤Ç¶Ê¤¬¤ë¤¿¤á15°Ê²¼¤Çi¤ò+1¤·¡¢¾¯¤·Á°¤Ë¿Ê¤ß¡¢±¦¤Ë¶Ê¤¬¤ë¤è¤¦¤Ë¤¹¤ë¡£i¤ò+1¤¹¤ëÍýͳ¤ÏÁ°¤Î¥×¥í¥°¥é¥à¤ÈƱ¤¸¡£Á°¤Ë¿Ê¤ß±¦¤Ë¶Ê¤¬¤ë¤Î¤Ï¤³¤Î¸åÀþ¤Îº¸Â¦¤òÁö¤ë¤¿¤á¡£¤³¤³¤Ç±¿¤¬¤è¤«¤Ã¤¿¤Î¤«¡¢¤¿¤Þ¤¿¤Þ¥«¥é¡¼¥»¥ó¥µ¡¼¤¬J¤Î¾å¤ËÍè¤ë¤¿¤áK¤«¤éJ¤Î¥×¥í¥°¥é¥à¤¬ÉÔÍפˡ£
**K¤«¤éJ¤Þ¤Ç [#s0932435]
 while i == 2:
     state = cs.value()
     print(state)
     if 80 > state > 65:
        move_right()
     elif 50 > state > 15:
         move_left()
     elif 15 >= state:
         i+=1
         sleep(1)
         move_left2()
         move_forward2()
     elif state >= 80:
         move_back()
     else:
         move_forward()
 else:
°Õ¿Þ¤»¤ºJ¤Î¾å¤ËÍè¤Ê¤«¤Ã¤¿¤È¤­¤è¤¦¤ÎÊݸ±¤Ë¤Ê¤Ã¤¿¥×¥í¥°¥é¥à¡£J¤Ç°ìÅٻߤޤ뤿¤ásleep(1)¤òÆþ¤ì¤Æ¤¤¤ë¡£¤Þ¤¿¤³¤³¤Î¥×¥í¥°¥é¥à¤Î
         move_left2()
         move_forward2()
¤Ï¼¡¤ÎJ¤«¤éG¤Þ¤Ç¤Î¹àÌܤÇÀâÌÀ¤¹¤ë¡£
**J¤«¤éH¤Þ¤Ç [#rf10bbb8]
 while i == 3 and 1 >= k:
     state = cs.value()
     print(state,k)
     if 85 > state >= 75:
         move_right3()
     elif 75 > state > 65:
         move_right()
     elif 50 > state > 10:
         move_left()
     elif state >= 85:
         move_back()
     elif 10 >= state:
         k+=1
         move_forward3()
     else:
         move_forward()
 else:
¤Þ¤ºJ¤Ç»ß¤Þ¤Ã¤¿¤È¤³¤í¤«¤é¤ÎÆ°¤­¤òÀâÌÀ¤¹¤ë¡£
#ref(2019a/Member/reifur/Mission2/kadai2_5.jpg,40%,£Ê)
ÀÖÀþ¤¬¥í¥Ü¥Ã¥È¡¢¤È¤¬¤Ã¤Æ¤¤¤ëÊý¤¬Á°¡£¾å¿Þ¤ÎÈÖ¹æ¤Î½ç¤Ë¿Ê¤à¡£
 move_left2()
 move_forward2()
¤Î¥×¥í¥°¥é¥à¤Ç¿Þ¤Î­¢¤Þ¤Ç¤¤¤¯¡£¤½¤Î¸åJ¤«¤éH¤Î¥×¥í¥°¥é¥à¤Î
 elif state >= 85:
         move_back()
¤Ë¤è¤Ã¤Æ­£¤Þ¤ÇÌá¤êÀþ¤Îº¸Â¦¤òÁö¤ë¡£
&br;J¤«¤éH¤Þ¤Ç¤Î¥×¥í¥°¥é¥à¤Ï¹õÀþ¤Ï¤Þ¤Ã¤¹¤°Ä̤ë¤è¤¦¤Ë¤·¡¢¹õÀþ¤ò2²óÄ̤俤齪¤ï¤ë¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡£
**H¤«¤éG¤Þ¤Ç [#geaef619]
 while k == 2:
     state = cs.value()
     print(state)
     if 80 > state > 65:
         move_right()
     elif 50 > state > 15:
         move_left()
     elif state >= 80:
         move_back()
     elif 15 >= state:
         k+=1
         move_left3()
     else:
         move_forward()
 else:
G¤ËÃ夯¤È
 move_left3()
¤Ë¤è¤Ã¤Æ²¼¿Þ¤ÎÀִݤΰÌÃ֤˰ÜÆ°¤µ¤»¤ë¡£
#ref(2019a/Member/reifur/Mission2/kadai2_6.jpg,40%,G)
**G¤«¤éD¤Þ¤Ç [#g1be8645]
 while p == 0:
     state = cs.value()
     print(state)
     if state > 65:
         move_left()
     elif 50 > state > 15:
         move_right()
     elif 15 >= state:
         p+=1
         sleep(1)
         move_forward4()
     else:
         move_forward()
 else:
¾å¿Þ¤ÎÀִݤΰÌÃÖ¤«¤é¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÆ°¤­¤ÇÀþ¤Þ¤ÇÌá¤ê¡¢Àþ¤Î±¦Â¦¤òÁö¤ë¡£D¤Î¸òº¹ÅÀ¤ËÃ夯¤Èsleep´Ø¿ô¤Ç°ìÅٻߤޤê°ìµ¤¤Ë¿Ê¤à¤³¤È¤Ç¸òº¹ÅÀ¤òĶ¤¨¤ë¡£
**D¤«¤éA¤Þ¤Ç [#u2f59d77]
 while p == 1:
     state = cs.value()
     print(state)
     if state > 65:
         move_left()
     elif 50 > state > 15:
         move_right()
     elif 15 >= state:
         p+=1
         sleep(1)
         move_down()
         move_last()
     else:
         move_forward()
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 #!/usr/bin/env python3
 from ev3dev.ev3 import*
 from time import sleep 
 
 cs = ColorSensor('in2')
 l = LargeMotor('outA')
 r = LargeMotor('outB')
 a = Motor('outC')
 cs.mode = 'COL-REFLECT'
 
 i = 0
 k = 0
 p = 0
 
 def motor_init():
     l.reset()
     r.reset()
     a.reset()
 
 def move_forward():
     l.run_timed(time_sp=100, speed_sp=120, stop_action='hold')
     r.run_timed(time_sp=100, speed_sp=120, stop_action='hold')
     sleep(0.1)
 
 def move_forward2():
     l.run_timed(time_sp=250, speed_sp=200, stop_action='hold')
     r.run_timed(time_sp=250, speed_sp=200, stop_action='hold')
     sleep(0.25)
 
 def move_forward3():
     l.run_timed(time_sp=300, speed_sp=240, stop_action='hold')
     r.run_timed(time_sp=300, speed_sp=60, stop_action='hold')
     sleep(0.3)
 
 def move_forward4():
     l.run_timed(time_sp=300, speed_sp=200, stop_action='hold')
     r.run_timed(time_sp=300, speed_sp=200, stop_action='hold')
     sleep(0.3)
 
 def move_left():
     r.run_timed(time_sp=100, speed_sp=120, stop_action='hold')
     sleep(0.1)
 
 def move_left2():
     l.run_timed(time_sp=2000, speed_sp=0, stop_action='hold')
     r.run_timed(time_sp=2000, speed_sp=90, stop_action='hold')
     sleep(2)
 
 def move_left3():
     l.run_timed(time_sp=2000, speed_sp=20, stop_action='hold')
     r.run_timed(time_sp=2000, speed_sp=100, stop_action='hold')
     sleep(2)
 
 def move_right():
     l.run_timed(time_sp=100, speed_sp=120, stop_action='hold')
     sleep(0.1)
 
 def move_right2():
     r.run_timed(time_sp=2000, speed_sp=-40, stop_action='hold')
     l.run_timed(time_sp=2000, speed_sp=100, stop_action='hold')
     sleep(2)
 
 def move_right3():
     l.run_timed(time_sp=100, speed_sp=200, stop_action='hold')
     sleep(0.1)
 
 def move_back():
     l.run_timed(time_sp=100, speed_sp=-80, stop_action='hold')
     r.run_timed(time_sp=100, speed_sp=-80, stop_action='hold')
     sleep(0.1)
 
 def move_back2():
     l.run_timed(time_sp=100, speed_sp=-120, stop_action='hold')
     r.run_timed(time_sp=100, speed_sp=-120, stop_action='hold')
     sleep(0.1)
 
 def move_back3():
     l.run_timed(time_sp=3200, speed_sp=-120, stop_action='hold')
     r.run_timed(time_sp=3200, speed_sp=-120, stop_action='hold')
     sleep(3.2)
 
 def move_up():
     a.run_timed(time_sp=800, speed_sp=-80, stop_action='hold')
     sleep(0.8)
 
 def move_down():
     a.run_timed(time_sp=800, speed_sp=80, stop_action='hold')
     sleep(0.8)
 
 def move_kaiten():
     l.run_timed(time_sp=3000, speed_sp=110, stop_action='hold')
     r.run_timed(time_sp=3000, speed_sp=-110, stop_action='hold')
     sleep(3)
 
 def move_last():
     l.run_timed(time_sp=500, speed_sp=50, stop_action='hold')
     r.run_timed(time_sp=500, speed_sp=50, stop_action='hold')
     sleep(0.5)
     l.run_timed(time_sp=3000, speed_sp=100, stop_action='hold')
     r.run_timed(time_sp=3000, speed_sp=100, stop_action='hold')
     sleep(3)
 
 motor_init()
 
 while i == 0:
     state = cs.value()
     print (state)
     if 80 > state > 65:
         move_right()
     elif 50 > state > 15:
         move_left()
     elif 86 >= state >= 80:
         move_back()
     elif state > 86:
         i+=1
         move_up()
         move_kaiten()
     else:
         move_forward()
 else:
     while i == 1:
         state = cs.value()
         print (state)
         if 80 > state > 65:
             move_left()
         elif 50 > state > 15:
             move_right()
         elif 15 >= state:
             i+=1
             move_forward2()
             move_right2()
         elif state >= 80:
             move_back()
         else:
             move_forward()
     else:
         while i == 2:
             state = cs.value()
             print(state)
             if 80 > state > 65:
                 move_right()
             elif 50 > state > 15:
                 move_left()
             elif 15 >= state:
                 i+=1
                 sleep(1)
                 move_left2()
                 move_forward2()
             elif state >= 80:
                 move_back()
             else:
                 move_forward()
         else:
             while i == 3 and 1 >= k:
                 state = cs.value()
                 print(state,k)
                 if 85 > state >= 75:
                     move_right3()
                 elif 75 > state > 65:
                     move_right()
                 elif 50 > state > 10:
                     move_left()
                 elif state >= 85:
                     move_back()
                 elif 10 >= state:
                     k+=1
                     move_forward3()
                 else:
                     move_forward()
             else:
                 while k == 2:
                     state = cs.value()
                     print(state)
                     if 80 > state > 65:
                         move_right()
                     elif 50 > state > 15:
                         move_left()
                     elif state >= 80:
                         move_back()
                     elif 15 >= state:
                         k+=1
                         move_left3()
                     else:
                         move_forward()
                 else:
                     while p == 0:
                         state = cs.value()
                         print(state)
                         if state > 65:
                             move_left()
                         elif 50 > state > 15:
                             move_right()
                         elif 15 >= state:
                             p+=1
                             sleep(1)
                             move_forward4()
                         else:
                             move_forward()
                     else:
                         while p == 1:
                             state = cs.value()
                             print(state)
                             if state > 65:
                                 move_left()
                             elif 50 > state > 15:
                                 move_right()
                             elif 15 >= state:
                                 p+=1
                                 sleep(1)
                                 move_down()
                                 move_last()
                             else:
                                 move_forward()



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