- Äɲ䵤줿¹Ô¤Ï¤³¤Î¿§¤Ç¤¹¡£
- ºï½ü¤µ¤ì¤¿¹Ô¤Ï¤³¤Î¿§¤Ç¤¹¡£
#author("2019-12-26T21:30:45+09:00","LaiHen","LaiHen")
#author("2020-01-06T18:53:26+09:00","LaiHen","LaiHen")
----
Ìܼ¡
#contents
----
* ²ÝÂꣲ¡§¥é¥¤¥ó¥È¥ì¡¼¥¹ [#u7470bfe]
²¼¤Î²èÁü¤Î»ØÄꤵ¤ì¤¿¥³¡¼¥¹¤ò¹õÀþ¤Ë±è¤Ã¤Æ¿Ê¤à
&ref(2019b/Member/LaiHen/Mission2/2019b-mission2.png,70%,¥³¡¼¥¹¤ÎÁ´ÂοÞ);
** »ØÄꥳ¡¼¥¹ [#vce05226]
+ AÃÏÅÀ¤«¤é½Ðȯ
+ B
+ C (ľ¿Ê)
+ D (°ì»þÄä»ß¤Î¸å¡¢Ä¾¿Ê)
+ E, F Ä̲á
+ G (°ì»þÄä»ß¤Î¸å¡¢º¸ÀÞ)
+ H (°ì»þÄä»ß¤Î¸å¡¢º¸ÀÞ)
+ I (¥¥å¡¼¥Ü¥¤¥É¤ò¤Ä¤«¤ó¤ÇU¥¿¡¼¥ó)
+ H (ľ¿Ê)
+ J (°ì»þÄä»ß)
+ AÃÏÅÀ¤ËÆþ¤ë(¥´¡¼¥ë)
* ¥í¥Ü¥Ã¥È¤Ë¤Ä¤¤¤Æ [#h73f63eb]
** ¥í¥Ü¥Ã¥È¤Î¹½Â¤ [#d613c006]
º£²ó¤Î²ÝÂê¤Ç¥í¥Ü¥Ã¥È¤ËɬÍפÊʪ¤ÏËÜÂΤò°ÜÆ°¤µ¤»¤ë¤¿¤á¤Î¥â¡¼¥¿¡¼£²¤Ä°Ê³°¤Ë¡¢¹õÀþ¤Ë±è¤Ã¤Æ¿Ê¤à¤¿¤á¤Ë¿§¤ò´¶ÃΤ¹¤ë¥«¥é¡¼¥»¥ó¥µ¡¼¡¢¥¥å¡¼¥Ü¥¤¥É¤È¤Îµ÷Î¥¤ò¬¤ëĶ²»ÇÈ¥»¥ó¥µ¡¼¡¢¥¥å¡¼¥Ü¥¤¥É¤ò¤Ä¤«¤à¥â¡¼¥¿¡¼¤Ç¾å¤²²¼¤²¤Ç¤¤ë¥¢¡¼¥à¤Î3¤Ä¤Ç¤¹¡£¤³¤ì¤é¤ò¤¦¤Þ¤¯»È¤¦¤¿¤á¤Ë¤½¤ì¤¾¤ì¤Ë¹©Éפ·¤¿ÅÀ¤¬¤¢¤ê¤Þ¤¹¡£
*** ¥«¥é¡¼¥»¥ó¥µ¡¼ [#h529f137]
¥«¥é¡¼¥»¥ó¥µ¡¼¤Ïº£²ó¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÇºÇ¤â½ÅÍפÊÉôʬ¤Ç¤¹¡£¤·¤«¤âËÜÂΤΰÜÆ°¤Ï¤³¤Î¥»¥ó¥µ¡¼¤òÍѤ¤¤Æ·èÄꤹ¤ë¤¿¤á¥¿¥¤¥ä¤È¤Î°ÌÃÖ¤â¹Í¤¨¤Ê¤¯¤Æ¤Ï¤¤¤±¤Þ¤»¤ó¡£º£²ó¤Î¥³¡¼¥¹¤ÇºÇ¤âÆñ¤·¤¤¤È»×¤ï¤ì¤ë¤Î¤ÏH¤ÈJ¤Î´Ö¤Ë¤¢¤ëȾ·Â5£ã£í¤ÎȾ±ßÉôʬ¤Ç¤¹¡£¤â¤·¥»¥ó¥µ¡¼¤¬ËÜÂΤμ´¤«¤é£µ£ã£í°Ê¾åÎ¥¤ì¤Æ¤¤¤ë¾ì¹ç¡¢ËÜÂΤò¥Ð¥Ã¥¯¤µ¤»¤Ê¤¤¤È¤Þ¤ï¤ì¤Þ¤»¤ó¡£¤½¤Î¤¿¤á£µ£ã£í¤òĶ¤¨¤Ê¤¤¤è¤¦¤Ë¥»¥ó¥µ¡¼¤òÀßÃÖ¤·¤Þ¤·¤¿¡£
*** Ķ²»ÇÈ¥»¥ó¥µ¡¼ [#c9e9e386]
Á°Äó¤È¤·¤Æ¥¥å¡¼¥Ü¥¤¥É¤È¤Î¬¤ëºÝËÜÂΤϥ饤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ¤¤¤ë´Ø·¸¾åÀþ¤Îº¸±¦¤É¤Á¤é¤«¤Ë´ó¤Ã¤Æ¤¤¤Þ¤¹¡£¤½¤Î¤¿¤áËÜÂΤÎÃæ±û¤ËÀßÃÖ¤·¤Æ¤â¥»¥ó¥µ¡¼¤ÎÀµÌ̤˥¥å¡¼¥Ü¥¤¥É¤ÏÍè¤Þ¤»¤ó¡£¤½¤Î¤¿¤á¥»¥ó¥µ¡¼¤òº¸´ó¤ê¤ËÀßÃÖ¤·¡¢¥¥å¡¼¥Ü¥¤¥É¤ò¤Ä¤«¤àºÝ¤ÏÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¤È¥»¥ó¥µ¡¼¤ÎÃæ±û¤Ë¥¥å¡¼¥Ü¥¤¥É¤¬Íè¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£
*** ¥¢¡¼¥à [#b9c5da66]
¥¢¡¼¥à¤ÎÀßÃÖ°ÌÃÖ¤ÏĶ²»ÇÈ¥»¥ó¥µ¡¼¤ò´ð½à¤Ë¤·¤¿¤Î¤Ç´Êñ¤Ç¤·¤¿¤¬¡¢2¤Ä¤Î¥»¥ó¥µ¡¼¤òÉÕ¤±¤¿¤¿¤á¥í¥Ü¥Ã¥È¼«ÂΤ¬½Ä¤ËŤ¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¤Î¤Ç¤Ç¤¤ë¤À¤±¥¢¡¼¥à¤Ï¥³¥ó¥Ñ¥¯¥È¤Ë¤Ê¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£
** Á´ÂÎŪ¤Ê¹©É×ÅÀ [#x6509f6c]
EV3¤Î¥»¥ó¥µ¡¼¤ÏÀºÅÙ¤¬¹â¤¤¤¿¤á¿¶¤ì¤Ê¤É¤Ë¤è¤Ã¤ÆÃͤ¬ÊѲ½¤·¤Æ¤·¤Þ¤¤¤Þ¤¹¡£¤Ç¤¹¤¬¥í¥Ü¥Ã¥È¤Î²èÁü¤«¤é¤ï¤«¤ë¤è¤¦¤Ë½Ä¤ËŤ¯Æ°¤¯¤¿¤Ó¤ËÍɤì¤Æ¤·¤Þ¤¤¤Þ¤¹¡£¤½¤ì¤òËɤ°¤¿¤á¤Ë¤Ç¤¤ë¤À¤±¸ÇÄê¤ò¤·¡¢Á°Êý¤Ø¤ÎÅݤ줳¤ß¤ò·Ú¸º¤¹¤ë¤¿¤á¤Ë2ËçÌܤβèÁü¤Î¤è¤¦¤Ë¥¿¥¤¥ä¤ò¤Ä¤±¤Þ¤·¤¿¡£
&ref(2019b/Member/LaiHen/Mission2/KD22.jpg,25%,¥í¥Ü¥Ã¥È¤ÎÁ´ÂβèÁü);
&ref(2019b/Member/LaiHen/Mission2/KD21.jpg,25%,Êä½õÎزèÁü);
&ref(2019b/Member/LaiHen/Mission2/KD24.jpg,25%,¥»¥ó¥µ¡¼´Ø·¸¤Î²èÁü);
** ¥í¥Ü¥Ã¥È¤Ë¤Ä¤¤¤Æ¤Î¤Þ¤È¤á [#c64c38da]
Á°²ó¤Ï¤¢¤Þ¤ê¥í¥Ü¥Ã¥È¤Ë¤«¤«¤ï¤é¤Ê¤«¤Ã¤¿¤Î¤Ç¤¤¤í¤¤¤í¤È»î¹Ôºø¸í¤·¤Æ¥í¥Ü¥Ã¥È¤òºîÀ®¤·¤Þ¤·¤¿¡£¤Ç¤¹¤¬°ÂÄꤵ¤»¤ë¤³¤È¤ò½Å»ë¤¹¤ë¤¢¤Þ¤ê¤«¤Ê¤êÂ礤¯¤Ê¤Ã¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¡£²ÝÂê¤ÎÆâÍƤ«¤é¹Í¤¨¤ë¤È¤Ç¤¤ë¤À¤±¥³¥ó¥Ñ¥¯¥È¤ÎÊý¤¬Ë¾¤Þ¤·¤¤¤È»×¤¦¤Î¤Ç¡¢¼¡²ó¤Ï²ÝÂê¤òãÀ®¤¹¤ë¤À¤±¤Ç¤Ê¤¯¤½¤Î²ÝÂê¤Ë¤Õ¤µ¤ï¤·¤¤¥í¥Ü¥Ã¥È¤òºîÀ®¤·¤è¤¦¤È»×¤¤¤Þ¤¹¡£
* ¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ [#f9aa9a86]
** ¥×¥í¥°¥é¥à¤Î¥·¥¹¥Æ¥à¤Ë¤Ä¤¤¤Æ [#i0b559db]
¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ï¹õÀþ¤Î¾å¤ò¿Ê¤à¤Î¤Ç¤Ï¤Ê¤¯¹õ¤ÈÇò¤Î¶³¦Éôʬ¤ò¿Ê¤ó¤Ç¤¤¤¯ÊýË¡¤Ç¹Ô¤¤¤Þ¤¹¡£¤Þ¤¿¡¢º£²ó¤Ï¥í¥Ü¥Ã¥È¤Îºî¶ÈÎ̤¬Â¿¤¤¤¿¤áÆ°¤¤ÎÄ´À°¤ò´Êñ¤Ë¤Ç¤¤ë¤è¤¦¤Ë¤¤¤¯¤Ä¤«¤Î¿ôÃͤòÆþÎϤ¹¤ì¤Ð¸å¤Ï¤¹¤Ù¤Æ·×»»¤ò¤·¡¢Ãͤò·èÄꤷ¤Æ¤¤¤¯»ÅÁȤߤˤ·¤Þ¤¹¡£²Ã¤¨¤Æ¡¢Æ°ºî¤´¤È¤Ë´Ø¿ô¤òºîÀ®¤·¸å¤«¤éÆ°¤¤Î»Ø¼¨¤ò¤·¤ä¤¹¤¯¤·¤Þ¤¹¡£¤³¤ì¤é¤ò¤â¤È¤ËºîÀ®¤·¤¿¤Î¤¬°Ê²¼¤Î¤è¤¦¤Ê¥×¥í¥°¥é¥à¤Ç¤¹¡£
#!/usr/bin/env python3
from ev3dev2.motor import *
from ev3dev2.sensor import *
from ev3dev2.sensor.lego import *
from time import *
Wmax,Bmax,spmax,spmin,brockch,tst=75,5,8,4,6,1.5
tw = MoveTank(OUTPUT_B, OUTPUT_C)
Mm= MediumMotor(OUTPUT_A)
cs,ts,us = ColorSensor(),TouchSensor(),UltrasonicSensor()
us.mode = 'US-DIST-CM'
Mv=(Wmax+Bmax)/2
Lp=(Wmax-Mv)/4
llp=2*Lp
spab=(spmax+spmin)/2
Clev=[Wmax,Wmax-Lp,Mv+Lp,Mv-Lp,Bmax+Lp,Bmax]
class Linetorace:
def __init__(self,a):
self.cv=a
self.colortyp,self.dcv,self.lesp,self.risp=0,0,0,0
self.typcheck()
self.movesp()
def typcheck(self):
for i in range(5):
if Clev[i+1]<=self.cv<Clev[i]:
self.colortyp=i
self.dcv=Clev[i]-self.cv
def movesp(self):
zuw=round(self.dcv/llp,1)
if self.colortyp==0:
self.lesp=spab-(spab-spmin)*zuw
self.risp=-spmin
elif self.colortyp==1:
self.lesp=spmax
self.risp=spab+(spmax-spab)*zuw
elif self.colortyp==2:
self.lesp=spmax
self.risp=spmax
elif self.colortyp==3:
self.lesp=spab+(spmax-spab)*zuw
self.risp=spmax
else:
self.lesp=-spmin
self.risp=spab-(spab-spmin)*zuw
class root:
def __init__(self,v1,v2):
self.typ,self.chst=v1,v2
def action(self):
if self.typ==0:
follow_line(self.chst,50)
elif self.typ==1:
closs(self.chst)
elif self.typ==2:
fetch_cuboid(self.chst)
else:
gostart()
def follow_line(chst,ched):#¥é¥¤¥ó¥È¥ì¡¼¥¹ÍÑ¥×¥í¥°¥é¥à
sttime1,notime1 = time(),time()
bcon=0
while not (ts.is_pressed) and not ((notime1-sttime1)>ched):
cvp = cs.reflected_light_intensity
MLT=Linetorace(cvp)
if MLT.colortyp==4:
bcon=bcon+1
else:
bcon=0
notime1=time()
if (chst <= (notime1-sttime1) <=ched) and (bcon== brockch):
break
tw.on(MLT.lesp,MLT.risp)
sleep(0.1)
tw.off()
def closs(pp):#¸òº¹ÅÀ¤Èľ³Ñ¥«¡¼¥Ö¤ÎºÝ¤Î¹ÔÆ°ÍÑ¥×¥í¥°¥é¥à
cvp= cs.reflected_light_intensity
MLT = Linetorace(cvp)
tw.on(-MLT.lesp,-MLT.risp)
sleep(0.1*brockch)
tw.off()
if pp==0:
follow_line(tst,tst+0.1)
else:
sleep(5)
if pp==1:
follow_line(tst,tst+0.1)
elif pp==2:
tw.on_for_seconds(spmax,spmax,1)
else:
sttime=time()
notime=time()
while (notime- sttime <=tst):
cvp= cs.reflected_light_intensity
MLT= Linetorace(cvp)
tw.on(MLT.risp,MLT.lesp)
sleep(0.1)
notime=time()
tw.off()
def fetch_cuboid(edti):#¥é¥¤¥ó¥È¥ì¡¼¥¹¸å¥¥å¡¼¥Ö¤ò²ó¼ý¤·U¥¿¡¼¥ó¡¢¤½¤Î¸å¥é¥¤¥ó¥È¥ì¡¼¥¹ºÆ³«
sttime2 = time()
fase=0
while not (ts.is_pressed):
cvp= cs.reflected_light_intensity
MLT= Linetorace(cvp)
tw.on(MLT.risp,MLT.lesp)
notime2= time()
txle= us.distance_centimeters
if txle <= 4 :
tw.on(0,0)
Mm.on_for_seconds(-10,1.2)
tw.on_for_degrees(-spmax,spmax,360)
fase=1
break
if (notime2-sttime2) >= edti:
fase=1
break
sleep(0.1)
if fase==1:
follow_line(5,edti)
tw.off()
Mm.off()
def gostart():#¥¹¥¿¡¼¥È»þ¤ÎÁ°¿ÊÍÑ¥×¥í¥°¥é¥à
tw.on_for_seconds(spmax,spmax,2)
def main():
MAP=[root(4,0),root(0,0),root(1,0),root(0,0),root(1,1),root(0,0),root(1,1),root(2,30),root(0,20),root(1,2)]
for i in range(len(MAP)):
if not ts.is_pressed:
MAP[i].action()
else:
break
print("all clear")
if __name__ == '__main__':
main()
¤³¤Î¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ°Ê²¼¤Ç8¤Ä¤Ëʬ¤±¤Æ¾Ü¤·¤¯ÀâÌÀ¤·¤Æ¤¤¤¤Þ¤¹
** ¡¥×¥í¥°¥é¥à¤Î»öÁ°ÀßÄê¤È´ð½àÃͤλ»½Ð [#xacf6790]
*** ¡¥×¥í¥°¥é¥à¤Î»öÁ°ÀßÄê¤È´ð½àÃͤλ»½Ð [#xacf6790]
#!/usr/bin/env python3
from ev3dev2.motor import *
from ev3dev2.sensor import *
from ev3dev2.sensor.lego import *
from time import *
¤³¤ÎÉôʬ¤ÇɬÍפÊʪ¤Î¥¤¥ó¥Ý¡¼¥È¤ò¤¹¤ë
Wmax,Bmax,spmax,spmin,brockch,tst=75,5,8,4,6,1.5
¤³¤³¤Ç»È¤¦¿ôÃͤòÆþÎϤ·¤Þ¤¹¡£¤³¤ÎÉôʬ°Ê³°¤Ç¤Ï¶ËÎÏ¿ôÃͤòľÀÜ»ØÄꤷ¤Ê¤¤¤Ç¤ª¤¯¤³¤È¤Ç¥×¥í¥°¥é¥àÁ´ÂΤÎÄ´À°¤ò´Êñ¤Ë¤¹¤ë¤³¤È¤¬¤Ç¤¤ë¡£
ÆþÎϤ¹¤ë¤Î¤Ï
+ Çò¿§¤Î¥»¥ó¥µ¡¼¤ÎÃÍ(Wmax) ==75
+ ¹õ¿§¤Î¥»¥ó¥µ¡¼¤ÎÃÍ(Bmax) ==5
+ ¥â¡¼¥¿¡¼¤ÎºÇ¹â®ÅÙ(spmax) ==8
+ ¥â¡¼¥¿¡¼¤ÎºÇÄã®ÅÙ(spmin) ==4
+ ¸òº¹ÅÀȽÃǤ¹¤ë¹õ¿§¤Î¥«¥¦¥ó¥ÈÃÍ(brockch) ==6
+ ¸òº¹ÅÀÅù¤Î¥³¥Þ¥ó¥É¤Î·Ñ³»þ´Ö(tst) ==1.5~
¾åµ¤Î6¤Ä¤Ç¤¹¡£
¤³¤ì°Ê³°¤Î¿ôÃͤϤ³¤ì¤é¤ò¤â¤È¤Ë·×»»¤·¤Æ¤¤¤¤Þ¤¹
- ¥â¡¼¥¿¡¼¤ä¥»¥ó¥µ¡¼¤ò»È¤¦¤¿¤á¤Î½àÈ÷¤ò¹Ô¤¤¤Þ¤¹¡£
tw = MoveTank(OUTPUT_B, OUTPUT_C)
Mm= MediumMotor(OUTPUT_A)
cs,ts,us = ColorSensor(),TouchSensor(),UltrasonicSensor()
us.mode = 'US-DIST-CM'
- ÆþÎϤµ¤ì¤¿¿ôÃͤ«¤é¥×¥í¥°¥é¥à¤Ç»È¤¦¤â¤Î¤Î·èÄê¤ò¤·¤Æ¤¤¤¤Þ¤¹¡£
Mv=(Wmax+Bmax)/2
Lp=(Wmax-Mv)/4
llp=2*Lp
spab=(spmax+spmin)/2
Clev=[Wmax,Wmax-Lp,Mv+Lp,Mv-Lp,Bmax+Lp,Bmax]
-- Çò¿§¤È¹õ¿§¤Î¶³¦Àþ¡Ê³¥¿§¡Ë¤Ç¤Î¥»¥ó¥µ¡¼¤Î¿ôÃÍ
³¥¿§¤ÎÃͤò·×¬¤¹¤ë¾ì¹çÀµ³Î¤Ë¶³¦Àþ¤ÎÃæ±û¤ò¬¤ë¤³¤È¤ÏÆñ¤·¤¤¤¿¤á¡¢ºÙ¤«¤¯¥í¥Ü¥Ã¥È¤òÆ°¤«¤·¤º¤é¤¯¤Ê¤Ã¤Æ¤·¤Þ¤¦¡£¤½¤Î¤¿¤áÇò¿§¤È¹õ¿§¤ÎÃͤÎÊ¿¶ÑÃͤò³¥¿§¤ÎÃͤˤ·¤¿¡£
Mv=(Wmax+Bmax)/2
-- ¿§¤ÎÃʳ¬¤òȽÃǤÎÈϰϤò·èÄꤹ¤ë
Çò¤«¤é¹õ¤Þ¤Ç¤ò¶ÑÅù¤Ëʬ¤±¤ë¤Î¤Ë»È¤¦¡£¤³¤³¤Ç¤Ï¡ÊÇò¿§¤ÎÃÍ-³¥¿§¤ÎÃÍ¡Ë/4¤È¤¹¤ë¡£
Lp=(Wmax-Mv)/4
llp=2*Lp
-- ®ÅÙ¤ÎÊ¿¶ÑÃͤò·èÄê
¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î®Å٤η׻»¤ÎºÝ¤ËºÇ¹â®Å٤ȺÇÄã®ÅÙ¤ÎÊ¿¶ÑÃͤò»È¤¦¤¿¤áÀè¤Ë·×»»¤·¤Æ¤ª¤¯
spab=(spmax+spmin)/2
-- ¿§¤ÎÈϰϤδð½àÃͤò¥ê¥¹¥È¤È¤·¤Æ·èÄꤹ¤ë
Çò¤«¤é¹õ¤Þ¤Ç¤ò5Ãʳ¬¤Ëʬ¤±¤ë¤È¤¤Î´ð½àÃͤòÀè¤Ëµá¤á¤¿¿ôÃͤ«¤é·è¤á¤ë
³ÆÃʳ¬¤Î´ð½àÃͤÏ
+ Wmax¡ÁWmax-Lp
+ Wmax-Lp¡ÁMv+Lp
+ Mv+Lp¡ÁMv-Lp
+ Mv-Lp¡ÁBmax+Lp
+ Bmax+Lp¡ÁBmax
Clev=[Wmax,Wmax-Lp,Mv+Lp,Mv-Lp,Bmax+Lp,Bmax]
- ¤³¤ì¤Çº£¸å»È¤¦ÊÑ¿ô¤Î½àÈ÷¤¬¤Ç¤¤Þ¤·¤¿¡£¥×¥í¥°¥é¥à¤òµ¯Æ°¤·¤Æ¤¹¤°¤ËÊÑ¿ô¤ò·è¤á¤ë¤è¤¦¤Ë¤·¤¿¤Î¤Ç´Ø¿ôÆâ¤Ê¤É¤ÇËè²ó·×»»¤¹¤ëɬÍפ¬¤Ê¤¤¤Î¤Ç³Æ´Ø¿ô¤Î½èÍý¤¬¤ï¤º¤«¤Ç¤¹¤¬Â®¤¯¤¹¤ë¤³¤È¤¬¤Ç¤¤Þ¤¹¡£
*** ¢¥é¥¤¥ó¥È¥ì¡¼¥¹ÍѤΥ¯¥é¥¹ [#dc918a51]
class Linetorace:
def __init__(self,a):
self.cv=a
self.colortyp,self.dcv,self.lesp,self.risp=0,0,0,0
self.typcheck()
self.movesp()
def typcheck(self):
for i in range(5):
if Clev[i+1]<=self.cv<Clev[i]:
self.colortyp=i
self.dcv=Clev[i]-self.cv
def movesp(self):
zuw=round(self.dcv/llp,1)
if self.colortyp==0:
self.lesp=spab-(spab-spmin)*zuw
self.risp=-spmin
elif self.colortyp==1:
self.lesp=spmax
self.risp=spab+(spmax-spab)*zuw
elif self.colortyp==2:
self.lesp=spmax
self.risp=spmax
elif self.colortyp==3:
self.lesp=spab+(spmax-spab)*zuw
self.risp=spmax
else:
self.lesp=-spmin
self.risp=spab-(spab-spmin)*zuw
¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤò5Ãʳ¬¤Î¤¦¤Á¤É¤ì¤Ë³ºÅö¤¹¤ë¤«¤òȽÄꤹ¤ë¡£¤½¤Î¸å¤½¤ì¤¾¤ì¤ÎÃʳ¬¤´¤È¤Ëº¸±¦¤Î¥â¡¼¥¿¡¼¤Î®ÅÙ¤ò·è¤á¤ë¡£~
¤³¤Î¥¯¥é¥¹¤Ï¥»¥ó¥µ¡¼¤ÎÃͤ«¤éº¸±¦¤Î®ÅÙ¡¢Ãʳ¬¤Ê¤É¤ò¼èÆÀ¤Ç¤¤ë¤Î¤Ç¥«¥é¡¼¥»¥ó¥µ¡¼´Ø·¸¤ò°ì³ç¤Ç´ÉÍý¤¹¤ë¤³¤È¤¬¤Ç¤¤Þ¤¹¡£~
¤³¤Î¥¯¥é¥¹¤Î¥á¥¤¥ó¤Ç¤¢¤ëÃʳ¬Ê¬¤±¤Èº¸±¦¤Î®ÅÙ·èÄê¤òÀâÌÀ¤·¤Æ¤¤¤¤Þ¤¹¡£
+ Ãʳ¬Ê¬¤±
¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤò°Ê²¼¤Îɽ¤È¾È¤é¤·¹ç¤ï¤»¤ÆÃʳ¬¿ô¤ò·è¤á¤Þ¤¹¡£¤³¤³¤Ç¤ÎÈϰϤϳ¥¿§¤ò´ð½à¤ËÂоΤˤʤë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£
|¿§¤ÎÃʳ¬|Çò¿§|Çò¿§¤È³¥¿§¤ÎÃæ´Ö|³¥¿§|¹õ¿§¤È³¥¿§¤ÎÃæ´Ö|¹õ¿§|
|Ãʳ¬¿ô|0|1|2|3|4|
|ÃͤÎÈÏ°Ï|Wmax¡ÁWmax-Lp|Wmax-Lp¡ÁMv+Lp|Mv+Lp¡ÁMv-Lp|Mv-Lp¡ÁBmax+Lp|Bmax+Lp¡ÁBmax|
+ º¸±¦¤Î®ÅÙ·èÄê
Ãʳ¬¿ô¤¬·è¤Þ¤Ã¤¿¤é¤½¤ÎÃʳ¬¿ô¤´¤È¤Ë·è¤á¤é¤ì¤¿Â®ÅÙ¤òµá¤á¤ë·×»»¼°¤Ë¥»¥ó¥µ¡¼¤ÎÃͤòÂåÆþ¤·¤Æ¤¤¤¤Þ¤¹¡£¤³¤³¤Ç¤Î´ð½à¤Ï¹õÀþ¤Îº¸Â¦¤È¤·¤Æ¤¤¤Þ¤¹¡£~
''¡Ê·èÄꤷ¤¿Ãʳ¬¤Î¾å¸Â-¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃÍ¡Ë¡à¡ÊÈϰϤÎÉý¡ß£²¡Ë''¤ÎÃͤò''Ä´À°ÃÍ''¤È¤¹¤ë¡£
|Ãʳ¬¿ô|0|1|2|3|4|
|±¦¤Î®ÅÙ(ʸ»ú)|-¡ÊºÇÄã®ÅÙ¡Ë|®ÅÙ¤ÎÊ¿¶ÑÃÍ+¡ÊºÇ¹â®ÅÙ-®ÅÙ¤ÎÊ¿¶ÑÃÍ¡Ë¡ßÄ´À°ÃÍ|ºÇ¹â®ÅÙ|ºÇ¹â®ÅÙ|®ÅÙ¤ÎÊ¿¶ÑÃÍ-¡Ê®ÅÙ¤ÎÊ¿¶ÑÃÍ-ºÇÄã®ÅÙ¡Ë¡ßÄ´À°ÃÍ|
|±¦¤Î®ÅÙ(¼°)|-spmin|spab+(spmax-spab)*zuw|spmax|spmax|spab-(spab-spmin)*zuw|
|º¸¤Î®ÅÙ(ʸ»ú)|®ÅÙ¤ÎÊ¿¶ÑÃÍ-¡Ê®ÅÙ¤ÎÊ¿¶ÑÃÍ-ºÇÄã®ÅÙ¡Ë¡ßÄ´À°ÃÍ|ºÇ¹â®ÅÙ|ºÇ¹â®ÅÙ|®ÅÙ¤ÎÊ¿¶ÑÃÍ+¡ÊºÇ¹â®ÅÙ-®ÅÙ¤ÎÊ¿¶ÑÃÍ¡Ë¡ßÄ´À°ÃÍ|-¡ÊºÇÄã®ÅÙ¡Ë|
|º¸¤Î®ÅÙ(¼°)|spab-(spab-spmin)*zuw|spmax|spmax|spab+(spmax-spab)*zuw|-spmin|
ɽ¤«¤é¤ï¤«¤ë¤è¤¦¤ËÃʳ¬¤¬0¤È4¡¢1¤È3¤Ï¼°¤¬º¸±¦È¿ÂФÀ¤±¤Ç·×»»¼°¤ÏƱ¤¸¤Ë¤·¤Æ¤¢¤ê¤Þ¤¹¡£
- ''Ǥ°Õ¤Ë¤è¤ëº¸±¦¤Î´ð½à¤òÊѹ¹²Äǽ''~
Ãʳ¬Ê¬¤±¤ÎÂоΤª¤è¤Ó·×»»¼°¤ÎÄ´À°¤Ë¤è¤Ã¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î´ð½à¤òº¸±¦¤Î¤É¤Á¤é¤«¤Ç¤â¤³¤Î¥¯¥é¥¹1¤Ä¤Ç®ÅÙ¤òµá¤á¤ë¤³¤È¤¬¤Ç¤¤ë¤Î¤Ç¤¹¡£~
-- º¸Â¦¤Î»þ¤Ï±¦¤Î®ÅÙ¤ò±¦¤Î¥â¡¼¥¿¡¼¤Ëº¸¤Î®ÅÙ¤òº¸¤Î¥â¡¼¥¿¡¼¤ËÁ÷¤ë
-- ±¦Â¦¤Î»þ¤Ï±¦¤Î®ÅÙ¤òº¸¤Î¥â¡¼¥¿¡¼¤Ëº¸¤Î®ÅÙ¤ò±¦¤Î¥â¡¼¥¿¡¼¤ËÁ÷¤ë
*** £¥ë¡¼¥È»ØÄêÍѤΥ¯¥é¥¹ [#o79a6f60]
class root:
def __init__(self,v1,v2):
self.typ,self.chst=v1,v2
def action(self):
if self.typ==0:
follow_line(self.chst,50)
elif self.typ==1:
closs(self.chst)
elif self.typ==2:
fetch_cuboid(self.chst)
else:
gostart()
mainÉôʬ¤Ç¥ë¡¼¥È¤Î¥³¡¼¥É¤òÂǤÁ¹þ¤ó¤Ç¤¤¤¯¤Î¤ÏÂçÊѤʤΤÇ2¤Ä¤Î°ú¿ô¤Ç¥ë¡¼¥È¤ò»ØÄê¤Ç¤¤ë¤è¤¦¤Ë¤·¤¿¡£
*** ¤Ä̾ï»þ¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ÍѤδؿô [#z4db0b7e]
def follow_line(chst,ched):#¥é¥¤¥ó¥È¥ì¡¼¥¹ÍÑ¥×¥í¥°¥é¥à
sttime1,notime1 = time(),time()
bcon=0
while not (ts.is_pressed) and not ((notime1-sttime1)>ched):
cvp = cs.reflected_light_intensity
MLT=Linetorace(cvp)
if MLT.colortyp==4:
bcon=bcon+1
else:
bcon=0
notime1=time()
if (chst <= (notime1-sttime1) <=ched) and (bcon== brockch):
break
tw.on(MLT.lesp,MLT.risp)
sleep(0.1)
tw.off()
2¤Ä¤Î°ú¿ô¡Ê¸òº¹ÅÀȽÄ곫»Ï¤Þ¤Ç¤Î»þ´Ö¡¢´Ø¿ô¤Î½èÍý¤ÎÀ©¸Â»þ´Ö¡Ë¤ò»È¤¦´Ø¿ô¤Ç¤¹¡£¤³¤Î´Ø¿ôÆâ¤Ç¹Ô¤¦½èÍý¤ÏÂ礤¯Ê¬¤±¤ë¤È
- 1¤ÄÌܤϺ£¤Î¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤ«¤éº¸±¦¤Î¥â¡¼¥¿¡¼¤Î®ÅÙ¤ò¼èÆÀ¤·¤½¤ì¤ò¤½¤ì¤¾¤ì¤Î¥â¡¼¥¿¡¼¤ËÁ÷¤ë
- 2¤ÄÌܤϸòº¹ÅÀ¤Þ¤¿¤Ïľ³Ñ¥«¡¼¥Ö¤ËÍè¤Æ¤¤¤ë¤«¤É¤¦¤«
¤Î£²¤Ä¤Ç¤¹¡£¤³¤ì¤é¤Î½èÍý¤Ë¤Ä¤¤¤ÆÀâÌÀ¤·¤Æ¤¤¤¤Þ¤¹¡£
+ ¥é¥¤¥ó¥È¥ì¡¼¥¹
¤³¤³¤Ç¤Î½èÍý¤Ï¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬²¡¤µ¤ì¤Æ¤ª¤é¤º¤Þ¤¿¡¢´Ø¿ô¤Î½èÍý¤ò¼Â¹Ô¤·¤Æ¤«¤é¤Î»þ´Ö¤¬À©¸Â»þ´Ö¤òĶ¤¨¤Æ¤¤¤Ê¤¤¤È¤¤Ë¡¢º£¤Î¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤòÍÑ°Õ¤·¤Æ¤¢¤ë¥é¥¤¥ó¥È¥ì¡¼¥¹ÍѤΥ¯¥é¥¹¤ËÂåÆþ¤·¥â¡¼¥¿¡¼¤Î®ÅÙ¤òµá¤á¤ë¡£¤½¤Î¸å¤½¤ÎÃͤòº¸±¦¤Î¥â¡¼¥¿¡¼¤ËÁ÷¤ë¡£¤³¤³¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ï¥¯¥é¥¹¤Ç¤Î·è¤á¤¿º¸±¦¤ò¤½¤Î¤Þ¤Þ»È¤¦¤¿¤á¹õÀþ¤Îº¸Â¦¤ò´ð½à¤È¤·¤Æ¤¤¤Þ¤¹¡£
while not (ts.is_pressed) and not ((notime1-sttime1)>ched):
cvp = cs.reflected_light_intensity
MLT=Linetorace(cvp)
tw.on(MLT.lesp,MLT.risp)
sleep(0.1)
+ ¸òº¹ÅÀȽÄê
¸òº¹ÅÀȽÄê¤ÏºÇ½é¤Ï¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÊѲ½¤Î¶ñ¹ç¤«¤éȽÄꤷ¤è¤¦¤È»î¤ß¤Þ¤·¤¿¤¬¥í¥Ü¥Ã¥È¤òÆ°¤«¤¹´Ä¶¤Î¾õ¶·¤Ë¤è¤Ã¤Æ¥»¥ó¥µ¡¼¤ÎÊѲ½¤Ë±Æ¶Á¤¬¤¢¤ê¤Þ¤·¤¿¡£¤½¤Î¤¿¤áº£²ó¤Ï5Ãʳ¬¤Ç¤ÎÆ°¤¤«¤éȽÄꤹ¤ë¤³¤È¤Ë¤·¤Þ¤·¤¿¡£~
¤³¤³¤Ç¤Î½èÍý¤Ï1¤ÄÌܤνèÍý¤Ç»È¤Ã¤¿¥¯¥é¥¹¤ÎÃʳ¬¤¬¹õ¿§¤Î¾ì¹ç¤Î¤ß¥«¥¦¥ó¥È¤·¡¢¤½¤Î¥«¥¦¥ó¥È¿ô¤¬Àè¤Ë·è¤á¤¿¹õ¿§È½Äê¤Þ¤Ç¤Î¥«¥¦¥ó¥È¿ô¤Ë¤Ê¤Ã¤¿¤é¸½ºß¤¤¤ë¤Î¤Ï¸òº¹ÅÀ¤ÈÃÇÄꤷ¡¢¤³¤Î´Ø¿ô¤Î½èÍý¤òÄä»ß¤·¡¢º¸±¦¤Î¥â¡¼¥¿¡¼¤òÄä»ß¤µ¤»¤Þ¤¹¡£
if MLT.colortyp==4:
bcon=bcon+1
else:
bcon=0
notime1=time()
if (chst <= (notime1-sttime1) <=ched) and (bcon== brockch):
break
¤³¤Î´Ø¿ô¤Ï0.1É䪤¤Ë¿§¤Î¥Á¥§¥Ã¥¯¤ò¤¹¤ë¤¿¤á¶ÊÀþÉôʬ¤Ç¤Î¸òº¹ÅÀȽÄê¤Î¥ß¥¹¤¬¤¢¤ê¤Þ¤·¤¿¡£¤Ê¤Î¤Ç¡¢¥«¥¦¥ó¥È¤¹¤ë¤Î¤Ï¹õ¿§¤Î»þ¤À¤±¤Ë¤·¡¢¤â¤·¤½¤ì°Ê³°¤ÎÃʳ¬¤¬Í褿¤é¥«¥¦¥ó¥È¤ò¥ê¥»¥Ã¥È¤¹¤ë»ÅÁȤߤ¹¤ë¤³¤È¤ÇȽÄê¤Î¥ß¥¹¤òÍÞ¤¨¤Þ¤·¤¿¡£
*** ¥Ä¾³Ñ¥«¡¼¥Ö¤È¸òº¹ÅÀ¤Ç¤Î¹ÔÆ°ÍÑ´Ø¿ô [#ca2a43c6]
def closs(pp):#¸òº¹ÅÀ¤Èľ³Ñ¥«¡¼¥Ö¤ÎºÝ¤Î¹ÔÆ°ÍÑ¥×¥í¥°¥é¥à
cvp= cs.reflected_light_intensity
MLT = Linetorace(cvp)
tw.on(-MLT.lesp,-MLT.risp)
sleep(0.1*brockch)
tw.off()
if pp==0:
follow_line(tst,tst+0.1)
else:
sleep(5)
if pp==1:
follow_line(tst,tst+0.1)
elif pp==2:
tw.on_for_seconds(spmax,spmax,1)
else:
sttime=time()
notime=time()
while (notime- sttime <=tst):
cvp= cs.reflected_light_intensity
MLT= Linetorace(cvp)
tw.on(MLT.risp,MLT.lesp)
sleep(0.1)
notime=time()
tw.off()
°ú¿ô¤Ç¥«¡¼¥Ö¡¢¸òº¹ÅÀ¤òº¸ÀÞ¡¢±¦ÀÞ¡¢Ä¾¿Ê¤Î4¤Ä¤ò»Ø¼¨¤·¤½¤ì¤¾¤ì¤Î½èÍý¤ò¼Â¹Ô¤¹¤ë´Ø¿ô¤Ç¤¹¡£¤³¤³¤Ç¤Î½èÍý¤Ï
+ ¸½ºß¤Î¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤ«¤é¤µ¤Ã¤¤Þ¤Ç¤ÎÆ»¤òÌá¤ë
+ ¤½¤Î¸å4¤Ä¤½¤ì¤¾¤ì¤ÎÆ°¤¤ò¼Â¹Ô¤¹¤ë
¤È¤¤¤Ã¤¿Î®¤ì¤Ç¤¹¡£~
¤Ê¤¼¸òº¹ÅÀ¤Ç¤Î½èÍý¤Ç°ìöƻ¤òÌá¤ë¤Î¤Ï¤³¤Î´Ø¿ô¤¬¸Æ¤Ó½Ð¤µ¤ì¤¿»þ¤Î¥í¥Ü¥Ã¥È¤Î¾õ¶·¤Ë¤¢¤ê¤Þ¤¹¡£¤³¤Î´Ø¿ô¤ò¸Æ¤Ö¤È¤¤¤¦¤³¤È¤Ï¸òº¹ÅÀ¤Ë¤¤¤ë¤È¤¤¤¦¤³¤È¤Ç¤¹¡£¤³¤Î»þ¥í¥Ü¥Ã¥È¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ç¹õ¿§¤ÎȽÄê¤Ê¤Î¤Çº¸¤Ë¶Ê¤¬¤Ã¤Æ¤¤¤Þ¤¹¡£¼¡¤Î½èÍý¤¬¥«¡¼¥Ö¤äº¸ÀޤǤ¢¤ì¤ÐÌäÂꤢ¤ê¤Þ¤»¤ó¤¬Ä¾¿Ê¤ä±¦Àޤξì¹ç¤ÏÆ°¤¤¬Ê£»¨¤Ë¤¢¤Ã¤Æ¤·¤Þ¤¤¤Þ¤¹¡£¤³¤ì¤ò´Êñ¤Ë¤¹¤ë¤¿¤á¤Ë¸òº¹ÅÀȽÄê¤Î¥«¥¦¥ó¥È¤ò»Ï¤á¤ëľÁ°¤Î¥í¥Ü¥Ã¥È¤¬¤ª¤ª¤à¤Í¹õÀþ¤ËÂФ·¤ÆÊ¿¹Ô¤Î¾õÂÖ¤Þ¤ÇÆ»¤òÌá¤ë½èÍý¤ò¹Ô¤¤¤Þ¤¹¡£~
¸å¤Ï°ú¿ô¤ÎÃͤǽèÍý¤òÊѤ¨¤Æ4¤Ä¤Î¹ÔÆ°¤òʬ¤±¤Þ¤¹¡£
++ ¥«¡¼¥Ö~
¥«¡¼¥Ö¤Î¾ì¹ç¤Ï°ìö»ß¤Þ¤ëɬÍפϤʤ¤¤Î¤Ç¤½¤Î¤Þ¤Þ¹õÀþ¤Îº¸Â¦¤ò´ð½à¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¤¤Þ¤¹¡£
++ ¸òº¹ÅÀ¤òº¸ÀÞ~
¸òº¹ÅÀ¤Ê¤Î¤Ç°ìÄê»þ´ÖÄä»ß¸å¥«¡¼¥Ö¤ÈƱÍͤνèÍý¤ò¤·¤Þ¤¹¡£
++ ¸òº¹ÅÀ¤òľ¿Ê~
¸òº¹ÅÀ¤Ê¤Î¤Ç°ìÄê»þ´ÖÄä»ß¸åº¸±¦¤Î¥â¡¼¥¿¡¼¤òºÇÂç®ÅÙ¤Ç1ÉôÖÆ°¤«¤·¤Þ¤¹¡£
++ ¸òº¹ÅÀ¤ò±¦ÀÞ~
¸òº¹ÅÀ¤Ê¤Î¤Ç°ìÄê»þ´ÖÄä»ß¸å¹õÀþ¤Î±¦Â¦¤ò´ð½à¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¤¤Þ¤¹¡£
*** ¦¥¥å¡¼¥Ö¥¥ã¥Ã¥ÁÍÑ´Ø¿ô [#s7a772b7]
def fetch_cuboid(edti):#¥é¥¤¥ó¥È¥ì¡¼¥¹¸å¥¥å¡¼¥Ö¤ò²ó¼ý¤·U¥¿¡¼¥ó¡¢¤½¤Î¸å¥é¥¤¥ó¥È¥ì¡¼¥¹ºÆ³«
sttime2 = time()
fase=0
while not (ts.is_pressed):
cvp= cs.reflected_light_intensity
MLT= Linetorace(cvp)
tw.on(MLT.risp,MLT.lesp)
notime2= time()
txle= us.distance_centimeters
if txle <= 4 :
tw.on(0,0)
Mm.on_for_seconds(-10,1.2)
tw.on_for_degrees(-spmax,spmax,360)
fase=1
break
if (notime2-sttime2) >= edti:
fase=1
break
sleep(0.1)
if fase==1:
follow_line(5,edti)
tw.off()
Mm.off()
¥¥å¡¼¥Ü¥¤¥É¤ò¥¥ã¥Ã¥Á¤·¡¢U¥¿¡¼¥ó¤·¤ÆÌá¤ë½èÍý¤ò¹Ô¤¦´Ø¿ô¤Ç¤¹¡£¤³¤Î´Ø¿ô¤Î½èÍý¤È¤½¤ÎÀâÌÀ¤ò¤·¤Æ¤¤¤¤Þ¤¹¡£
+ ¥¥å¡¼¥Ü¥¤¥É¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹~
¥í¥Ü¥Ã¥È¤Ë¤Ä¤¤¤Æ¤ÎÀâÌÀ¤Ç½Ò¤Ù¤¿¤è¤¦¤ËĶ²»ÇÈ¥»¥ó¥µ¡¼¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Íθ¤·¤Æº¸Â¦¤Ë¤Ä¤¤¤Æ¤¤¤ë¤Î¤Ç¤½¤ì¤¬¥¥å¡¼¥Ü¥¤¥É¤ÎÀµÌ̤ËÍè¤ë¹õÀþ¤Î±¦Â¦¤ò´ð½à¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¥é¥¤¥ó¥È¥ì¡¼¥¹¤·¤Æ¤¤¤¤Þ¤¹¡£
cvp= cs.reflected_light_intensity
MLT= Linetorace(cvp)
tw.on(MLT.risp,MLT.lesp)
notime2= time()
txle= us.distance_centimeters
+ ¥¥å¡¼¥Ü¥¤¥É¤Î¸¡ÃΤȥ¥ã¥Ã¥Á~
Ķ²»ÇÈ¥»¥ó¥µ¡¼¤ÎÃͤ¬·è¤á¤é¤ì¤¿¿ôÃͰʲ¼¤Ë¤Ê¤Ã¤¿¤é¥ß¥Ç¥£¥¢¥à¥â¡¼¥¿¡¼¤òÆ°¤«¤·¤Æ¥¥ã¥Ã¥Á¤·¤Þ¤¹¡£ºÇ½é¤Ï¤³¤Î´ð½àÃͤ⡤ÎÉôʬ¤ÇÆþÎϤ¹¤ëͽÄê¤Ç¤·¤¿¤¬¥í¥Ü¥Ã¥È¤¬½ÄĹ¤Ç¥¥å¡¼¥Ü¥¤¥É¤Îõº÷¤ò¼Â¹Ô¤¹¤ë¤È¤¤Ë¤Ï¤¹¤°ÌܤÎÁ°¤ËÍè¤Æ¤·¤Þ¤¦¤Î¤Ç¤Ê¤¯¤·¤Þ¤·¤¿¡£
if txle <= 4 :
tw.on(0,0)
Mm.on_for_seconds(-10,1.2)
+ U¥¿¡¼¥ó~
¥¥å¡¼¥Ü¥¤¥É¤ò¥¥ã¥Ã¥Á¸å¤½¤Î¾ì¤ÇÈ¿»þ·×²ó¤ê¤ËȾ²óž¤·¤Þ¤¹
tw.on_for_degrees(-spmax,spmax,360)
+ Í褿ƻ¤òÌá¤ë~
U¥¿¡¼¥ó¤·¤ÆÀè¤Û¤É¤Þ¤ÇÄ̤äƤ¤¿Àþ¤ËÌá¤Ã¤Æ¤¤Þ¤¹¡£¤Ç¤¹¤¬Àè¤Û¤É¤Ï¹õÀþ¤Î±¦Â¦¤Ç¤·¤¿¤¬U¥¿¡¼¥ó¤¹¤ë¤È±¦Â¦¤À¤Ã¤¿¤Î¤¬º¸Â¦¤Ë¤Ê¤ë¤Î¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤âº¸Â¦´ð½à¤ËÊѹ¹¤·¤Þ¤¹¡£
if fase==1:
follow_line(5,edti)
*** §¥¹¥¿¡¼¥ÈÍѤδؿô [#q7516c13]
def gostart():#¥¹¥¿¡¼¥È»þ¤ÎÁ°¿ÊÍÑ¥×¥í¥°¥é¥à
tw.on_for_seconds(spmax,spmax,2)
A¤«¤éB¤Ë¿Ê¤à¤È¤¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ç¿Ê¤à¤Î¤ÏÂçÊѤΤʤΤǤ¿¤Àľ¿Ê¤µ¤»¤ë´Ø¿ô
*** ¨¥á¥¤¥ó¥×¥í¥°¥é¥à [#y525a140]
def main():
MAP=[root(4,0),root(0,0),root(1,0),root(0,0),root(1,1),root(0,0),root(1,1),root(2,30),root(0,20),root(1,2)]
for i in range(len(MAP)):
if not ts.is_pressed:
MAP[i].action()
else:
break
print("all clear")
if __name__ == '__main__':
main()
¥á¥¤¥ó¥×¥í¥°¥é¥à¤Çº£²ó¤Î¥ë¡¼¥È¤ò¥ê¥¹¥È·¿¤Ç»ØÄꤷ¡¢½çÈÖ¤ËÆɤ߹þ¤ó¤Ç¤¤¤¤Þ¤¹¡£¤³¤¦¤¤¤Ã¤¿»ÅÁȤߤˤ¹¤ë¤È¥í¥Ü¥Ã¥È¤ÎÆ°ºîÃæ¤ËǤ°Õ¤ÇÄä»ß¤µ¤»¤è¤¦¤È¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤ò²¡¤·¤Æ¤â¸½ºß¹Ô¤ï¤ì¤Æ¤¤¤ë´Ø¿ô¤Î½èÍý¤òÄä»ß¤¹¤ë¤À¤±¤Ç¥ê¥¹¥È¤Î¼¡¤¬Æɤ߹þ¤Þ¤ì¤Æ¤·¤Þ¤¦¤¿¤á¡¢»ß¤Þ¤ê¤Þ¤»¤ó¡£¤Ê¤Î¤ÇÆɤ߹þ¤ßÉôʬ¤Ë¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬²¡¤µ¤ì¤Æ¤¤¤Ê¤¤¤«¤Î¥Á¥§¥Ã¥¯¤È¡¢¤â¤·²¡¤µ¤ì¤Æ¤¤¤ë¤Ê¤é¥ê¥¹¥È¤ÎÆɤ߼è¤ê¼«ÂΤò½ªÎ»¤µ¤»¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£
** ¥×¥í¥°¥é¥à¤Î¤Þ¤È¤á [#z7e38825]
¤³¤ì¤Þ¤Ç¤ÎÀâÌÀ¤È¥×¥í¥°¥é¥à¼«ÂΤÎŤµ¤«¤é¤ï¤«¤ë¤è¤¦¤Ë²ÝÂêãÀ®¤Î¤ß¤òÌÜŪ¤È¤¹¤ë¾ì¹ç¤Ë¤Ï¤³¤³¤Þ¤Çºî¤ëɬÍפʤʤ«¤Ã¤¿¤È¸Ä¿ÍŪ¤Ë¤Ï»×¤Ã¤Æ¤¤¤Þ¤¹¡£²ÝÂêãÀ®¤À¤±¤Ê¤é¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î®Å٤⤽¤ì¤¾¤ì·è¤á¤ì¤Ð¤¤¤¤¤·¤³¤³¤Þ¤ÇÊÑ¿ô¤ä·×»»¤ò¿ÍѤ¹¤ëɬÍפâ¤Ê¤¯¡¢¥×¥í¥°¥é¥àºîÀ®¤Ë¤«¤«¤ë»þ´Ö¤¬¤â¤Ã¤Èû¤¯¤Ê¤Ã¤¿¤È»×¤¤¤Þ¤¹¡£¤Ç¤¹¤¬¥×¥í¥°¥é¥à¤òºî¤ë¤Î¤Ç¤¢¤ì¤ÐÈÆÍÑÀ¤¬¤¢¤ëÊý¤¬¤¤¤¤¤È»×¤Ã¤Æ¤¤¤ë¤Î¤Çº£²ó¤Î¤è¤¦¤Ê¥×¥í¥°¥é¥à¤Ë¤·¤Þ¤·¤¿¡£¼¡²ó¤Î²ÝÂê¤Ç¤ÏƱ¤¸¤è¤¦¤Ë¤·¤è¤¦¤È¹Í¤¨¤Æ¤¤¤Þ¤¹¤¬¡¢¥°¥ë¡¼¥×Æâ¤Ç¸«¤»¤¿¤é¤ï¤«¤ê¤º¤é¤¤¤È¤¤¤ï¤ì¤¿¤Î¤Ç¤â¤¦¾¯¤·¹Í¤¨¤ëɬÍפ¬¤¢¤ë¤È»×¤¤¤Þ¤¹¡£