[[2016a/Member]]
#contents

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 m = ev3.LargeMotor('outA')
 n = ev3.LargeMotor('outB')
 cs = ev3.ColorSensor('in1')
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 def trace(x):
         t0 = time.time()
         while time.time() - t0 < x:
                 if cs.value () > 30:
                         m.run_forever(duty_cycle_sp=-30)
                         n.run_forever(duty_cycle_sp=20)
                         t0 = time.time()
 	  	 elif cs.value () >= 10:
                         m.run_forever(duty_cycle_sp=45)
                         n.run_forever(duty_cycle_sp=45)
                         t0 = time.time()
                 else:
                         m.run_forever(duty_cycle_sp=20)
                         n.run_forever(duty_cycle_sp=-30)
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 def turnR():
         m.run_forever(duty_cycle_sp=-50)
         n.run_forever(duty_cycle_sp=20)
         time.sleep(0.825)
         m.run_forever(duty_cycle_sp=40)
         n.run_forever(duty_cycle_sp=40)
         time.sleep(0.9)
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 def turnL():
         m.run_forever(duty_cycle_sp=20)
         n.run_forever(duty_cycle_sp=-30)
         time.sleep(0.6)
         m.run_forever(duty_cycle_sp=40)
         n.run_forever(duty_cycle_sp=40)
         time.sleep(0.425)
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 def straight(x,y):
         m.run_forever(duty_cycle_sp=x)
         n.run_forever(duty_cycle_sp=y)
         time.sleep(0.225)
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 trace(0.225)
 turnL()
 trace(0.225)
 turnL()
 trace(0.24)
 straight(30,40)
 trace(0.245)
 straight(35,30)
 trace(0.235)
 turnR()
 trace(0.225)
 turnL()
 trace(0.23)
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 straight(70,70)
 m.stop
 n.stop

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