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 #!/usr/bin/env python3
 from ev3dev.ev3 import *
 from time import sleep

 mA = MediumMotor('outA')#¥Þ¥¸¥Ã¥¯¥¢¡¼¥à¤òÆ°¤«¤¹¥ß¥Ç¥£¥¢¥à¥â¡¼¥¿¡£
 mH = LargeMotor('outB')#¥­¥ã¥¿¥Ô¥é¤òÆ°¤«¤·¥Þ¥¸¥Ã¥¯¥¢¡¼¥à¤ò¾º¹ß¤µ¤»¤ë¥é¡¼¥¸¥â¡¼¥¿¡£
 mR = LargeMotor('outC')#¿Ê¹ÔÊý¸þ±¦Â¦¤Î°ÜÆ°¥â¡¼¥¿¤òÆ°¤«¤¹¥é¡¼¥¸¥â¡¼¥¿¡£
 mL = LargeMotor('outD')#¿Ê¹ÔÊý¸þº¸Â¦¤Î°ÜÆ°¥â¡¼¥¿¤òÆ°¤«¤¹¥é¡¼¥¸¥â¡¼¥¿¡£
 cs = ColorSensor('in1')#¥«¥é¡¼¥»¥ó¥µ¡¼
 cs.mode = 'COL-REFLECT'
 mA.reset()
 mH.reset()
 mR.reset()
 mL.reset()

 

 

def move_position(R,L,s):¡¡#¥¿¥¤¥ä¤òÆ°¤«¤¹´Ø¿ô

    mR.run_to_rel_pos(position_sp=R, speed_sp=50, stop_action='brake')
    mL.run_to_rel_pos(position_sp=L, speed_sp=50, stop_action='brake')
    sleep(s)

def move_arm(x,s):¡¡#¥¢¡¼¥à¤òÆ°¤«¤¹´Ø¿ô

    mA.run_to_rel_pos(position_sp=x, speed_sp=100, stop_action='brake')
    sleep(s)

def move_high(x,s):¡¡#¥­¥ã¥¿¥Ô¥é¤òÆ°¤«¤¹´Ø¿ô

    mH.run_to_rel_pos(position_sp=x, speed_sp=130, stop_action='brake')
    sleep(s)

def move_straight():¡¡#¥«¥é¡¼¥»¥ó¥µ¡¼¤Î´Ø¿ô

    t0 = time.time()
    while  time.time() - t0 < 0.3:
      mR.run_to_rel_pos(position_sp=20, speed_sp=50, stop_action='brake')
      mL.run_to_rel_pos(position_sp=20, speed_sp=50, stop_action='brake')
      if cs.value() >= 75:
         t0 = time.time()
 #­¡¡¡
 move_position(920,920,18)
 move_position(180,-180,8)
 move_position(360,360,10)
 move_straight()
 #­¢
 move_arm(700,6)
 move_position(380,-380,11)
 move_arm(-300,6)
 move_high(1500,15)
 #­£
 move_arm(300,6)
 move_high(800,10)
 move_position(-200,200,8)
 move_high(-2300,16)
 #­¤
 move_position(-150,135,8)
 move_arm(-300,6)
 #¥ê¥»¥Ã¥È´Ø¿ô
 mA.reset()
 mH.reset()
 mR.reset()
 mL.reset()

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