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 #!/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)
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 #!/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')
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 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) 
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 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)
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 #!/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()
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 def close():
         m1.run_forever(duty_cycle_sp=-37.5)
         time.sleep(0.32)
         m1.stop()
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 def bring(x,y):
         m4.run_forever(duty_cycle_sp=x)
         time.sleep(y)
         m4.stop()
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 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()
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