[[2017a/Member]] #contents *²ÝÂꣳ¡¡¶õ¤´Ì¼ý½¸¡õÀѤ߾夲¥í¥Ü¥Ã¥È [#m61c9551] ¶õ¤´Ì¤ò¼ý½¸¤·¡¢¥´¡¼¥ë¤Ë¶õ¤´Ì¤ò¤Ê¤ë¤Ù¤¯¹â¤¯ÀѤ߾夲¤ë #ref(2017a/Member/nami/Mission3/kadai3.png,100%,²ÝÂꣳ) *¥í¥Ü¥Ã¥È¤Ë¤Ä¤¤¤Æ [#ka68e832] #ref(2017a/Member/nami/Mission3/ev3_1.JPG,100%,ev31) ¥¢¡¼¥à¤ÏÊ¿¹Ô»ÍÊÕ·Á¤Ë¤·¤Æ¥¢¡¼¥à¤ò¿åÊ¿¤Ë¤Ç¤¤ë¤è¤¦¤Ë¤·¤¿¡£¤Þ¤¿Á°¤Ë½Å¿´¤¬¤«¤«¤ê¤¹¤®¤ë¤¿¤á¡¢¸å¤í¤ËÄÒʪÀСÊEV3)¤òÀßÃÖ¤·¤¿¡£ #ref(2017a/Member/nami/Mission3/ev3_2.JPG,100%,ev32) #ref(2017a/Member/nami/Mission3/ev3_3.JPG,100%,ev33) #ref(2017a/Member/nami/Mission3/ev3_4.JPG,100%,ev34) *¥×¥í¥°¥é¥ß¥ó¥°¤Ë¤Ä¤¤¤Æ [#de18aaa6] **¥×¥í¥°¥é¥à [#v624c815] #!/usr/bin/python3 # -*- coding:utf-8 -*- import ev3dev.ev3 as ev3 import time mR=ev3.LargeMotor('outA') #±¦¥â¡¼¥¿¡¼ mL=ev3.LargeMotor('outB') #º¸¥â¡¼¥¿¡¼ mT=ev3.LargeMotor('outC') #¥¢¡¼¥à mA=ev3.LargeMotor('outD') #¥Ï¥ó¥É us=ev3.UltrasonicSensor('in1') #Ķ²»ÇÈ¥»¥ó¥µ¡¼ t1=time.time() #´Ì¤Îõº÷¤ÎÊÒÊý¤Ø¤ÎÀû²ó»þ´Ö t2=time.time() #õº÷³«»Ï¤«¤é´¶ÃΤ¹¤ë¤Þ¤Ç¤Î»þ´Ö minimum=10000 #´Ì¤È¤Îµ÷Î¥¤ÎºÇ¾®ÃÍ def search():#seach for cans while spinning global t1 global t2 global minimum while time.time()-t1<5:#search around mR.run_forever(duty_cycle_sp=50,speed_sp=-10) mL.run_forever(duty_cycle_sp=50,speed_sp=10) if minimum>=us.value():#not minimum minimum=us.value() if minimum<us.value():#minimum t2=time.time() while time.time()-t1>=5 and time.time()-t1<=5.5+t2 and us.value()>minimum:#research mR.run_forever(duty_cycle_sp=50,speed_sp=10) mL.run_forever(duty_cycle_sp=50,speed_sp=-10) °ìÄê¤Î»þ´Ö´Ì¤È¤Îµ÷Î¥¤òÀû²ó¤·¤Ê¤¬¤é¬Äꤷ¡¢µ÷Î¥¤¬¾®¤µ¤¯¤Ê¤ëÅÔÅٺǾ®Ãͤò¹¹¿·¤·¤Æ¤¤¤¡¢µ÷Î¥¤¬ºÇ¾®Ãͤè¤êÂ礤¯¤Ê¤Ã¤¿»þ¤òt2¤È¤ª¤¯¡£ È¿ÂÐÊý¸þ¤ËÀû²ó¤ò»Ï¤á¡¢ºÇ¾®Ãͤè¤ê¾®¤µ¤¤Ãͤò´¶ÃΤ¹¤ë¤«¡¢t2¤ò´ð½à¤È¤·¤¿»þ´Ö¤Ë¤Ê¤ë¤Þ¤Ç³¤±¤ë¡£ def catch():#catch the can while us.value()>40: mR.run_forever(duty_cycle_sp=50,speed_sp=-100 mL.run_forever(duty_cycle_sp=50,speed_sp=-100) else : mR.run_timed(time_sp=800,duty_cycle_sp=40,speed_sp=100) mL.run_timed(time_sp=800,duty_cycle_sp=40,speed_sp=100) time.sleep(1.5) mT.run_timed(time_sp=1000,duty_cycle_sp=40,speed_sp=100,stop_action='brake') time.sleep(1) mA.run_timed(time_sp=2000,duty_cycle_sp=30,speed_sp=100,stop_action='hold') time.sleep(2) mT.run_timed(time_sp=2000,duty_cycle_sp=40,speed_sp=-100,stop_action='hold') search¤Ç´Ì¤Î¿¿ÀµÌ̤ò¸þ¤¤¤Æ¤¤¤ë¤¿¤á¡¢¤Þ¤Ã¤¹¤°Áö¤Ã¤Æ°ìÄê¤Îµ÷Î¥¤Þ¤Ç¶á¤Å¤¤¤Æ¡¢µ÷Î¥¤òÄ´À°¤·¤Æ´Ì¤ò¤Ä¤«¤ó¤Ç»ý¤Á¾å¤²¤ë¡£ def build():#pile the cans while us.value()>40: mR.run_forever(duty_cycle_sp=50,speed_sp=-100) mL.run_forever(duty_cycle_sp=50,speed_sp=-100) else : mR.run_timed(time_sp=800,duty_cycle_sp=40,speed_sp=100) mL.run_timed(time_sp=800,duty_cycle_sp=40,speed_sp=100) time.sleep(1.5) mT.run_timed(time_sp=650,duty_cycle_sp=70,speed_sp=40,stop_action='hold') time.sleep(1.5) mA.run_timed(time_sp=2000,duty_cycle_sp=30,speed_sp=-100,stop_action='hold') time.sleep(1.5) mR.run_timed(time_sp=1200,duty_cycle_sp=40,speed_sp=100) mL.run_timed(time_sp=1200,duty_cycle_sp=40,speed_sp=100) time.sleep(1.5) mT.run_timed(time_sp=2000,duty_cycle_sp=70,speed_sp=30,stop_action='brake') time.sleep(2) mA.run_timed(time_sp=2000,duty_cycle_sp=30,speed_sp=100,stop_action='hold') time.sleep(2) mT.run_timed(time_sp=710,duty_cycle_sp=40,speed_sp=-100,stop_action='hold') ¤Ï¤¸¤á¤Ïcatch¤ÈƱ¤¸¡£´Ì¤ò¼¡¤Î´Ì¤Î¾å¤ËÃÖ¤¡¢¡¢°ìÅÙÊü¤·¤Æ°ÌÃÖ¤òÄ´Àᤷ¤Æº¬Ëܤ«¤é»ý¤Á¾å¤²¤ë¡£ def end():#get out of the goal mR.run_timed(time_sp=1000,duty_cycle_sp=50,speed_sp=200) mL.run_timed(time_sp=1000,duty_cycle_sp=50,speed_sp=200) ¤¹¤Ù¤Æ¤ÎÆ°ºî¤Î¸å¤Ë¡¢¥´¡¼¥ë¤«¤é½Ð¤ë¡£ for loop in [0]: search() mR.stop() mL.stop() time.sleep(2) catch() time.sleep(2) °ì¸ÄÌܤÏcatch¤Ê¤Î¤Ç¥ë¡¼¥×¤òÊѤ¨¤Æ¤ª¤¯¡£¡¡ for loop in [0]: t1=time.time() search() mR.stop() mL.stop() time.sleep(2) build() time.sleep(2) Æó¸ÄÌܰʹߤΥ롼¥×¡£ mR.run_timed(time_sp=3000,duty_cycle_sp=50,speed_sp=-55) mL.run_timed(time_sp=3000,duty_cycle_sp=50,speed_sp=-120) time.sleep(3) mR.run_timed(time_sp=1500,duty_cycle_sp=50,speed_sp=-200) mL.run_timed(time_sp=1500,duty_cycle_sp=50,speed_sp=-200) time.sleep(3) mR.stop() mL.stop() °ÌÃÖ¤ÎÄ´Àá mA.run_timed(time_sp=1000,duty_cycle_sp=30,speed_sp=-40) time.sleep(3) mA.run_timed(time_sp=2000,duty_cycle_sp=30,speed_sp=-110,stop_action='brake') end() time.sleep(2) ¤æ¤Ã¤¯¤ê´Ì¤òÊü¤¹¡£¤½¤Î¸å¥´¡¼¥ë¤«¤é½Ð¤ë¡£ mT.reset() mT¤Î¥Û¡¼¥ë¥É¤ò²ò¤¯ *·ë²Ì [#cf7e96a8] £°ÅÀ¡Ê¶õ¤´Ì¤¬µÍ¤á¤ë¤¬ÏȤËÆþ¤é¤Ê¤«¤Ã¤¿¤ê¡¢ÏȤËÆþ¤ë¤¬¶õ¤´Ì¤¬¤Ä¤á¤Ê¤«¤Ã¤¿¤ê¡Ë *È¿¾ÊÅÀ [#yeac5d3f] ¤ä¤Ï¤êº£²ó¤Î°ìÈÖ¤ÎÌäÂê¤Ï»þ´Ö¤¬¤Ê¤«¤Ã¤¿¤È¤¤¤¦»ö¤À¤È»×¤¦£´¿ÍÃ棱¿Í¤·¤«²ÝÂ꣤ÎȯɽÁ°¤ÎÄ´À°¤Ç¤¤ë¿Í¤¬¤¤¤Ê¤«¤Ã¤¿¤ê¤·¤Æ¡¢ËÜÍè¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ì¤Ð¤¤ì¤¤¤Ë½Å¤Í¤é¤ì¤ë¤È»×¤¦¤¬»þ´Ö¤¬¤Ê¤«¤Ã¤¿¤Î¤Ç¤½¤ÎÄ´À°¤Ç¤µ¤¨¤Ç¤¤Ê¤«¤Ã¤¿¡£¤³¤ì¤«¤é¤Ï¤â¤Ã¤Èǻ̩¤¤·×²è¤·¤¿¤¤¤È»×¤¦¡£