#author("2019-11-22T21:46:53+09:00","bearch","bearch")
#author("2019-11-29T17:05:54+09:00","bearch","bearch")
[[2019b/Member]]

#contents
*課題1 [#f301eae8]
似顔絵ロボット
*ロボット [#p3c73519]
このロボットはペン先がタイヤとタイヤの中心に位置するように設計したので、その分タイヤとペン先の距離を考えないで済むので、プログラムを簡単にすることができました。またこのロボットについてるペンを接地面に対して寝かせて固定したので、摩擦が少なく、書いた時にガタガタしないようにしました。
#ref(11570.jpg)
*プログラム [#aec0f8d0]
>from ev3dev2.motor import MoveTank, OUTPUT_B, OUTPUT_C
from ev3dev2.motor import MediumMotor, OUTPUT_D
tank_drive = MoveTank(OUTPUT_B,OUTPUT_C)
motor_center = MediumMotor(OUTPUT_D)

#!face line
tank_drive.on_for_degrees(5,5,124.8)
tank_drive.on_for_degrees(-5,5,87)
tank_drive.on_for_degrees(5,5,145.6)
tank_drive.on_for_degrees(-5,5,175)
tank_drive.on_for_degrees(5,5,145.6)
tank_drive.on_for_degrees(-5,5,87)
tank_drive.on_for_degrees(5,5,124.8)
tank_drive.on_for_degrees(-5,5,87)
tank_drive.on_for_degrees(5,5,145.6)
tank_drive.on_for_degrees(-5,5,175)
tank_drive.on_for_degrees(5,5,145.6)
tank_drive.on_for_degrees(-5,5,255)
tank_drive.on_for_degrees(5,5,212)
motor_center.on_for_degrees(-15,45)

#!eyes
tank_drive.on_for_degrees(5,-5,175)
tank_drive.on_for_degrees(5,5,62.4)
tank_drive.on_for_degrees(5,-5,175)
tank_drive.on_for_degrees(5,5,42)
motor_center.on_for_degrees(15,45)
tank_drive.on_for_degrees(5,5,42)
motor_center.on_for_degrees(-15,45)
tank_drive.on_for_degrees(5,5,42)
motor_center.on_for_degrees(15,45)
tank_drive.on_for_degrees(5,5,42)
motor_center.on_for_degrees(-15,45)
tank_drive.on_for_degrees(-5,5,175)
tank_drive.on_for_degrees(5,5,42)
tank_drive.on_for_degrees(-5,5,175)
tank_drive.on_for_degrees(5,5,62.4)
tank_drive.on_for_degrees(-5,5,175)
motor_center.on_for_degrees(15,45)
tank_drive.on_for_degrees(5,5,62.4)
motor_center.on_for_degrees(-15,45)
tank_drive.on_for_degrees(-5,-5,83.2)
tank_drive.on_for_degrees(-5,5,175)
tank_drive.on_for_degrees(-5,-5,20.8)
motor_center.on_for_degrees(15,45)
tank_drive.on_for_degrees(5,5,41.6)
*結果 [#tbf6b631]
できた似顔絵がこちらです。
#ref(11569.jpg)


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