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 #!/usr/bin/env python3
 from ev3dev.ev3 import *
 from time import *
 mL = LargeMotor("outA")
 mR = LargeMotor("outB")
 mC = MediumMotor("outC")

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 def penup():
     mC.run_to_abs_pos(position_sp=10,speed_sp=500,stop_action="hold")¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
     mC.run_to_abs_pos(position_sp=10,speed_sp=500,stop_action="hold")¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
     sleep(2)
 def pendown():
     mC.run_to_abs_pos(position_sp=-15,speed_sp=500,stop_action="hold")
     sleep(2)

-run_by_mm(mm)¤Ç¿Ê¤ß¤¿¤¤µ÷Î¥¤Þ¤ÇÁ°¿Ê¤µ¤»¤ë¡£back¤Ç¤Ï¸å¿Ê¡£¡É¼Â¸³¡É¤ÇÆÀ¤¿·ë²Ì¤ò¤³¤³¤ÇÍøÍѤ·¤Æ¤¤¤ë¡£

 def run_by_mm(mm):
     mL.run_timed(time_sp=30*mm/7.5,speed_sp=500)
     mR.run_timed(time_sp=30*mm/7.5,speed_sp=500)
     sleep(2)
 def run_back_mm(mm):
     mL.run_timed(time_sp=30*mm/7.5,speed_sp=-500)
     mR.run_timed(time_sp=30*mm/7.5,speed_sp=-500)
     sleep(2)

-turnR¤Ç¥Ú¥ó¤¬²óžÃæ¿´¤Ë¤Ê¤ë¤è¤¦¤Ë»þ·×²ó¤ê¤Ë²óž¡¢turnL¤ÇÈ¿»þ·×²ó¤ê¤Ë²óž¤¹¤ë¡£(position_sp)¤Ë²óž¤·¤¿¤¤³ÑÅÙ¤òÆþÎϤ¹¤ë¤È¤½¤ì¤À¤±²óž¤¹¤ë¡£Á°¿Ê¸å¿Ê´Ø¿ô¤ÈƱ¤¸¤è¤¦¤Ë¡É¼Â¸³¡É¤Î·ë²Ì¤ò¤³¤³¤ÇÍøÍѤ·¤Æ¤¤¤ë¡£¡É²óž¤Ë¤Ä¤¤¤Æ¡É¤Ç½Ò¤Ù¤¿¤è¤¦¤Ë²óž¤ÎÁ°¸å¤ËÁ°¿Ê¸åÂबÆþ¤Ã¤Æ¤¤¤ë¡£¤Þ¤¿¡¢¡ÉÉÔ¶ñ¹ç¡É¤Ç½Ò¤Ù¤¿¤è¤¦¤ËturnL¤Ïº£²ó¤Ï1²ó¤·¤«ÍѤ¤¤Æ¤¤¤Ê¤¤¡£
-turnR¤Ç¥Ú¥ó¤¬²óžÃæ¿´¤Ë¤Ê¤ë¤è¤¦¤Ë»þ·×²ó¤ê¤Ë²óž¡¢turnL¤ÇÈ¿»þ·×²ó¤ê¤Ë²óž¤¹¤ë¡£(position_sp)¤Ë²óž¤·¤¿¤¤³ÑÅÙ¤òÆþÎϤ¹¤ë¤È¤½¤ì¤À¤±²óž¤¹¤ë¡£Á°¿Ê¸å¿Ê´Ø¿ô¤ÈƱ¤¸¤è¤¦¤Ë¡É¼Â¸³¡É¤Î·ë²Ì¤ò¤³¤³¤ÇÍøÍѤ·¤Æ¤¤¤ë¡£¡É²óž¤Ë¤Ä¤¤¤Æ¡É¤Ç½Ò¤Ù¤¿¤è¤¦¤Ë²óž¤ÎÁ°¸å¤ËÁ°¿Ê¸åÂबÆþ¤Ã¤Æ¤¤¤ë¡£¤Þ¤¿¡¢¡ÉÉÔ¶ñ¹ç¡É¤Ç½Ò¤Ù¤¿¤è¤¦¤ËturnL¤Ïº£²ó¤Ï£²²ó¤·¤«ÍѤ¤¤Æ¤¤¤Ê¤¤¡£

 def turnR(position_sp):
     run_by_mm(125)
     sleep(2)
     mL.run_to_rel_pos(position_sp=744*position_sp/360,speed_sp=500,stop_action="hold")
     mR.run_to_rel_pos(position_sp=-744*position_sp/360,speed_sp=500,stop_action="hold")
     sleep(2)
     run_back_mm(115)
 def turnL(position_sp):
     run_by_mm(125)
     sleep(2)
     mL.run_to_rel_pos(position_sp=-744*position_sp/360,speed_sp=500,stop_action="hold")
     mR.run_to_rel_pos(position_sp=744*position_sp/360,speed_sp=500,stop_action="hold")
     sleep(2)
     run_back_mm(115)

-µ¡ÂΤò¤½¤Î¤Þ¤ÞÈ¿»þ·×²ó¤ê¤Ë²óž¤¹¤ë¡£

 def tturn(po):
     mL.run_to_rel_pos(position_sp=744*po/360,speed_sp=500,stop_action="hold")
     mR.run_to_rel_pos(position_sp=-744*po/360,speed_sp=500,stop_action="hold")
     sleep(2)



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¤Þ¤º¡ÖÎá¡×¤ò½ñ¤¯¡£
 #rei
 pendown() #­¡
 run_by_mm(120)
 penup()
 turnR(60)
 pendown()¡¡#­¢
 run_by_mm(120)
 penup()
 run_by_mm(260)
 tturn(175)
 turnL(45)
 run_by_mm(35)
 pendown()¡¡#­£
 run_by_mm(60)
 penup()
 run_by_mm(200)
 turnL(85)
 run_by_mm(50)
 turnL(85)
 run_by_mm(80)
 pendown()¡¡#­¤
 run_by_mm(90)
 penup()
 turnR(90)
 pendown()¡¡#­¥
 run_by_mm(65)
 penup()
 run_by_mm(60)
 turnR(90)
 run_back_mm(40)
 run_by_mm(45)
 turnR(90)
 run_back_mm(40)
 pendown()¡¡#­¦
 run_by_mm(95)
 penup()

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 run_by_mm(155)
 tturn(175)
 turnR(90)
 run_back_mm(40)
 run_by_mm(140)
 turnR(130)

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 #wa nogihen
 pendown()¡¡#­§
 run_by_mm(50)
 penup()
 turnR(60)
 pendown()¡¡#­¨
 run_by_mm(50)
 penup()
 turnR(150)
 run_by_mm(45)
 turnR(90)
 run_back_mm(45)
 pendown()¡¡#­©
 run_by_mm(100)
 penup()
 turnR(90)
 run_by_mm(50¡Ë
 pendown()¡¡#­ª
 run_back_mm(60)
 penup()
 run_by_mm(120)
 turnR(90)
 run_by_mm(40)
 turnR(90)
 run_by_mm(60)
 pendown()¡¡#­«
 run_by_mm(90)
 penup()
 tturn(175)
 run_back_mm(200)

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 #wa sikaku
 for sikaku in rarge(3):
         pendown()
         run_by_mm(70)
         penup()
         run_by_mm(60)
         turnR(90)
         run_back_mm(40)
 pendown()
 run_by_mm(70)
 penup()

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