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**¥×¥í¥°¥é¥à¤ÎƳÆþ [#t49ebfe6]
 #!/usr/bin/env python3
 from ev3dev.ev3 import *
 import time
 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(): #À֤έ¡¤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礭¤¤ÃͤòÂåÆþ¤·¤Æ¤ª¤¯
    b=1250 #b¤ËºÇûµ÷Î¥¤òÆþ¤ì¤ë¤Î¤Ç±ó¤¤ÃÍ¡¢¤Ä¤Þ¤êÂ礭¤¤ÃͤòÂåÆþ¤·¤Æ¤ª¤¯
    time0=time_start=time.time()
    while us.value()>=hoge: 
    while us.value()>=hoge: #¥«¥é¡¼¥»¥ó¥µ¤ÎÃͤ¬hoge¤è¤êÂ礭¤±¤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礭¤¤¤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礭¤¤¤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礭¤¯550̤Ëþ¤Î»þ¹Ô¤¦ ¤Ä¤Þ¤ê6¤Î´Ì¤Î»þ
        return time_b #time_b¤òÌá¤êÃͤȤ·¤ÆÊÖ¤¹

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