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ÀµÌ̤ÎÌܤΤ褦¤Ê¤â¤Î¤ÏĶ²»ÇÈ¥»¥ó¥µ¡¼¤Ç¤¹¡¢»æ¥³¥Ã¥×¤È¤Îµ÷Î¥¤ò¬¤ì¤Þ¤¹¤¬¡¢¿®ÍêÀ¤Ë·ç¤±¤Þ¤¹ http://imgur.com/a/iR8lY~ ²ó¤ê¤Ç¤¹~ ºÇ½é¤ÏLargeMotor¤ò2¤Ä»ÈÍѤ¹¤ëͽÄê¤Ç¤·¤¿¤¬¡¢¡ÖEV3¤òÄÌ¿®¤µ¤»¤ë¼êÃʤ¬Ê¬¤«¤é¤Ê¤¤¡×¤È¤¤¤¦¤³¤È¤Ç1¤Ä¤Î¥â¡¼¥¿¡¼¤ÇÁ°¸å°ÜÆ°¤·¤Þ¤¹ http://imgur.com/a/h1XSS~ ¦Ì̤«¤é¡¢ÄÌ¿®ÊýË¡¤¬³ÎΩ¤·¤Ê¤¤¤Î¤ÇÊÒÊý¤ÎEV3ËÜÂÎ(¥³¥ó¥Ô¥å¡¼¥¿¡¼)¤Ï¤¿¤À¤Î½Å¤ê¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤¤¤Þ¤·¤¿~ Æ°ºî¤È¥×¥í¥°¥é¥à ¥¯¥ï¥¬¥¿~ ¤³¤Ã¤Á¤Ï¥Ï¡¼¥É¤â¥×¥í¥°¥é¥à¤â¤ï¤¿¤·¤Ï¤¢¤Þ¤ê´Ø¤ï¤ê¤Þ¤»¤ó¤Ç¤·¤¿¤¬¡¢[naho]»á¤Î²ÝÂê2¤Î¥×¥í¥°¥é¥à¤òήÍѤ·¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤·¡¢Ä¶²»ÇÈ¥»¥ó¥µ¡¼¤Ç»æ¥³¥Ã¥×¤È¤Îµ÷Î¥¤ò¬¤ê¡¢ÄϤó¤ÇÌÜŪÃϤޤDZ¿¤Ö¤È¤¤¤¦Æ°¤¤ò¤·¤Þ¤¹~ ¾Ü¤·¤¯¤Ï[naho]»á¤Î¥Ú¡¼¥¸¤ò¸«¤¿¤Û¤¦¤¬¤¤¤¤¤«¤â¤·¤ì¤Þ¤»¤ó~ ¥¿¥ï¡¼~ ÌܤÎÁ°(nÀðÊÆâ)¤ËʪÂÎ(¥³¥Ã¥×)¤¬mÉôÖÃÖ¤«¤ì¤ë~ ¢¥³¥Ã¥×¤¬ÃÖ¤«¤ì¤¿¤ÈȽÄê~ Á°¿Ê¤·¡¢»æ¥³¥Ã¥×¤È¤Îµ÷Î¥¤ò¬¤ê¡¢¶á¤Å¤¤¤Æ»ý¤Á¾å¤²¤ë~ ¢~ ¹¹¤ËÁ°¿Ê¤·½Å¤Í¤ë»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¡¢¶á¤Å¤¯~ ¢~ »æ¥³¥Ã¥×¤ò²¼¤²¡¢½Å¤Í¤ë~ ¢~ ¸µ¤Î¾ì½ê¤Þ¤Ç¸åÂà~ ¤È¤¤¤¦Æ°¤¤ò·«¤êÊÖ¤¹¤Î¤¬ºÇ½é¤ÎͽÄê¤Ç¤·¤¿~ ²¼¤ÎURL¤Ï¥í¥Ü¥³¥ó2ÆüÁ°¤Ë¼è¤Ã¤¿Æ°²è¤Ç¤¹¤Î¤Ç¤«¤Ê¤ê̤´°À®¤Ç¤¹(9·î11Æü¤Ëºï½ü¤µ¤ì¤Æ¤·¤Þ¤¤¤Þ¤¹)~ http://fast-uploader.com/file/7026461113429/~ ¤³¤ÎÆ°¤¤Ï¡Ö¥¢¡¼¥à¤ÇÄϤࢪ»ý¤Á¾å¤²¤ë¢ª·Ú¤¯Æ°¤¯¢ª²¼¤í¤¹¢ªÎ¥¤¹¡×¤È¤¤¤¦Æ°¤¤ò¥Æ¥¹¥È¤·¤¿¤â¤Î¤Ç~ #!/usr/bin/python import ev3dev.ev3 as ev3 import time m1 = ev3.LargeMotor('outD') m2 = ev3.MediumMotor('outB') m3 = ev3.MediumMotor('outC') m4 = ev3.LargeMotor('outA') m1stop = m1.stop(stop_command='brake') m2stop = m2.stop(stop_command='brake') m3stop = m3.stop(stop_command='brake') m4stop = m4.stop(stop_command='brake') m4.run_forever(duty_cycle_sp=-20) time.sleep(0.57) m4.stop(stop_command='brake') time.sleep(1) m2.run_forever(duty_cycle_sp=50) m3.run_forever(duty_cycle_sp=-50) time.sleep(1.7) m2.stop(stop_command='brake') m3.stop(stop_command='brake') time.sleep(1) m1.run_forever(duty_cycle_sp=-50) time.sleep(2) m1.stop(stop_command='brake') time.sleep(1) m1.run_forever(duty_cycle_sp=50) time.sleep(2) m1.stop(stop_command='brake') time.sleep(1) m2.run_forever(duty_cycle_sp=-50) m3.run_forever(duty_cycle_sp=50) time.sleep(1) m2.stop(stop_command='brake') m3.stop(stop_command='brake') time.sleep(1) m4.run_forever(duty_cycle_sp=20) time.sleep(0.57) ¾å¤Î¥×¥í¥°¥é¥à¤ÇÆ°ºî¤·¤Þ¤¹~ ºÇ¸å¤Ë¥³¥Ã¥×¤òÍî¤È¤·¤Æ¤·¤Þ¤Ã¤Æ¤¤¤Þ¤¹¤¬¡¢½Å¤Í¤ëºÝ¡¢²¼¤Ë¤Ï¥³¥Ã¥×¤¬ÃÖ¤¤¤Æ¤¢¤ë¤Ï¤º¤Ê¤Î¤ÇåºÎï¤Ë½Å¤Ê¤ê¤Þ¤¹~ ¼ÂºÝ¤Ë¡¢¾å¤ÎÍýÁÛ¤ÎÆ°ºî¼«ÂΤϥí¥Ü¥³¥óÁ°Æü¤Ë¤Ï¤Û¤Ü´°àú¤Ë¤³¤Ê¤»¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤Þ¤·¤¿~ ¤ï¤¿¤·¤Ï¥¿¥ï¡¼¤Î¥Ï¡¼¥ÉÌ̤ò¥á¥¤¥ó¤ËÀ©ºî¤·¤¿¤Î¤ÇºÙ¤«¤Ê¥×¥í¥°¥é¥àŽ¤ê¤Þ¤»¤ó~ ¥¯¥ï¥¬¥¿¤Î¥×¥í¥°¥é¥àÀâÌÀ #!/usr/bin/python import ev3dev.ev3 as ev3 import time ml = ev3.LargeMotor('outB') mr = ev3.LargeMotor('outA') mm = ev3.MediumMotor('outC') cs = ev3.ColorSensor('in1') de = ev3.InfraredSensor('in2') ¾å¤¬ÄêµÁ¤Ç¤¹ ¢¬ÄêµÁ def catch(): while de.value() < 50: if de.value() < 10: ml.run_forever(duty_cycle_sp=0) mr.run_forever(duty_cycle_sp=0) mm.run_forever(duty_cycle_sp=50) time.sleep(4) mm.run_forever(duty_cycle_sp=0) ml.run_forever(duty_cycle_sp=-20) mr.run_forever(duty_cycle_sp=-20) time.sleep(1.5) ml.run_forever(duty_cycle_sp=0) mr.run_forever(duty_cycle_sp=0) ml.run_forever(duty_cycle_sp=-50) mr.run_forever(duty_cycle_sp=50) time.sleep(1.6) ml.run_forever(duty_cycle_sp=0) mr.run_forever(duty_cycle_sp=0) else: ml.run_forever(duty_cycle_sp=15) mr.run_forever(duty_cycle_sp=15) ¢¬¥»¥ó¥µ¡¼¤È»æ¥³¥Ã¥×¤Îµ÷Î¥¤¬5cm°Ê²¼¤Ë¤Ê¤Ã¤¿¤È¤¡¢µ÷Î¥¤¬1cm°Ê²¼¤Ë¤Ê¤ë¤Þ¤Ç¤ÏEV3¤Ïľ¿Ê¤·¡¢1cm°Ê²¼¤Ë¤Ê¤Ã¤¿¤È¤EV3¤ÏÄä»ß¤·¤Æ»æ¥³¥Ã¥×¤ò¤Ä¤«¤à¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë def lineright(): t0 = time.time() while time.time() - t0 < 0.35: if cs.value () > 50 : mr.run_forever(duty_cycle_sp=60) ml.run_forever(duty_cycle_sp=-30) t0 = time.time() else: mr.run_forever(duty_cycle_sp=-30) ml.run_forever(duty_cycle_sp=60) ¢¬¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÄêµÁʸ~ ¤³¤ì¤é¤òÁȤ߹ç¤ï¤»¤Æ¥Þ¥Ã¥×¤Î¤¢¤Ã¤Á¤³¤Ã¤Á¤«¤é¥³¥Ã¥×¤ò½¸¤á¤Æ¤¤Þ¤¹~ ¾Ü¤·¤¯¤Ï[naho]»á¤Î¥Ú¡¼¥¸(¢¥ê¥ó¥¯Àè)¤ò»²¾È¤¯¤À¤µ¤¤~ http://yakushi.shinshu-u.ac.jp/robotics/?2016a%2FMember%2Fnaho%2FMission3 ¥¿¥ï¡¼¤Î¥×¥í¥°¥é¥àÀâÌÀ~ ¤³¤ì¤â¥¿¥ï¡¼¤Î¥×¥í¥°¥é¥à¤ò¥á¥¤¥ó¤Ë¹Ô¤Ê¤Ã¤¿[KAIYMB]»á¤Î¥Ú¡¼¥¸(¢¥ê¥ó¥¯Àè)¤Ë¤«¤Ê¤ê¾Ü¤·¤¯ºÜ¤Ã¤Æ¤¤¤Þ¤¹~ http://yakushi.shinshu-u.ac.jp/robotics/?2016a%2FMember%2FKAIYMB%2FMission3~ Á°Æü¤Þ¤Ç¤Ï¥×¥í¥°¥é¥à¤ÎÀ©ºî¤â¼êÅÁ¤Ã¤Æ¤¤¤¿¤Î¤Ç¤¹¤¬¡¢ÅöÆü¤ËÂ礤¯½ñ¤´¹¤¨¤Æ¤·¤Þ¤Ã¤¿¤½¤¦¤Ê¤Î¤Ç¤³¤Á¤é¤â¤¢¤Þ¤ê¾Ü¤·¤¤¤³¤È¤Ï¤³¤Î¥Ú¡¼¥¸¤Ë¤Ï½ñ¤¤Þ¤»¤ó~ #!/usr/bin/python import ev3dev.ev3 as ev3 import time m1 = ev3.LargeMotor('outA') m2 = ev3.MediumMotor('outB') m3 = ev3.MediumMotor('outC') m4 = ev3.LargeMotor('outD') us = ev3.UltrasonicSensor('in1') ¢¬ÄêµÁ def search(p): t0 = time.time() while time.time() - t0 < 0.001: if us.value() > p: m4.run_forever(duty_cycle_sp=50) t0 = time.time() else: m4.stop() ¢¬¥³¥Ã¥×¤òõ¤¹¥×¥í¥°¥é¥à def close(): m1.run_forever(duty_cycle_sp=-37.5) time.sleep(0.32) m1.stop() ¢¬¥¹¥¤¥ó¥°¥¢¡¼¥à³«ÊÄ def bring(x,y): m4.run_forever(duty_cycle_sp=x) time.sleep(y) m4.stop() ¢¬Á°¸å°ÜÆ° def up(): m3.run_forever(duty_cycle_sp=-50) m2.run_forever(duty_cycle_sp=50) time.sleep(2.25) m2.stop() m3.stop() def down(): m3.run_forever(duty_cycle_sp=50) m2.run_forever(duty_cycle_sp=-50) time.sleep(1.5) m2.stop() m3.stop() ¢¬¥³¥Ã¥×»ý¤Á¾å¤²¤È²¼¤² ¥í¥Ü¥³¥ó ¥Ó¥¸¥å¥¢¥ëÅÀ¤Ï¿¤¯Ì㤨¤Þ¤·¤¿¤¬¡¢¥¯¥ï¥¬¥¿¤¬°ì¤Ä¤â»æ¥³¥Ã¥×¤ò±¿¤Ù¤º¤Ë0ÅÀ¤Ç¤·¤¿ ÌäÂêÅÀ¡¢È¿¾ÊÅÀ º£²ó¡¢ºÇ¤âÂ礤ÊÌäÂê¤Ï¡ÖÍýÁÛŪ¤Ê¾õ¶·¤òÁÛÄꤷ¤¹¤®¤Æ¤¤¤¿¡×¤³¤È¤Ç¤¹~ ¼ÂºÝ¡¢¥¿¥ï¡¼Â¦¤ÏÁ°Æü¤Ë¤Ï¤«¤Ê¤ê¹â¤¤ÀºÅÙ¤ÇÆ°¤±¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤Þ¤·¤¿~ ¤·¤«¤·~ ¡¦¥¿¥ï¡¼¤ÏÁ°¸å°ÜÆ°¤·¤«¤Ç¤¤Ê¤¤¤¿¤á¡¢»æ¥³¥Ã¥×¤òõ¤»¤Ê¤¤(¥¯¥ï¥¬¥¿¤Ë¤Û¤ÜÀµ³Î¤Ë¥¿¥ï¡¼¤ÎÀµÌ̤˥³¥Ã¥×¤òÃÖ¤¤¤Æ¤â¤é¤¦É¬Íפ¬¤¢¤ë)~ ¡¦¤·¤«¤·¥¯¥ï¥¬¥¿¤Ï¤½¤ó¤Ê¤Ë¹â¤¤ÀºÅ٤ǻ楳¥Ã¥×¤òÃÖ¤¯¤³¤È¤¬¤Ç¤¤Ê¤¤(naho»á¤Î¥×¥í¥°¥é¥à¤Ç¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¤È¤¹õ¤ÈÇò¤·¤«¼±Ê̤·¤Ê¤¤¤Î¤ÇÂ礤¯¤º¤ì¤ë¤³¤È¤¬¤¢¤ë)~ ¡¦¥¿¥ï¡¼¤âÂç·¿²½¤·¤¹¤®¤¿¤»¤¤¤«¡¢·«¤êÊÖ¤·Æ°ºî¤¹¤ë¤È¼ã´³¡¢±¦¤äº¸¤ËÆ°¤¤¤Æ¤·¤Þ¤¦~ ¡¦Æ°¤¤¬ÊѤï¤Ã¤Æ¤¤Æ¤·¤Þ¤¦(¥Ð¥Ã¥Æ¥ê¡¼¤Î¤»¤¤¤«¡©)~ ¡¦Ä¶²»ÇÈ¥»¥ó¥µ¡¼¤¬¤«¤Ê¤êÉÔÀµ³Î~ ¡¦LargeMotor¤Î²óž³ÑÅÙ¤¬»ØÄê¤Ç¤¤Ê¤¤~ ¡¦Æ±¤¸¥Ñ¥ï¡¼¤ÇƱ¤¸»þ´Ö²ó¤·¤Æ¤â¥¿¥ï¡¼¾åÉô¤ÎMediumMotor¤Î²óž¿ô¤¬°ã¤¦(¤³¤ì¤Ë¤è¤ê»þ¡¹»æ¥³¥Ã¥×¤¬¼Ð¤á¤Ë¥Ï¥Þ¤Ã¤Æ¤·¤Þ¤¦)~ ¡¦¾ì½ê¤Ë¤è¤Ã¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¸òº¹ÅÀȽÊ̤¬¤¦¤Þ¤¯¤¤¤«¤Ê¤¤»þ¤¬¤¢¤ë(Éô²°¤ÎÌÀ¤ë¤µ¤Î¤»¤¤¤«¡©)~ ¤È¡¢¾å¤²¤¤ì¤Ê¤¤¤Û¤É¤ÎÌäÂêÅÀ¤¬¤¢¤ê¤Þ¤·¤¿ 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