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**¤Ï¤¸¤á¤Ë [#de08090e]

¤½¤ì¤¾¤ì¤Î¥»¥ó¥µ¡¼¤È¥â¡¼¥¿¡¼¤ò°Ê²¼¤Î¤è¤¦¤ËÄêµÁ¤¹¤ë

 #!/usr/bin/env python3
 from ev3dev.ev3 import *
 import time
 from time import sleep
 
 mR=LargeMotor('outC')
 mL=LargeMotor('outB')
 mM=MediumMotor('outD')
 cs=ColorSensor('in3')
 us=UltrasonicSensor('in1')

±¦¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¼¤òmR¡¢º¸¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¼¤òmL¡¢È¯¼Íµ¡¹½¤Î¥â¡¼¥¿¡¼¤òmM¤È¤·¤ÆÄêµÁ¤·¤¿

**¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à [#a0e8098f]

 def traceR():
         t0=time.time()
         while time.time()-t0<0.35:
                 if cs.value()<35:  #¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤ¬35̤Ëþ¤Î»þÂ礭¤¯±¦¤Ë²ó¤ë
                         turnR2()
                 if 35<=cs.value()<40:¡¡¡¡#¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤ¬35°Ê¾å40̤Ëþ¤Î»þ¾®¤µ¤¯±¦¤Ë²ó¤ë
                         turnR1()
                         t0=time.time()¡¡
                 if 40<=cs.value()<=50:¡¡¡¡#¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤ¬40°Ê¾å50°Ê¾å¤Î»þ¤Þ¤Ã¤¹¤°¿Ê¤à
                         run()
                         t0=time.time()
                 if 50<cs.value()<=60:¡¡¡¡#¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤ¬50¤è¤êÂ礭¤¯60̤Ëþ¤Î»þº¸¤Ë¾®¤µ¤¯²ó¤ë
                         turnL1()
                         t0=time.time()
                 if cs.value()>60:¡¡¡¡#¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤ¬60¤è¤êÂ礭¤¤¤È¤­º¸¤ËÂ礭¤¯²ó¤ë
                         turnL2()
                         t0=time.time()
 
         mR.stop()
         mL.stop()
 
 def traceL():
         t0=time.time()
         while time.time()-t0<0.25:
                 if cs.value()<35:¡¡¡¡#¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤ¬35̤Ëþ¤Î»þº¸¤ËÂ礭¤¯²ó¤ë
                         turnL2()
                 if 35<=cs.value()<40:¡¡¡¡#¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤ¬35°Ê¾å40̤Ëþ¤Î»þº¸¤Ë¾®¤µ¤¯²ó¤ë
                         turnL1()
                         t0=time.time()
                 if 40<=cs.value()<=50:¡¡¡¡#¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤ¬40°Ê¾å50°Ê²¼¤Î»þ¤Þ¤Ã¤¹¤°¿Ê¤à
                         run()
                         t0=time.time()
                 if 50<cs.value()<=60:¡¡¡¡#¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤ¬50¤è¤êÂ礭¤¯60°Ê²¼¤Î»þ±¦¤Ë¾®¤µ¤¯²ó¤ë
                         turnR1()
                         t0=time.time()
                 if cs.value()>60:¡¡¡¡#¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤ¬60¤è¤êÂ礭¤¤¤È¤­±¦¤ËÂ礭¤¯¤Þ¤ï¤ë
                         turnR2()
                         t0=time.time()

¤½¤ì¤¾¤ìtraceR¤Ï±¦Â¦traceL¤Ïº¸Â¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡¢¤³¤¦¤¹¤ë¤³¤È¤Çº¸Â¦¤Î¸òº¹ÅÀ¤Þ¤¿±¦Â¦¤Î¸òº¹ÅÀ¤½¤ì¤¾¤ì¤òȯ¸«¤·¤ä¤¹¤¯¤·¤¿¡¢¸òº¹ÅÀ¤Îǧ¼±ÊýË¡¤Ï0.35Éðʾå¹õ¤¤¤È¤³¤í¤òÄ̤ä¿»þ¤Ë¸òº¹ÅÀ¤È¤·¤Æ»ß¤Þ¤ë¤è¤¦¤Ë¤·¤¿

°Ê²¼¤Ï¤³¤ì¤é¤Îtrace´Ø¿ô¤ÎÃæ¿È¤Î´Ø¿ô¤Ç¤¢¤ë

 def turnR1():¡¡#±¦¤Ë¾®¤µ¤¯²ó¤ë
         mL.run_forever(speed_sp=100,stop_action='brake')
         mR.stop()
 
 def turnL1():¡¡#º¸¤Ë¾®¤µ¤¯²ó¤ë
         mR.run_forever(speed_sp=100,stop_action='brake')
         mL.stop()
 
 def run():¡¡#¤Þ¤Ã¤¹¤°¿Ê¤à
         mR.run_forever(speed_sp=100,stop_action='brake')
         mL.run_forever(speed_sp=100,stop_action='brake')
 
 def turnR2():¡¡#±¦¤ËÂ礭¤¯²ó¤ë
         mL.run_forever(speed_sp=100,stop_action='brake')
         mR.run_forever(speed_sp=-70,stop_action='brake') 
 
 def turnL2():¡¡#º¸¤ËÂ礭¤¯²ó¤ë
         mR.run_forever(speed_sp=100,stop_action='brake')
         mL.run_forever(speed_sp=-70,stop_action='brake')

¼¡¤Ë¾®¤µ¤¤È¾·Â¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë»þ¤Ë¸òº¹ÅÀ¤È¸íǧ¼±¤¹¤ë¤³¤È¤¬¤¢¤Ã¤¿¤Î¤Ç°Ê²¼¤Î°ìÄê»þ´Ö¥È¥ì¡¼¥¹¤ò¤¹¤ë´Ø¿ô¤òºî¤Ã¤¿
 
 def traceLa(t):
         t1=time.time()
         while time.time()-t1<t:
                 if cs.value()<35:
                         turnL2()
                 if 35<=cs.value()<40:
                         turnL1()
                 if 40<=cs.value()<=50:
                         run()
                 if 50<cs.value()<=60:
                         turnR1()
                 if cs.value()>60:
                         turnR2()
 
         mR.stop()
         mL.stop()
 
 def traceRa(t):
         t0=time.time()
         while time.time()-t0<t:
                 if cs.value()<35:
                         turnR2()
                 if 35<=cs.value()<40:
                         turnR1()
                 if 40<=cs.value()<=50:
                         run()
                 if 50<cs.value()<=60:
                         turnL1()
                 if cs.value()>60:
                         turnL2()
 
         mR.stop()
         mL.stop()

¼¡¤Ë¸òº¹ÅÀ¤òȯ¸«¤·¤¿¸å¤Ë¤½¤Î¸òº¹ÅÀ¤òÄ̲᤹¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à¤ò½ñ¤¯

 def turnR3(t): #tÉ佤ξì¤Ç±¦¤Ë²óž¤¹¤ë
         mL.run_timed(time_sp=t,speed_sp=100,stop_action='brake')
         mR.run_timed(time_sp=t,speed_sp=-100,stop_action='brake') 
         sleep(t/1000)
         mR.stop()
         mL.stop()
 
 def turnL3(t):¡¡#tÉ佤ξì¤Çº¸¤Ë²óž¤¹¤ë
         mR.run_timed(time_sp=t,speed_sp=100,stop_action='brake')
         mL.run_timed(time_sp=t,speed_sp=-100,stop_action='brake')
         sleep(t/1000)
         mR.stop()
         mL.stop()
 
 def runT(t):¡¡#tÉäޤ乤°¿Ê¤à
         mR.run_timed(time_sp=t, speed_sp=100, stop_action='brake')
         mL.run_timed(time_sp=t, speed_sp=100, stop_action='brake')
         sleep(t/1000)
         mR.stop()
         mL.stop()

¸òº¹ÅÀ¤òȯ¸«¤·¤¿¸åturnR3¤Þ¤¿¤ÏturnL3¤Ç¸þ¤­¤òÌᤷ¤¿¸årunT¤Ç¤Þ¤Ã¤¹¤°¿Ê¤ó¤Ç¸òº¹ÅÀ¤ò±Û¤¨¤ë¤è¤¦¤Ë¤·¤¿

**´Ì¤òȯ¸«¤·È¯¼Í¤¹¤ë¥×¥í¥°¥é¥à [#h44f0951]

¤Þ¤º¤Ï´Ì¤òȯ¸«¤¹¤ë¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ

 def search():
         d_min=5000¡¡#²¾¤ÎºÇ¾®Ãͤòºî¤ë
         t1=time.time()
         while time.time()-t1 < 15: #15Éôֲó¤ê³¤±¤ë
                 turnR()
                 if us.value()<d_min:¡¡
                         d_min=us.value()¡¡#¤â¤·²¾¤ÎºÇ¾®Ãͤè¤êĶ²»ÇÈ¥»¥ó¥µ¡¼¤ÎÃͤ¬¾®¤µ¤«¤Ã¤¿¤é¿·¤·¤¤ºÇ¾®Ãͤòµ­Ï¿¤¹¤ë
                         t2=time.time()¡¡#ºÇ¾®Ãͤòµ­Ï¿¤·¤¿»þ¤Î»þ´Ö¤òµ­Ï¿¤¹¤ë
         mM.reset()
         mR.stop()
         mL.stop()
         t3=time.time()
         sleep(1)
         mR.run_timed(time_sp=1000*(t3-t2), speed_sp=50, stop_action='brake')
         mL.run_timed(time_sp=1000*(t3-t2), speed_sp=-50, stop_action='brake')
         sleep(t3-t2+2)¡¡#²óž¤·½ª¤ï¤Ã¤¿»þ´Ö¤«¤éºÇ¸å¤ËºÇ¾®Ãͤòµ­Ï¿¤·¤¿»þ´Ö¤ËµÕ²óž¤¹¤ë
         fire()¡¡#¥Ü¡¼¥ë¤òȯ¼Í¤¹¤ë
         sleep(1) 

¥Ü¡¼¥ë¤òȯ¼Í¤¹¤ë¥×¥í¥°¥é¥à´Ø¿ô¤Ï°Ê²¼¤Ç¤¢¤ë

 def fire():¡¡
         mM.run_to_abs_pos(position_sp=150,speed_sp=500,stop_action='coast') #mM¤ò²óž¤µ¤»¤Æ¥Ü¡¼¥ë¤òȯ¼Í¤¹¤ë


**¤Þ¤È¤á [#m73c9511]

 def LtoE():
         traceL()
         sleep(1)
         turnR3(230)
         runT(500)
 
 def EtoI():
         traceL()
         sleep(1)
         turnL3(600) 
 
 def ItoH():
         traceLa(2)
         traceL()
         turnR3(230)
         runT(700)
 
 def HtoJ():
         traceLa(4)
         turnR3(600)
         traceRa(4)
         turnL3(600)
         traceLa(2)
         traceL()
         turnL3(600)
 
 def JtoC():
         traceLa(2)
         traceL()
         sleep(1)
         turnR3(1500) 
 
 def CtoE():
         traceRa(30)
         traceR()
         turnL3(300)
         runT(500)
 
 def EtoG():
         traceRa(30)
         traceR()
         turnL3(300)
         runT(500) 
 
 def GtoGole():
         traceR()
         turnL3(300)
         runT(4000)¡¡#ºÇ¸å¤Î¸òº¹ÅÀ¤òȯ¸«¤·¤¿¸å°ìÄê¤ÎÃͿʤó¤Ç¥´¡¼¥ë¤Ë¼ý¤Þ¤ë

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 LtoE()
 EtoI()
 ItoH()
 search()
 HtoJ()
 JtoC()
 CtoE()
 EtoG()
 GtoGole()

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