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 #!/usr/bin/env python3
 from ev3dev.ev3 import *  ¡¡ # EV3¤ò°·¤¦¥â¥¸¥å¡¼¥ë¤ò¥¤¥ó¥Ý¡¼¥È
 from time import sleep  ¡¡¡¡ # time¥â¥¸¥å¡¼¥ë¤«¤ésleep´Ø¿ô¤ò¥¤¥ó¥Ý¡¼¥È
 
 mA = LargeMotor('outA')   ¡¡ # ÁõÃÖA¤Î¥â¡¼¥¿¡¼¤òmA¤È¤ª¤¯
 mB = LargeMotor('outB')   ¡¡ # ÁõÃÖB¤Î¥â¡¼¥¿¡¼¤òmB¤È¤ª¤¯
 mC = MediumMotor('outC')     # ¥Ú¥ó¾º¹ßµ¡¤Î¥â¡¼¥¿¡¼¤òmC¤È¤ª¤¯
¤³¤ÎÀßÄê¤À¤Ètime¥â¥¸¥å¡¼¥ë¤«¤é¤Ïsleep´Ø¿ô°Ê³°¤ÏŬÍѤµ¤ì¤Ê¤¤¤Î¤ÇÃí°Õ¤¹¤ë¡¥

**ÄêµÁ¤ÎÁÞÆþ [#ef9a59e4]
Àµ³Î¤ËÁõÃÖ¤òÆ°¤«¤·¤¿¤¤¤Î¤Ç¡¤¥â¡¼¥¿¡¼¤Î²óž³ÑÅÙ¤ò»ØÄꤹ¤ë´Ø¿ô¤òÁÞÆþ¤·¤¿¡¥³ÑÅÙÃͤϼ¸³¤è¤êƳ½Ð¤·¡¤°Üư®ÅÙ¤ÎÀäÂÐÃͤˤĤ¤¤Æ¤ÏÁõÃ֤δ·À­¤Ë¤è¤ë±Æ¶Á¤ò¹Íθ¤·¡¤ÁõÃ֤ˤ«¤«¤ë¾×·â¤òÍÞ¤¨¤ë¤¿¤á¤ËÈæ³ÓŪ¾®¤µ¤¤Ãͤˤ·¤¿¡¥~
-ÉÁ²è¤È°ÜÆ°¤Ï°Ê²¼¤ÎÄ̤ê¤ËÄêµÁ¤·¤¿¡¥
--ÁõÃÖA¤Î¾ì¹ç 
 def move_back1():      # ­¢,­«,­­  ¡¡¡Ê°ì²èÌܤ«¤éÆó²èÌÜ¡¤»Í²èÌܤ«¤éÏ»²èÌܤޤǤΰÜÆ°¡Ë
     mA.run_to_rel_pos(position_sp=-29,speed_sp=50,stop_action='hold')
     sleep(2)
 
 def move_for2():       # ­¥,­¯        (Æó²èÌܤ«¤é»°²èÌܤޤǤΰÜÆ°¡¤¼·²èÌܤÎÉÁ²è¡Ë
     mA.run_to_rel_pos(position_sp=65,speed_sp=50,stop_action='hold')
     sleep(2)
 
 def move_back2():      #­±            (Ȭ²èÌܤÎÉÁ²è¡Ë
     mA.run_to_rel_pos(position_sp=-65,speed_sp=50,stop_action='hold')
     sleep(2)
 
 def move_for3():       #­³            (¶å²èÌܤÎÉÁ²è¡Ë
     mA.run_to_rel_pos(position_sp=98,speed_sp=50,stop_action='hold')
     sleep(2)
 
 def move_back3():      #21            (½½²èÌܤÎÉÁ²è¡Ë¡¤
     mA.run_to_rel_pos(position_sp=-98,speed_sp=50,stop_action='hold')
     sleep(2)
 
 def move_back4():      #­§            (»°²èÌܤÎÉÁ²è¡Ë
      mA.run_to_rel_pos(position_sp=-115,speed_sp=50,stop_action='hold')
      sleep(2)
--ÁõÃÖB¤Î¾ì¹ç 
 def slide_for2():      #­²,­´         (¶å²èÌܤ«¤é½½²èÌÜ¡¤½½²èÌܤ«¤é½½°ì²èÌܤޤǤΰÜÆ°¡Ë
     mB.run_to_rel_pos(position_sp=57,speed_sp=80,stop_action='hold')
     sleep(2)
 
 def slide_back2():     #­£            (°ì²èÌܤ«¤éÆó²èÌܤޤǤΰÜÆ°¡Ë
     mB.run_to_rel_pos(position_sp=-57,speed_sp=80,stop_action='hold')
     sleep(2)
  
 def slide_back3():     #­¨            (»°²èÌܤ«¤é»Í²èÌܤޤǤΰÜÆ°¡Ë
     mB.run_to_rel_pos(position_sp=-81,speed_sp=80,stop_action='hold')
     sleep(2)
 
 def slide_back4():     #­¦            (Æó²èÌܤ«¤é»°²èÌܤޤǤΰÜÆ°¡Ë
     mB.run_to_rel_pos(position_sp=-100,speed_sp=80,stop_action='hold')
     sleep(2)
 
 def slide_for5():      #­ª,­®         (»Í²èÌÜ¡¤Ï»²èÌܤÎÉÁ²è¡Ë
     mB.run_to_rel_pos(position_sp=172,speed_sp=80,stop_action='hold')
     sleep(2)
 
 def slide_back5():     #­¬            (¸Þ²èÌܤÎÉÁ²è¡Ë
     mB.run_to_rel_pos(position_sp=-172,speed_sp=80,stop_action='hold')
     sleep(2)
 
 def slide_for6():      #­¤            (Æó²èÌܤÎÉÁ²è¡Ë
     mB.run_to_rel_pos(position_sp=220,speed_sp=80,stop_action='hold')
     sleep(2)

--°ì²èÌܤμФá¤ÎÆ°¤­ 
 def move_cross():      #­¡            (°ì²èÌܤÎÉÁ²è¡Ë
     mA.run_to_rel_pos(position_sp=-46,speed_sp=30,stop_action='hold')
     mB.run_to_rel_pos(position_sp=-126,speed_sp=80,stop_action='hold')
     sleep(2)
¸æÍ÷¤ÎÄ̤êÁ´¤Æ¤ÎÆ°¤­¤¬°ì³ç¤·¤ÆÄêµÁ¤µ¤ì¤ÆÈÖ¹æ¤Ç¶èÊ̤µ¤ì¤Æ¤¤¤ë¡¥Á´¤Æ¤ÎÆ°¤­¤Î¸å¤Ësleep(2),¤Ä¤Þ¤ê¡Ö2ÉôÖÄä»ß¡×¤µ¤»¤ë´Ø¿ô¤¬ÁÞÆþ¤µ¤ì¤Æ¤¤¤ë¤¬¡¤¤³¤ì¤Ï¤¢¤ëÆ°ºî¤ò¹Ô¤Ã¤Æ¤¤¤ëÅÓÃ椫¤é¼¡¤ÎÆ°ºî¤¬¹Ô¤ï¤ì¤ë¤³¤È¤òËɤ®¡¤¼Â¸³¤«¤éÁ´¹ÔÄø¤ÇÄä»ß»þ´Ö¤Ï2Éô֤¬Ë¾¤Þ¤·¤¤¤³¤È¤¬Ê¬¤«¤Ã¤¿¤¿¤áÁÞÆþ¤¹¤ë¤³¤È¤Ë¤·¤¿¡¥~
ÊÑ¿ô¤òÍѤ¤¤Æ»Í²èÌܤ«¤éÏ»²èÌܤޤǤ竤êÊÖ¤·¤Î°ÜÆ°¤ò´Êά²½¤¹¤ë¤³¤È¤â¤Ç¤­¤½¤¦¤À¤Ã¤¿¤¬¡¤ÆþÎϤ¹¤ëÎ̤Ϥ³¤Á¤é¤ÎÊý¤¬Â¿¤¯¤Ê¤ê¤½¤¦¤À¤Ã¤¿¤Î¤Ç´ûÀ®¤ÎÊý¤Ë¤·¤¿¡¥~
¤Á¤Ê¤ß¤ËÄêµÁ¤¹¤ë¤È¤·¤¿¤é°Ê²¼¤ÎÄ̤ꡥ
 def slide_for5(k):         # position_sp¤òk¤È¤ª¤¯
     mB.run_to_rel_pos(position_sp=k,speed_sp=80,stop_action='hold')
     sleep(2)
 
 def slide5-6():
    move_pos = 172          # move_pos¤È¤¤¤¦ÊÑ¿ô¤òÄêµÁ¤·172¤òÂåÆþ
    slide_for5(move_pos)    # (k)¤Ë¤Ïmove_pos = 172¤È¤¤¤¦Ãͤ¬Æþ¤Ã¤Æ¤¤¤ë¡Ê»Í²èÌܤÎÉÁ²è¡Ë
    move_back3()
    move_pos *= -1          # move_pos¤Ë¿·¤¿¤Ë-1¤ò¤«¤±¤¿¤â¤Î¤òÂåÆþ
    slide_for5(move_pos)    # ¸Þ²èÌܤÎÉÁ²è
    move_back3()
    move_pos *= -1
    slide_for5()            # Ï»²èÌܤÎÉÁ²è
-¥Ú¥ó¤Î¾º¹ß¤Ï°Ê²¼¤ÎÄ̤ê¤ËÄêµÁ¤·¤¿¡¥     
 def pen_down():        # ¥Ú¥ó¤Î¾å¾º
     mC.run_to_rel_pos(position_sp=180,speed_sp=80,stop_action='hold') 
     sleep(2)
 
 def pen_up():          # ¥Ú¥ó¤Î¹ß²¼
     mC.run_to_rel_pos(position_sp=-180,speed_sp=80,stop_action='hold')
     sleep(2)
 
**¼ÂºÝ¤ÎºîÆ°¥×¥í¥°¥é¥à [#d10a48ce]
Á°½Ò¤ÎÄêµÁ¤òƧ¤Þ¤¨°Ê²¼¤Î¤è¤¦¤Ë¥×¥í¥°¥é¥à¤·¼Â¹Ô¤·¤¿¡¥
 mA.reset()
 mB.reset()
 mC.reset()
 pen_down()
 move_cross()           #°ì²èÌÜ¡¡¡¡¡¡¡ÖÀé¡×ÉÁ²è³«»Ï
 pen_up()
 move_back1()
 slide_back2()
 pen_down()
 slide_for6()           #Æó²èÌÜ
 pen_up()
 move_for2()
 slide_back4()
 pen_down()
 move_back4()           #»°²èÌÜ      ¡ÖÀé¡×ÉÁ²è½ªÎ»
 pen_up()
 slide_back3()
 move_back2()
 pen_down()
 slide_for5()           #»Í²èÌÜ¡¡¡¡¡¡¡Ö¶Ê¡×ÉÁ²è³«»Ï
 pen_up()
 move_back1()
 pen_down()
 slide_back5()          #¸Þ²èÌÜ
 pen_up()
 move_back1()
 pen_down()             
 slide_for5()           #Ï»²èÌÜ
 move_for2()¡¡¡¡¡¡¡¡¡¡¡¡#¼·²èÌÜ
 pen_up()
 slide_back5()
 pen_down()
 move_back2()¡¡¡¡¡¡¡¡¡¡#Ȭ²èÌÜ
 pen_up()
 slide_for2()
 pen_down()
 move_for3()¡¡¡¡¡¡¡¡¡¡ #¶å²èÌÜ
 pen_up()
 slide_for2()        
 pen_down()
 move_back3()          #½½²èÌÜ¡¡¡¡¡¡¡Ö¶Ê¡×ÉÁ²è½ªÎ»
 pen_up()

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