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mR=LargeMotor('outD') #¿Ê¹ÔÊý¸þ¤ËÂФ·¤Æ±¦Â¦¤Î¥â¡¼¥¿ mA=MediumMotor('outC') #¥¢¡¼¥àÉôʬ¤Î¥â¡¼¥¿ mC=MediumMotor('outB') #¥Ï¥ó¥ÉÉôʬ¤Î¥â¡¼¥¿ csR=ColorSensor('in1')¡¡#¥é¥¤¥ó¥È¥ì¡¼¥¹ÍѤΥ«¥é¡¼¥»¥ó¥µ #csL=ColorSensor('in2') #»È¤ï¤Ê¤«¤Ã¤¿¤â¤¦°ì¤Ä¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ÍѤΥ«¥é¡¼¥»¥ó¥µ¡£¾Ü¤·¤¯¤Ï¸å½Ò¡£ us=UltrasonicSensor('in3') #Ķ²»ÇÈ¥»¥ó¥µ ¤½¤ì¤¾¤ì¤ÎÌò³ä¤Ë¤Ä¤¤¤Æ¤ÏÂбþ¤¹¤ë¥×¥í¥°¥é¥à¤Ç¾Ü¤·¤¯ÀâÌÀ¤¹¤ë¡£ **¥é¥¤¥ó¥È¥ì¡¼¥¹ [#v76f2770] ¤Ï¤¸¤á¤Ï°Ê²¼¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à»È¤ª¤¦¤È¤·¤¿¡£ def linetrace(): t0=time.time() while time.time()-t0<0.35 #t0¤Ètime,time¤Îº¹¤¬0.35Éäè¤ê¾®¤µ¤¤¤È¤¤Ë·«¤êÊÖ¤¹ if csR.value()=>50: # ±¦Â¦¤Î¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬50°Ê¾å¤Ç¼Â¹Ô mR.run_forever(speed_sp=150,stop_action='brake') t0=time.time() if csL.value()=>50: # º¸Â¦¤Î¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬50°Ê¾å¤Ç¼Â¹Ô mL.run_forever(speed_sp=150,stop_action='brake') t0=time.time if csR.value()<50: # ±¦Â¦¤Î¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬50¤è¤ê¾®¤µ¤¤¤È¤¼Â¹Ô mL.run_forever(speed_sp=150,stop_action='brake') if csL.value()<50:¡¡# º¸Â¦¤Î¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬50¤è¤ê¾®¤µ¤¤¤È¤¼Â¹Ô mR.run_forever(speed_sp=150,stop_action='brake') mR.stop() mL.stop() ¹õ¤ÎÀþ¤ò¶´¤à¤è¤¦¤ËÆó¤Ä¤Î¥«¥é¡¼¥»¥ó¥µ¤òÍѤ¤¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎÀºÅÙ¤ò¾å¤²¤è¤¦¤È¤·¤¿¡£¤·¤«¤·¤³¤ì¤ÏÆ°¤«¤Ê¤«¤Ã¤¿¡£ Íýͳ¤È¤·¤Æ¤Ïifʸ¤Î¾ò·ïʬ´ô¤¬¤è¤¯¤Ç¤¤Æ¤¤¤Ê¤¤¡¢ÊÂÎó½èÍý¤Î¤è¤¦¤Ê¹½Â¤¤Ë¤Ê¤Ã¤Æ¤ë¤È¤¤¤¦¤³¤È¤¬µó¤²¤é¤ì¤ë¡£¤½¤ì¤Î²þÁ±°Æ¤¬°Ê²¼¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£ def linetrace(): t0=time.time() while time.time()-t0<0.35 if csR.value()=>50: mR.run_forever(speed_sp=150,stop_action='brake') t0=time.time() elif csL.value()=>50: mL.run_forever(speed_sp=150,stop_action='brake') t0=time.time elif csR.value()<50: mL.run_forever(speed_sp=150,stop_action='brake') elif csL.value()<50:¡¡ mR.run_forever(speed_sp=150,stop_action='brake') mR.stop() mL.stop() 2¡Á4ÈÖÌܤÎifʸ¤òelif¤Ë¤¹¤ë¤³¤È¤Ë¤è¤Ã¤Æ¾ò·ï¼°¤Î½èÍý¤Î½çÈÖ¤òÀ°Íý¤·¤¿¡£ def turnR1(): mL.run_forever(speed_sp=100,stop_action='brake') mR.stop() def turnL1(): mR.run_forever(speed_sp=100,stop_action='brake') mL.stop() def run1(): mR.run_forever(speed_sp=100,stop_action='brake') mL.run_forever(speed_sp=100,stop_action='brake') def turnR2(): mL.run_forever(speed_sp=100,stop_action='brake') mR.run_forever(speed_sp=-70,stop_action='brake') def turnL2(): mR.run_forever(speed_sp=100,stop_action='brake') mL.run_forever(speed_sp=-70,stop_action='brake') def traceR(): t0=time.time() while time.time()-t0<0.35: if cs.value()<35: #¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬35¤è¤ê¾®¤µ¤¤¤È¤¤½¤Î¾ì¤Ç±¦¤Ë²ó¤ë turnR2() if 35<=cs.value()<40: #¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬35°Ê¾å¤Ç40¤è¤ê¾®¤µ¤¤¤È¤Á°¤Ë¿Ê¤ß¤Ê¤¬¤é±¦¤Ë¥«¡¼¥Ö¤¹¤ë turnR1() t0=time.time() if 40<=cs.value()<=50: #¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬40°Ê¾å¤Ç50°Ê²¼¤Î¤È¤¿¿¤Ã¤¹¤°Áö¤ë run() t0=time.time() if 50<cs.value()<=60: #¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬50¤è¤êÂ礤¯¤Æ60°Ê²¼¤Î¤È¤Á°¤Ë¿Ê¤ß¤Ê¤¬¤éº¸¤Ë¥«¡¼¥Ö¤¹¤ë turnL1() t0=time.time() if cs.value()>60: #¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬60¤è¤êÂ礤¤¤È¤¤½¤Î¾ì¤Çº¸¤Ë²ó¤ë turnL2() t0=time.time() mR.stop() #¹õ¤ò°ìÄê¤Î»þ´Ö°Ê¾åǧ¼±¤·¤¿¤éwhile¹½Ê¸¤«¤éÈ´¤±½Ð¤·¡¢Ää»ß¤¹¤ë mL.stop() ¤·¤«¤··ë¶ÉËÜÈ֤ǤϾ嵤βÝÂê2¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à¤òήÍѤ·¤¿¡£ **¤½¤ì°Ê³°¤Î¥Þ¥¯¥í [#qae6a57b] def run2(): #Á°¤Ë¤æ¤Ã¤¯¤ê¿Ê¤à mL.run_forever(speed_sp=50, stop_action='brake') mR.run_forever(speed_sp=50, stop_action='brake') def forword_bit(): #Á°¤Ë¾¯¤·¿Ê¤à mL.run_to_rel_pos(position_sp=20, speed_sp=500, stop_action='brake') mR.run_to_rel_pos(position_sp=200, speed_sp=500, stop_action='brake') def forward(): #Á°¤Ë°ìÄêµ÷Î¥¿Ê¤à mL.run_to_rel_pos(position_sp=360, speed_sp=500, stop_action='brake') mR.run_to_rel_pos(position_sp=360, speed_sp=500, stop_action='brake') def catchup(): while us.value()>=50:¡¡#¥Ü¡¼¥ë¤Ë¶á¤Å¤¯ run2() mR.stop() mL.stop() mC.reset() mC.run_to_abs_pos(position_sp=60 ,speed_sp=20, stop_action='brake') #¥Ï¥ó¥É¤ò³«¤¯ time.sleep(3) mA.run_to_abs_pos(position_sp=100, speed_sp=30, stop_action='brake') #ÏÓ¤ò²¼¤²¤ë time.sleep(4) mC.run_to_abs_pos(position_sp=0, speed_sp=20, stop_action='brake') #¥Ï¥ó¥É¤òÊĤ¸¤Æ¥Ü¡¼¥ë¤ò¤Ä¤«¤à time.sleep(6) mA.run_to_abs_pos(position_sp=0, speed_sp=100, stop_action='hold')¡¡#ÏÓ¤ò¾å¤²¤ë time.sleep(3) def puton_red(): time4=time.time() while us.value>=40: #À֤δ̤˶á¤Å¤¯ run2() time_kan=time.time() mC.run_to_rel_abs(position_sp=30, speed_sp=20, stop_action='brake')¡¡#¥Ü¡¼¥ë¤òÎ¥¤¹ time.sleep(1) timenow=time.time() while time.time()-timenow<=time_kan-time4:¡¡#´Ì¤Ë¶á¤Å¤¤¤¿Ê¬¤Îµ÷Î¥Ìá¤ë mL.run_forever(speed_sp=-50, stop_action='brake') mR.run_forever(speed_sp=-50, stop_action='brake') def puton_blue(): while us.value>=40:¡¡#ÀĤδ̤˶á¤Å¤¯ run() mC.run_to_rel_abs(position_sp=30, speed_sp=20, stop_action='brake') #¥Ü¡¼¥ë¤òÎ¥¤¹ def direct_one(): time1=time.time() while time.time()-time1<=20: mL.run_forever(speed_sp=-50, stop_action='brake') mR.run_forever(speed_sp=50, stop_action='brake') º£²ó¤ÏÀ֤Ρ¤Î´Ì¤ò´ð½à¤Ë´Ì¤Îõºº¤ò¤¹¤ë¤Î¤Ç¤½¤ÎÊý¸þ¤ò¸þ¤¯¤Î¤¬¾å¤Î¥×¥í¥°¥é¥à¡£ def Round_red(): #À֤δ̤μþ¤ê¤ò²óž¤¹¤ë time1=time.time() while time.time()-time1<=fuga: mL.run_forever(speed_sp=50, stop_action='brake') mR.run_forever(speed_sp=-50, stop_action='brake') def direct_redkan(): #Àµ¤·¤¤À֤δ̤ò¸«Ê¬¤±¤ë¤¿¤á¤Ë¤½¤Î¼þ¤ê¤ò²óž¤¹¤ë time1=time() while time.time()-time1<=fuga-(think_red()-time_start): mL.run_forever(speed_sp=-50, stop_action='brake') mR.run_forever(speed_sp=50, stop_action='brake') def direct_I(): #IÃÏÅÀ¤ò¸þ¤¯ time1=time.time() while time.time()-time1<=think_red()-time_start+¤¤¤¯¤é¤«: mL.run_forever(speed_sp=-50, stop_action='brake') mR.run_forever(speed_sp=50, stop_action='brake') def direct_B(): #BÃÏÅÀ¤ò¸þ¤¯ time1=time.time() while time.time()-time1<=20: mL.run_forever(speed_sp=-50, stop_action='brake') mR.run_forever(speed_sp=50, stop_action='brake') def Round_blue(): #ÀĤδ̤μþ¤ê¤ò²óž¤¹¤ë time1=time.time() while time.time()-time1<=fuga2: mL.run_forever(speed_sp=50, stop_action='brake') mR.run_forever(speed_sp=-50, stop_action='brake') def direct_bluekan(): #Àµ¤·¤¤ÀĤδ̤ò¸«Ê¬¤±¤ë¤¿¤á¤Ë¤½¤Î¼þ¤ê¤ò²óž¤¹¤ë time1=time() while time.time()-time1<=fuga2-(think_blue()-time_start): mL.run_forever(speed_sp=-50, stop_action='brake') mR.run_forever(speed_sp=50, stop_action='brake') time_start=0 time_a=0 time_b=0 def search(fuga,hoge): #fuga¤Ï¤³¤Î¥Þ¥¯¥í¤òÆ°¤«¤¹»þ´Ö¡¡hoge¤ÏºÇûµ÷Î¥¤Ë¤¢¤ë´Ì¤òõ¤¹¤¿¤á¤ÎŬÅö¤Êµ÷Î¥¤ÎÃÍ global time_start global time_a global time_b #global¤òÍѤ¤¤Æ¾¤Î¥Þ¥¯¥í¤«¤étime_b¤ò¤È¤Ã¤Æ¤¯¤ë¡¡¾åÆó¤Ä¤âƱÍÍ a=1250 #ŬÅö¤ÊÂ礤¤µ÷Î¥¤òÂåÆþ¤¹¤ë b=1250 #Ʊ¾å time0=time_start=time.time() while us.value()>=hoge: #Ķ²»ÇÈ¥»¥ó¥µ¤ÎÃͤ¬hoge°Ê¾å¤Ê¤é²¿¤â¤·¤Ê¤¤ continue while time.time()-time0<=fuga: #fuga°Ê²¼¤Î»þ´Ö¼Â¹Ô if us.value()<=hoge: #Ķ²»ÇÈ¥»¥ó¥µ¤ÎÃͤ¬hoge°Ê²¼¤Ê¤é¤Ð¼Â¹Ô if us.value()<=a: #Ķ²»ÇÈ¥»¥ó¥µ¤ÎÃͤ¬a°Ê²¼¤Ê¤é¤Ð¼Â¹Ô7 a=us.value()¡¡#a¤ËĶ²»ÇÈ¥»¥ó¥µ¤ÎÃͤòÂåÆþ¤·¤Æ¹¹¿·¤¹¤ë time_a=time.time() #time_a¤Ë¤½¤Î»þ¤Î»þ´Ö¤òÂåÆþ else: #hoge¤è¤êĶ²»ÇÈ¥»¥ó¥µ¤ÎÃͤ¬Â礤¤¤È¤¥ë¡¼¥×¤òÈ´¤±¤ë break while time.time()-time0<=fuga and us.value()>=hoge: #fuga°Ê²¼¤Î»þ´Ö¤«¤ÄĶ²»ÇÈ¥»¥ó¥µ¤ÎÃͤ¬hoge°Ê¾å¤Ê¤é¤Ð²¿¤â¤·¤Ê¤¤ continue while time.time()-time0<=fuga: #fuga°Ê²¼¤Î»þ´Ö¼Â¹Ô if us.value()<=hoge: #Ķ²»ÇÈ¥»¥ó¥µ¤ÎÃͤ¬hoge°Ê¾å¤Î¤È¤¼Â¹Ô if us.value()<=b: #Ķ²»ÇÈ¥»¥ó¥µ¤ÎÃͤ¬b°Ê²¼¤Î¤È¤¼Â¹Ô b=us.value() #b¤ËĶ²»ÇÈ¥»¥ó¥µ¤ÎÃͤòÂåÆþ¤·¤Æ¹¹¿·¤¹¤ë time_b=time.time() #time_b¤Ë¤½¤Î»þ¤Î»þ´Ö¤òÂåÆþ else: #hoge¤è¤êĶ²»ÇÈ¥»¥ó¥µ¤ÎÃͤ¬Â礤¤¤È¤¥ë¡¼¥×¤òÈ´¤±¤ë break def think_red(): if a<b: return time_a else: return time_b ¾å¤Î¥×¥í¥°¥é¥à¤Ïa¤Èb¤ÎÃͤÎÂç¾®´Ø·¸¤òÈæ¤Ù¤Æ¡¢¤½¤ì¤Ë¤è¤Ã¤ÆÌá¤êÃͤòÊѤ¨¤ë¡£ ¤³¤ì¤Ë¤è¤Ã¤ÆÀµ¤·¤¤À֤δ̤ò¸«Ê¬¤±¤ëºÝ¤Ë¤Ä¤«¤¦»þ´Ö¤ÎÃͤò·è¤á¤ë¡£ def think_blue(): #ÀĤÎÀµ¤·¤¤´Ì¤ò·è¤á¤ë´Ø¿ô¤òÄêµÁ if a<150 and b<150: #1¤Î´Ì¤À¤È·èÄê return time_b #time_b¤òÌá¤ê¤È¤·¤ÆÊÖ¤¹ if a<150 and 150<=b<300: #2¤Î´Ì¤À¤È·èÄê return time_a #time_a¤òÌá¤êÃͤȤ·¤ÆÊÖ¤¹ if 150<=a<300 and 150<=b<300: #3¤Î´Ì¤À¤È·èÄê return time_a¡¡ #time_a¤òÌá¤êÃͤȤ·¤ÆÊÖ¤¹ if a<300 and b=1250: #4¤Î´Ì¤É¤È·èÄê return time_a #time_a¤òÌá¤êÃͤȤ·¤ÆÊÖ¤¹ if a>=300 and b=1250: #5¤Î´Ì¤À¤È·èÄê return time_b #time_b¤òÌá¤êÃͤȤ·¤ÆÊÖ¤¹ if 450<b<550: #6¤Î´Ì¤À¤È·èÄê return time_b #time_b¤òÌá¤êÃͤȤ·¤ÆÊÖ¤¹ ¾å¤Î¥×¥í¥°¥é¥à¤Ï¥»¥ó¥µ¤Ç¬¤Ã¤¿a¤Èb¤ÎÃͤòÆó¤Ä»²¾È¤·¤ÆÀµ¤·¤¤´Ì¤ò·èÄꤹ¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£¤Þ¤¿·èÄꤷ¤¿¸å¤Ë¤½¤³¤Ë¹Ô¤¯¤Þ¤Ç¤Î»þ´Ö¤Çtime_a¤Ètime_b¤Î¤É¤Á¤é¤òºÎÍѤ¹¤ë¤«¤â¡¢¤³¤Î¤È¤¤Ë·èÄꤹ¤ë¡£ *ÌäÂêÅÀ [#c66f4207] ¥í¥Ü¥Ã¥È¤ÎÊú¤¨¤Æ¤¤¤ëÌäÂê¤È¤·¤Æ¥¢¡¼¥à¤Î½Å¤µ¤¬¤¢¤ë¡£¥¢¡¼¥à¤¬½Å¤¹¤®¤Æ¥¢¡¼¥à¤ò²¼¤²¤¿¸å¤Ë¤Þ¤¿¾å¤²¤ë¤³¤È¤¬¤Ç¤¤Ê¤«¤Ã¤¿¤Î¤À¡£¤³¤ì¤ò²ò·è¤¹¤ë¤¿¤á¤Ë¥â¡¼¥¿¤Î¥¹¥Ô¡¼¥É¤ò¤â¤Ã¤ÈÃÙ¤¯¤¹¤ë¡¢¥®¥¢Èæ¤ÎÄ´Àá¤ò¤¹¤ëɬÍפ¬¤¢¤Ã¤¿¡£ ¤µ¤é¤ËÁ´ÂÎŪ¤ÊÌäÂê¤È¤·¤Æ»î¹Ô¤ò¹Ô¤¨¤Ê¤«¤Ã¤¿¤È¤¤¤¦¤Î¤¬¤¢¤ë¡£¤½¤Î¤»¤¤¤Ç¼ï¡¹¤ÎÌäÂê¤òȯ¸«¤Ç¤¤Ê¤«¤Ã¤¿¡£ *´¶ÁÛ [#h68f052b] ¥Æ¥¹¥Èľ¸å¤È¤¤¤¦¤³¤È¤Ï¸À¤¤Ìõ¤Ë¤Ç¤¤Ê¤¤¤¬¡¢½àÈ÷¤ò¤Þ¤Ã¤¿¤¯¤¹¤ë¤³¤È¤¬¤Ç¤¤Ê¤«¤Ã¤¿¡£ËÜÈ֤ǤâºÇ½é¤Î¥Ü¡¼¥ë¤ò¤Ä¤«¤à¤³¤È¤µ¤¨¤Ç¤¤º¤Ë¤È¤Æ¤â²ù¤·¤¤·ë²Ì¤Ë½ª¤ï¤Ã¤¿¡£¤³¤Î²ù¤·¤¤·Ð¸³¤ÏÍèǯ°Ê¹ß¤ÎÍÍ¡¹¤Ê¼ø¶È¤ÇÎȤˤ·¤Æ¤¤¤¤¿¤¤¤È»×¤¦¡£