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mL=LargeMotor('outA') #ÁõÃÖA¤Î¥â¡¼¥¿¡¼¤òmL¤È¤ª¤¯ mR=LargeMotor('outD') #ÁõÃÖD¤Î¥â¡¼¥¿¡¼¤òmR¤È¤ª¤¯ mA=MediumMotor('outC') #ÁõÃÖC¤Î¥â¡¼¥¿¡¼¤òmA¤È¤ª¤¯ mC=MediumMotor('outB') #ÁõÃÖB¤Î¥â¡¼¥¿¡¼¤òmC¤È¤ª¤¯ csR=ColorSensor('in1') #ÁõÃÖ1¤Î¥â¡¼¥¿¡¼¤òcsR¤È¤ª¤¯ #csL=ColorSensor('in2') #·ë¶É»È¤ï¤Ê¤«¤Ã¤¿ us=UltrasonicSensor('in3') #ÁõÃÖ3¤Î¥â¡¼¥¿¡¼¤òus¤È¤ª¤¯ **ÄêµÁ¤ÎƳÆþ [#ldeee58a] def turnR1():¡¡#´Ë¤ä¤«¤Ë±¦¤Ë¶Ê¤¬¤ë´Ø¿ô¤òÄêµÁ mL.run_forever(speed_sp=100,stop_action='brake') mR.stop() def turnL1(): #´Ë¤ä¤«¤Ëº¸¤Ë¶Ê¤¬¤ë´Ø¿ô¤òÄêµÁ mR.run_forever(speed_sp=100,stop_action='brake') mL.stop() def run1(): #®¤á¤Ë¤Þ¤Ã¤¹¤°¿Ê¤à´Ø¿ô¤òÄêµÁ mR.run_forever(speed_sp=100,stop_action='brake') mL.run_forever(speed_sp=100,stop_action='brake') def turnR2(): #±¦¤ËµÞ¥«¡¼¥Ö¤¹¤ë´Ø¿ô¤òÄêµÁ mL.run_forever(speed_sp=100,stop_action='brake') mR.run_forever(speed_sp=-70,stop_action='brake') def turnL2(): #º¸¤ËµÞ¥«¡¼¥Ö¤¹¤ë´Ø¿ô¤òÄêµÁ mR.run_forever(speed_sp=100,stop_action='brake') mL.run_forever(speed_sp=-70,stop_action='brake') def traceR(): #±¦Â¦¤ò¥È¥ì¡¼¥¹¤¹¤ë´Ø¿ô¤òÄêµÁ t0=time.time() while time.time()-t0<0.35: if cs.value()<35: while time.time()-t0<0.35: #0.35ÉôֹԤ¦ if cs.value()<35: #¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬¿¿¤Ã¹õ¤À¤Ã¤¿¤é¹Ô¤¦ turnR2() if 35<=cs.value()<40: if 35<=cs.value()<40: #¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬¹õ¤À¤Ã¤¿¤é¹Ô¤¦ turnR1() t0=time.time() if 40<=cs.value()<=50: if 40<=cs.value()<=50: #¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬¥°¥ì¡¼¤À¤Ã¤¿¤é¹Ô¤¦ run1() t0=time.time() if 50<cs.value()<=60: if 50<cs.value()<=60: #¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬Çò¤À¤Ã¤¿¤é¹Ô¤¦ turnL1() t0=time.time() if cs.value()>60: if cs.value()>60: #¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬¿¿¤ÃÇò¤À¤Ã¤¿¤é¹Ô¤¦ turnL2() t0=time.time() mR.stop() mL.stop() def traceRa(t): #¹¥¤¤Ê»þ´Ö¤À¤±±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë´Ø¿ô¤òÄêµÁ t1=time.time() while time.time()-t1<t: if cs.value()<35: while time.time()-t1<t: #tÉô֤À¤±¹Ô¤¦ if cs.value()<35: #¥«¥é¡¼¥»¥ó¥µ¤¬¿¿¤Ã¹õ¤À¤Ã¤¿¤é¹Ô¤¦ turnR2() if 35<=cs.value()<40: if 35<=cs.value()<40: #¥«¥é¡¼¥»¥ó¥µ¤¬¹õ¤À¤Ã¤¿¤é¹Ô¤¦ turnR1() if 40<=cs.value()<=50: if 40<=cs.value()<=50: #¥«¥é¡¼¥»¥ó¥µ¤¬¥°¥ì¡¼¤À¤Ã¤¿¤é¹Ô¤¦ run1() if 50<cs.value()<=60: if 50<cs.value()<=60: #¥«¥é¡¼¥»¥ó¥µ¤¬Çò¤À¤Ã¤¿¤é¹Ô¤¦ turnL1() if cs.value()>60: if cs.value()>60: #¥«¥é¡¼¥»¥ó¥µ¤¬¿¿¤ÃÇò¤À¤Ã¤¿¤é¹Ô¤¦ turnL2() mR.stop() mL.stop() def run2(): #ÃÙ¤á¤Ë¤Þ¤Ã¤¹¤°¿Ê¤à´Ø¿ô¤òÄêµÁ mL.run_forever(speed_sp=50, stop_action='brake') mR.run_forever(speed_sp=50, stop_action='brake') def forward(): #¾¯¤·¿Ê¤à´Ø¿ô¤òÄêµÁ 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 forward_bit(): #¤Û¤ó¤Î¾¯¤·¿Ê¤à´Ø¿ô¤òÄêµÁ mL.run_to_rel_pos(position_sp=200, speed_sp=500, stop_action='brake') mR.run_to_rel_pos(position_sp=200, speed_sp=500, stop_action='brake') def catchup(): #¥Ü¡¼¥ë¤Ë¶á¤Å¤¤¤Æ¼è¤Ã¤Æ»ý¤Á¾å¤²¤ë´Ø¿ô¤òÄêµÁ while us.value()>=50: while us.value()>=50: #¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬50°Ê²¼¤Î»þ¹Ô¤¦ run2() mR.stop() mL.stop() mC.reset() mC.run_to_abs_pos(position_sp=60 ,speed_sp=20, stop_action='brake') time.sleep(3) mA.run_to_abs_pos(position_sp=100, speed_sp=30, stop_action='brake') time.sleep(4) mC.run_to_abs_pos(position_sp=0, speed_sp=20, stop_action='brake') time.sleep(6) mA.run_to_abs_pos(position_sp=0, speed_sp=100, stop_action='hold') time.sleep(3) def puton_red(): #À֤δ̤˶á¤Å¤¤¤Æ¥Ü¡¼¥ë¤òÃÖ¤¯´Ø¿ô¤òÄêµÁ time4=time.time() while us.value>=40: while us.value>=40: #¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬40°Ê²¼¤Î»þ¹Ô¤¦ run() time_kan=time.time() mC.run_to_rel_abs(position_sp=30, speed_sp=20, stop_action='brake') time.sleep(1) timenow=time.time() while time.time()-timenow<=time_kan-time4: while time.time()-timenow<=time_kan-time4: #À֤δ̤˶á¤Å¤¯¤Þ¤Ç¤Î»þ´Öʬ¥Ð¥Ã¥¯¤·¸µ¤Î¾ì½ê¤ËÌá¤ë mL.run_forever(speed_sp=-50, stop_action='brake') mR.run_forever(speed_sp=-50, stop_action='brake') def puton_blue(): #ÀĤδ̤˶á¤Å¤¤¤Æ¥Ü¡¼¥ë¤òÃÖ¤¯´Ø¿ô¤òÄêµÁ while us.value>=40: while us.value()>=40: #¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬40°Ê¾å¤Î»þ¹Ô¤¦ run() mC.run_to_rel_abs(position_sp=30, speed_sp=20, stop_action='brake') def direct_one(): #À֤Ρ¤Î´Ì¤ÎÊý¸þ¤ò¸þ¤¯´Ø¿ô¤òÄêµÁ time1=time.time() while time.time()-time1<=20: while time.time()-time1<=2: #2ÉôֹԤ¦ mL.run_forever(speed_sp=-50, stop_action='brake') mR.run_forever(speed_sp=50, stop_action='brake') def Round_red(): #À֤δ̤Υ¨¥ê¥¢¤ò²ó¤ë´Ø¿ô¤òÄêµÁ time1=time.time() while time.time()-time1<=fuga: while time.time()-time1<=fuga: #fuga¤Î»þ´Ö¤À¤±¹Ô¤¦ fuga¤Ï¤Î¤Á¤ËÀâÌÀ mL.run_forever(speed_sp=50, stop_action='brake') mR.run_forever(speed_sp=-50, stop_action='brake') def direct_redkan(): #ÀÖ¤ÎÀµ¤·¤¤´Ì¤ò¸«¤Ä¤±¤ë´Ø¿ô¤òÄêµÁ time1=time() while time.time()-time1<=fuga-(think_red()-time_start): while time.time()-time1<=fuga-(think_red()-time_start): #fuga-(think_red()-time_start)¤Î»þ´Ö¤À¤±¹Ô¤¦ mL.run_forever(speed_sp=-50, stop_action='brake') mR.run_forever(speed_sp=50, stop_action='brake') def direct_I(): #°ÌÃÖI¤ÎÊý¸þ¤ò¸þ¤¯´Ø¿ô¤òÄêµÁ time1=time.time() while time.time()-time1<=think_red()-time_start+¤¤¤¯¤é¤«: while time.time()-time1<=think_red()-time_start+¤¤¤¯¤é¤«: #think_red()-time_start+¤¤¤¯¤é¤«¤Î»þ´Ö¤À¤±¹Ô¤¦ mL.run_forever(speed_sp=-50, stop_action='brake') mR.run_forever(speed_sp=50, stop_action='brake') def direct_B(): #°ÌÃÖB¤ÎÊý¸þ¤ò¸þ¤¯´Ø¿ô¤òÄêµÁ time1=time.time() while time.time()-time1<=20: while time.time()-time1<=2: #2ÉôֹԤ¦ mL.run_forever(speed_sp=-50, stop_action='brake') mR.run_forever(speed_sp=50, stop_action='brake') def Round_blue(): #ÀĤδ̤Υ¨¥ê¥¢¤ò²ó¤ë´Ø¿ô¤òÄêµÁ time1=time.time() while time.time()-time1<=fuga2: while time.time()-time1<=fuga2: #fuga2¤Î»þ´Ö¤À¤±¹Ô¤¦¡¡fuga2¤Ë¤Ä¤¤¤Æ¤Ï¤Î¤Á¤ËÀâÌÀ mL.run_forever(speed_sp=50, stop_action='brake') mR.run_forever(speed_sp=-50, stop_action='brake') def direct_bluekan(): #ÀĤÎÀµ¤·¤¤´Ì¤ò¸«¤Ä¤±¤ë´Ø¿ô¤òÄêµÁ time1=time() while time.time()-time1<=fuga2-(think_blue()-time_start): while time.time()-time1<=fuga2-(think_blue()-time_start): #fuga2-(think_blue()-time_start)¤Î»þ´Ö¤À¤±¹Ô¤¦ 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): #¤É¤ì¤¬Àµ¤·¤¤´Ì¤«¤ò¸«¤Ä¤±¤ë´Ø¿ô¤òÄêµÁ fuga¤Ï¤³¤Î´Ø¿ô¤ò»È¤¦»þ´Ö hoge¤ÏºÇû¤Îµ÷Î¥¤Î´Ì¤ò¸«¤Ä¤±¤ë¤¿¤á¤ËÆþ¤ì¤ëŬÅö¤Êµ÷Î¥¤Î¿ô»ú global time_start global time_a global time_b a=1250 b=1250 def search(fuga,hoge): #¤É¤ì¤¬Àµ¤·¤¤´Ì¤«¤ò¸«¤Ä¤±¤ë´Ø¿ô¤òÄêµÁ fuga¤äfuga2¤Ï¤³¤Î´Ø¿ô¤ò»È¤¦»þ´Ö hoge¤ÏºÇû¤Îµ÷Î¥¤Î´Ì¤ò¸«¤Ä¤±¤ë¤¿¤á¤ËÆþ¤ì¤ëŬÅö¤Êµ÷Î¥¤Î¿ô»ú global time_start #´Ø¿ô³°¤«¤étime_start¤ÎÃͤò»ý¤Ã¤Æ¤¯¤ë global time_a #´Ø¿ô³°¤«¤étime_a¤ÎÃͤò»ý¤Ã¤Æ¤¯¤ë global time_b #´Ø¿ô³°¤«¤étime_b¤ÎÃͤò»ý¤Ã¤Æ¤¯¤ë a=1250 #a¤ËºÇûµ÷Î¥¤òÆþ¤ì¤ë¤Î¤Ç±ó¤¤ÃÍ¡¢¤Ä¤Þ¤êÂ礤¤ÃͤòÂåÆþ¤·¤Æ¤ª¤¯ b=1250 #b¤ËºÇûµ÷Î¥¤òÆþ¤ì¤ë¤Î¤Ç±ó¤¤ÃÍ¡¢¤Ä¤Þ¤êÂ礤¤ÃͤòÂåÆþ¤·¤Æ¤ª¤¯ time0=time_start=time.time() while us.value()>=hoge: while us.value()>=hoge: #¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬hoge¤è¤êÂ礤±¤ì¤Ð²¿¤â¹Ô¤ï¤Ê¤¤ continue while time.time()-time0<=fuga: if us.value()<=hoge: if us.value()<=a: a=us.value() time_a=time.time() else: while time.time()-time0<=fuga: #fuga°Ê²¼¤Î»þ´Ö¤À¤±¹Ô¤¦ if us.value()<=hoge: #¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬hoge°Ê²¼¤Î»þ¹Ô¤¦ if us.value()<=a: #¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬a°Ê²¼¤Î»þ¹Ô¤¦ a=us.value()¡¡#a¤Ë¥«¥é¡¼¥»¥ó¥µ¤ÎÃÍ¡¢¤Ä¤Þ¤êºÇûµ÷Î¥¤òÂåÆþ time_a=time.time() #time_a¤Ë¤½¤Î»þ¤Î»þ´Ö¤òÂåÆþ else: #hoge¤è¤êÂ礤¤¤È¤¤Ï¡¢¤³¤Î·«¤êÊÖ¤·¤òÈ´¤±¤ë break while time.time()-time0<=fuga and us.value()>=hoge: while time.time()-time0<=fuga and us.value()>=hoge: #fuga°Ê²¼¤Î»þ´Ö¤«¤Ä¥«¥é¡¼¥»¥ó¥µ¤¬hoge°Ê¾å¤ÎÃͤλþ²¿¤â¹Ô¤ï¤Ê¤¤ continue while time.time()-time0<=fuga: if us.value()<=hoge: if us.value()<=b: b=us.value() time_b=time.time() else: while time.time()-time0<=fuga: #fuga°Ê²¼¤Î»þ´Ö»þ¹Ô¤¦ if us.value()<=hoge: #¥«¥é¡¼¥»¥ó¥µ¤¬hoge°Ê¾å¤ÎÃͤλþ¹Ô¤¦ if us.value()<=b: #¥«¥é¡¼¥»¥ó¥µ¤¬b°Ê²¼¤ÎÃÍ»þ¹Ô¤¦ b=us.value() #£â¤Ë¥«¥é¡¼¥»¥ó¥µ¤ÎÃÍ¡¢¤Ä¤Þ¤êºÇûµ÷Î¥¤òÂåÆþ time_b=time.time() #time_b¤Ë¤½¤Î»þ¤Î»þ´Ö¤òÂåÆþ else: #hoge¤è¤êÂ礤¤¤È¤¤Ï¡¢¤³¤Î·«¤êÊÖ¤·¤òÈ´¤±¤ë break def think_red(): #ÀÖ¤ÎÀµ¤·¤¤´Ì¤ò·è¤á¤ë´Ø¿ô¤òÄêµÁ if a<b: return time_a else: return time_b if a<b: #a¤¬b¤è¤ê¾®¤µ¤¤¤È¤¹Ô¤¦ return time_a #time_a¤òÌá¤êÃͤȤ·¤ÆÊÖ¤¹ else: #b¤¬a°Ê¾å¤Î»þ¹Ô¤¦ return time_b #time_b¤òÌá¤êÃͤȤ·¤ÆÊÖ¤¹ def think_blue(): #ÀĤÎÀµ¤·¤¤´Ì¤ò·è¤á¤ë´Ø¿ô¤òÄêµÁ if a<150 and b<150: return time_b if a<150 and 150<=b<300: return time_a if 150<=a<300 and 150<=b<300: return time_a if a<300 and b=1250: return time_a if a>=300 and b=1250: return time_b if 450<b<550: return time_b if a<150 and b<150: #a¤Èb¤¬150̤Ëþ¤Î»þ¹Ô¤¦ ¤Ä¤Þ¤ê1¤Î´Ì¤Î»þ return time_b #time_b¤òÌá¤ê¤È¤·¤ÆÊÖ¤¹ if a<150 and 150<=b<300: #a¤¬150̤Ëþ¡¢b¤¬150°Ê¾å300̤Ëþ¤Î»þ¹Ô¤¦ ¤Ä¤Þ¤ê2¤Î´Ì¤Î»þ return time_a #time_a¤òÌá¤êÃͤȤ·¤ÆÊÖ¤¹ if 150<=a<300 and 150<=b<300: #a¤¬150°Ê¾å300̤Ëþ¡¢b¤¬150°Ê¾å300̤Ëþ¤Î»þ¹Ô¤¦ ¤Ä¤Þ¤ê3¤Î´Ì¤Î»þ return time_a¡¡#time_a¤òÌá¤êÃͤȤ·¤ÆÊÖ¤¹ if a<300 and b=1250: #a¤¬300̤Ëþ¡¢b¤¬1250¤Î»þ¹Ô¤¦ ¤Ä¤Þ¤ê4¤Î´Ì¤Î»þ return time_a #time_a¤òÌá¤êÃͤȤ·¤ÆÊÖ¤¹ if a>=300 and b=1250: #a¤¬300°Ê¾å¡¢b¤¬1250¤Î»þ¹Ô¤¦ ¤Ä¤Þ¤ê5¤Î´Ì¤Î»þ return time_b #time_b¤òÌá¤êÃͤȤ·¤ÆÊÖ¤¹ if 450<b<550:¡¡#b¤¬450¤è¤êÂ礤¯550̤Ëþ¤Î»þ¹Ô¤¦ ¤Ä¤Þ¤ê6¤Î´Ì¤Î»þ return time_b #time_b¤òÌá¤êÃͤȤ·¤ÆÊÖ¤¹ *²ò·è¤¹¤Ù¤¤À¤Ã¤¿ÌäÂê [#mf770ef7] 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