#author("2020-01-06T18:09:16+09:00","LaiHen","LaiHen")
#author("2020-01-06T18:53:26+09:00","LaiHen","LaiHen")
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#contents

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 #!/usr/bin/env python3
 
 from ev3dev2.motor import *
 from ev3dev2.sensor import *
 from ev3dev2.sensor.lego import *
 from time import *
 
 Wmax,Bmax,spmax,spmin,brockch,tst=75,5,8,4,6,1.5
 tw = MoveTank(OUTPUT_B, OUTPUT_C)
 Mm= MediumMotor(OUTPUT_A)
 cs,ts,us = ColorSensor(),TouchSensor(),UltrasonicSensor()
 us.mode = 'US-DIST-CM'
 Mv=(Wmax+Bmax)/2
 Lp=(Wmax-Mv)/4
 llp=2*Lp
 spab=(spmax+spmin)/2
 Clev=[Wmax,Wmax-Lp,Mv+Lp,Mv-Lp,Bmax+Lp,Bmax]
 
 class Linetorace:
     def __init__(self,a):
         self.cv=a
         self.colortyp,self.dcv,self.lesp,self.risp=0,0,0,0
         self.typcheck()
         self.movesp()
     def typcheck(self):
         for i in range(5):
             if Clev[i+1]<=self.cv<Clev[i]:
                 self.colortyp=i
                 self.dcv=Clev[i]-self.cv
     def movesp(self):
         zuw=round(self.dcv/llp,1)
         if self.colortyp==0:
             self.lesp=spab-(spab-spmin)*zuw
             self.risp=-spmin
         elif self.colortyp==1:
             self.lesp=spmax
             self.risp=spab+(spmax-spab)*zuw
         elif self.colortyp==2:
             self.lesp=spmax
             self.risp=spmax
         elif self.colortyp==3:
             self.lesp=spab+(spmax-spab)*zuw
             self.risp=spmax
         else:
             self.lesp=-spmin
             self.risp=spab-(spab-spmin)*zuw
 
 class root:
     def __init__(self,v1,v2):
         self.typ,self.chst=v1,v2
     def action(self):
         if self.typ==0:
             follow_line(self.chst,50)
         elif self.typ==1:
             closs(self.chst)
         elif self.typ==2:
             fetch_cuboid(self.chst)
         else:
             gostart()
 
 def follow_line(chst,ched):#¥é¥¤¥ó¥È¥ì¡¼¥¹ÍÑ¥×¥í¥°¥é¥à
     sttime1,notime1 = time(),time()
     bcon=0
     while not (ts.is_pressed) and not ((notime1-sttime1)>ched):
         cvp = cs.reflected_light_intensity
         MLT=Linetorace(cvp)
         if MLT.colortyp==4:
             bcon=bcon+1
         else:
             bcon=0
         notime1=time()
         if (chst <= (notime1-sttime1) <=ched) and (bcon== brockch):
                 break
         tw.on(MLT.lesp,MLT.risp)
         sleep(0.1)
     tw.off()
 
 def closs(pp):#¸òº¹ÅÀ¤Èľ³Ñ¥«¡¼¥Ö¤ÎºÝ¤Î¹ÔÆ°ÍÑ¥×¥í¥°¥é¥à
     cvp= cs.reflected_light_intensity
     MLT = Linetorace(cvp)
     tw.on(-MLT.lesp,-MLT.risp)
     sleep(0.1*brockch)
     tw.off()
     if pp==0:
         follow_line(tst,tst+0.1)
     else:
         sleep(5)
         if pp==1:
             follow_line(tst,tst+0.1)
         elif pp==2:
             tw.on_for_seconds(spmax,spmax,1)
         else:
             sttime=time()
             notime=time()
             while  (notime- sttime <=tst):
                 cvp= cs.reflected_light_intensity
                 MLT= Linetorace(cvp)
                 tw.on(MLT.risp,MLT.lesp)
                 sleep(0.1)
                 notime=time()
     tw.off()
 
 def fetch_cuboid(edti):#¥é¥¤¥ó¥È¥ì¡¼¥¹¸å¥­¥å¡¼¥Ö¤ò²ó¼ý¤·U¥¿¡¼¥ó¡¢¤½¤Î¸å¥é¥¤¥ó¥È¥ì¡¼¥¹ºÆ³«
     sttime2 = time()
     fase=0
     while not (ts.is_pressed):
         cvp= cs.reflected_light_intensity
         MLT= Linetorace(cvp)
         tw.on(MLT.risp,MLT.lesp)
         notime2= time()
         txle= us.distance_centimeters
         if txle <= 4 :
             tw.on(0,0)
             Mm.on_for_seconds(-10,1.2)
             tw.on_for_degrees(-spmax,spmax,360)
             fase=1
             break
         if (notime2-sttime2) >= edti:
             fase=1
             break
         sleep(0.1)
     if fase==1:
         follow_line(5,edti)
     tw.off()
     Mm.off()
 
 def gostart():#¥¹¥¿¡¼¥È»þ¤ÎÁ°¿ÊÍÑ¥×¥í¥°¥é¥à
     tw.on_for_seconds(spmax,spmax,2)
 
 def main():
     MAP=[root(4,0),root(0,0),root(1,0),root(0,0),root(1,1),root(0,0),root(1,1),root(2,30),root(0,20),root(1,2)]
     for i in range(len(MAP)):
         if not ts.is_pressed:
             MAP[i].action()
         else:
             break
     print("all clear")
 if __name__ == '__main__':
     main()

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*** ­¡¥×¥í¥°¥é¥à¤Î»öÁ°ÀßÄê¤È´ð½àÃͤλ»½Ð [#xacf6790]
 #!/usr/bin/env python3
 
 from ev3dev2.motor import *
 from ev3dev2.sensor import *
 from ev3dev2.sensor.lego import *
 from time import *
¤³¤ÎÉôʬ¤ÇɬÍפÊʪ¤Î¥¤¥ó¥Ý¡¼¥È¤ò¤¹¤ë
 Wmax,Bmax,spmax,spmin,brockch,tst=75,5,8,4,6,1.5
¤³¤³¤Ç»È¤¦¿ôÃͤòÆþÎϤ·¤Þ¤¹¡£¤³¤ÎÉôʬ°Ê³°¤Ç¤Ï¶ËÎÏ¿ôÃͤòľÀÜ»ØÄꤷ¤Ê¤¤¤Ç¤ª¤¯¤³¤È¤Ç¥×¥í¥°¥é¥àÁ´ÂΤÎÄ´À°¤ò´Êñ¤Ë¤¹¤ë¤³¤È¤¬¤Ç¤­¤ë¡£
ÆþÎϤ¹¤ë¤Î¤Ï
+ Çò¿§¤Î¥»¥ó¥µ¡¼¤ÎÃÍ(Wmax)  ==75
+ ¹õ¿§¤Î¥»¥ó¥µ¡¼¤ÎÃÍ(Bmax)  ==5
+ ¥â¡¼¥¿¡¼¤ÎºÇ¹â®ÅÙ(spmax)  ==8
+ ¥â¡¼¥¿¡¼¤ÎºÇÄã®ÅÙ(spmin)  ==4
+ ¸òº¹ÅÀȽÃǤ¹¤ë¹õ¿§¤Î¥«¥¦¥ó¥ÈÃÍ(brockch)  ==6
+ ¸òº¹ÅÀÅù¤Î¥³¥Þ¥ó¥É¤Î·Ñ³»þ´Ö(tst)  ==1.5~
¾åµ­¤Î6¤Ä¤Ç¤¹¡£
¤³¤ì°Ê³°¤Î¿ôÃͤϤ³¤ì¤é¤ò¤â¤È¤Ë·×»»¤·¤Æ¤¤¤­¤Þ¤¹
- ¥â¡¼¥¿¡¼¤ä¥»¥ó¥µ¡¼¤ò»È¤¦¤¿¤á¤Î½àÈ÷¤ò¹Ô¤¤¤Þ¤¹¡£
 tw = MoveTank(OUTPUT_B, OUTPUT_C)
 Mm= MediumMotor(OUTPUT_A)
 cs,ts,us = ColorSensor(),TouchSensor(),UltrasonicSensor()
 us.mode = 'US-DIST-CM'
- ÆþÎϤµ¤ì¤¿¿ôÃͤ«¤é¥×¥í¥°¥é¥à¤Ç»È¤¦¤â¤Î¤Î·èÄê¤ò¤·¤Æ¤¤¤­¤Þ¤¹¡£
 Mv=(Wmax+Bmax)/2
 Lp=(Wmax-Mv)/4
 llp=2*Lp
 spab=(spmax+spmin)/2
 Clev=[Wmax,Wmax-Lp,Mv+Lp,Mv-Lp,Bmax+Lp,Bmax]

-- Çò¿§¤È¹õ¿§¤Î¶­³¦Àþ¡Ê³¥¿§¡Ë¤Ç¤Î¥»¥ó¥µ¡¼¤Î¿ôÃÍ 
³¥¿§¤ÎÃͤò·×¬¤¹¤ë¾ì¹çÀµ³Î¤Ë¶­³¦Àþ¤ÎÃæ±û¤ò¬¤ë¤³¤È¤ÏÆñ¤·¤¤¤¿¤á¡¢ºÙ¤«¤¯¥í¥Ü¥Ã¥È¤òÆ°¤«¤·¤º¤é¤¯¤Ê¤Ã¤Æ¤·¤Þ¤¦¡£¤½¤Î¤¿¤áÇò¿§¤È¹õ¿§¤ÎÃͤÎÊ¿¶ÑÃͤò³¥¿§¤ÎÃͤˤ·¤¿¡£
 Mv=(Wmax+Bmax)/2
-- ¿§¤ÎÃʳ¬¤òȽÃǤÎÈϰϤò·èÄꤹ¤ë 
Çò¤«¤é¹õ¤Þ¤Ç¤ò¶ÑÅù¤Ëʬ¤±¤ë¤Î¤Ë»È¤¦¡£¤³¤³¤Ç¤Ï¡ÊÇò¿§¤ÎÃÍ-³¥¿§¤ÎÃÍ¡Ë/4¤È¤¹¤ë¡£
 Lp=(Wmax-Mv)/4
 llp=2*Lp
-- ®ÅÙ¤ÎÊ¿¶ÑÃͤò·èÄê 
¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î®Å٤η׻»¤ÎºÝ¤ËºÇ¹â®Å٤ȺÇÄã®ÅÙ¤ÎÊ¿¶ÑÃͤò»È¤¦¤¿¤áÀè¤Ë·×»»¤·¤Æ¤ª¤¯
 spab=(spmax+spmin)/2
-- ¿§¤ÎÈϰϤδð½àÃͤò¥ê¥¹¥È¤È¤·¤Æ·èÄꤹ¤ë
Çò¤«¤é¹õ¤Þ¤Ç¤ò5Ãʳ¬¤Ëʬ¤±¤ë¤È¤­¤Î´ð½àÃͤòÀè¤Ëµá¤á¤¿¿ôÃͤ«¤é·è¤á¤ë
³ÆÃʳ¬¤Î´ð½àÃͤÏ
+ Wmax¡ÁWmax-Lp
+ Wmax-Lp¡ÁMv+Lp
+ Mv+Lp¡ÁMv-Lp
+ Mv-Lp¡ÁBmax+Lp
+ Bmax+Lp¡ÁBmax
 Clev=[Wmax,Wmax-Lp,Mv+Lp,Mv-Lp,Bmax+Lp,Bmax]
- ¤³¤ì¤Çº£¸å»È¤¦ÊÑ¿ô¤Î½àÈ÷¤¬¤Ç¤­¤Þ¤·¤¿¡£¥×¥í¥°¥é¥à¤òµ¯Æ°¤·¤Æ¤¹¤°¤ËÊÑ¿ô¤ò·è¤á¤ë¤è¤¦¤Ë¤·¤¿¤Î¤Ç´Ø¿ôÆâ¤Ê¤É¤ÇËè²ó·×»»¤¹¤ëɬÍפ¬¤Ê¤¤¤Î¤Ç³Æ´Ø¿ô¤Î½èÍý¤¬¤ï¤º¤«¤Ç¤¹¤¬Â®¤¯¤¹¤ë¤³¤È¤¬¤Ç¤­¤Þ¤¹¡£
*** ­¢¥é¥¤¥ó¥È¥ì¡¼¥¹ÍѤΥ¯¥é¥¹ [#dc918a51]
 class Linetorace:
     def __init__(self,a):
         self.cv=a
         self.colortyp,self.dcv,self.lesp,self.risp=0,0,0,0
         self.typcheck()
         self.movesp()
     def typcheck(self):
         for i in range(5):
             if Clev[i+1]<=self.cv<Clev[i]:
                 self.colortyp=i
                 self.dcv=Clev[i]-self.cv
     def movesp(self):
         zuw=round(self.dcv/llp,1)
         if self.colortyp==0:
             self.lesp=spab-(spab-spmin)*zuw
             self.risp=-spmin
         elif self.colortyp==1:
             self.lesp=spmax
             self.risp=spab+(spmax-spab)*zuw
         elif self.colortyp==2:
             self.lesp=spmax
             self.risp=spmax
         elif self.colortyp==3:
             self.lesp=spab+(spmax-spab)*zuw
             self.risp=spmax
         else:
             self.lesp=-spmin
             self.risp=spab-(spab-spmin)*zuw
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+ Ãʳ¬Ê¬¤±
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|Ãʳ¬¿ô|0|1|2|3|4|
|ÃͤÎÈÏ°Ï|Wmax¡ÁWmax-Lp|Wmax-Lp¡ÁMv+Lp|Mv+Lp¡ÁMv-Lp|Mv-Lp¡ÁBmax+Lp|Bmax+Lp¡ÁBmax|
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|±¦¤Î®ÅÙ(¼°)|-spmin|spab+(spmax-spab)*zuw|spmax|spmax|spab-(spab-spmin)*zuw|
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-- º¸Â¦¤Î»þ¤Ï±¦¤Î®ÅÙ¤ò±¦¤Î¥â¡¼¥¿¡¼¤Ëº¸¤Î®ÅÙ¤òº¸¤Î¥â¡¼¥¿¡¼¤ËÁ÷¤ë
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*** ­£¥ë¡¼¥È»ØÄêÍѤΥ¯¥é¥¹ [#o79a6f60]
 class root:
     def __init__(self,v1,v2):
         self.typ,self.chst=v1,v2
     def action(self):
         if self.typ==0:
             follow_line(self.chst,50)
         elif self.typ==1:
             closs(self.chst)
         elif self.typ==2:
             fetch_cuboid(self.chst)
         else:
             gostart()
mainÉôʬ¤Ç¥ë¡¼¥È¤Î¥³¡¼¥É¤òÂǤÁ¹þ¤ó¤Ç¤¤¤¯¤Î¤ÏÂçÊѤʤΤÇ2¤Ä¤Î°ú¿ô¤Ç¥ë¡¼¥È¤ò»ØÄê¤Ç¤­¤ë¤è¤¦¤Ë¤·¤¿¡£
*** ­¤Ä̾ï»þ¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ÍѤδؿô [#z4db0b7e]
 def follow_line(chst,ched):#¥é¥¤¥ó¥È¥ì¡¼¥¹ÍÑ¥×¥í¥°¥é¥à
     sttime1,notime1 = time(),time()
     bcon=0
     while not (ts.is_pressed) and not ((notime1-sttime1)>ched):
         cvp = cs.reflected_light_intensity
         MLT=Linetorace(cvp)
         if MLT.colortyp==4:
             bcon=bcon+1
         else:
             bcon=0
         notime1=time()
         if (chst <= (notime1-sttime1) <=ched) and (bcon== brockch):
                 break
         tw.on(MLT.lesp,MLT.risp)
         sleep(0.1)
     tw.off()
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+ ¥é¥¤¥ó¥È¥ì¡¼¥¹
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     while not (ts.is_pressed) and not ((notime1-sttime1)>ched):
         cvp = cs.reflected_light_intensity
         MLT=Linetorace(cvp)
         tw.on(MLT.lesp,MLT.risp)
         sleep(0.1)
+ ¸òº¹ÅÀȽÄê
¸òº¹ÅÀȽÄê¤ÏºÇ½é¤Ï¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÊѲ½¤Î¶ñ¹ç¤«¤éȽÄꤷ¤è¤¦¤È»î¤ß¤Þ¤·¤¿¤¬¥í¥Ü¥Ã¥È¤òÆ°¤«¤¹´Ä¶­¤Î¾õ¶·¤Ë¤è¤Ã¤Æ¥»¥ó¥µ¡¼¤ÎÊѲ½¤Ë±Æ¶Á¤¬¤¢¤ê¤Þ¤·¤¿¡£¤½¤Î¤¿¤áº£²ó¤Ï5Ãʳ¬¤Ç¤ÎÆ°¤­¤«¤éȽÄꤹ¤ë¤³¤È¤Ë¤·¤Þ¤·¤¿¡£~
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         if MLT.colortyp==4:
             bcon=bcon+1
         else:
             bcon=0
         notime1=time()
         if (chst <= (notime1-sttime1) <=ched) and (bcon== brockch):
                 break
¤³¤Î´Ø¿ô¤Ï0.1É䪤­¤Ë¿§¤Î¥Á¥§¥Ã¥¯¤ò¤¹¤ë¤¿¤á¶ÊÀþÉôʬ¤Ç¤Î¸òº¹ÅÀȽÄê¤Î¥ß¥¹¤¬¤¢¤ê¤Þ¤·¤¿¡£¤Ê¤Î¤Ç¡¢¥«¥¦¥ó¥È¤¹¤ë¤Î¤Ï¹õ¿§¤Î»þ¤À¤±¤Ë¤·¡¢¤â¤·¤½¤ì°Ê³°¤ÎÃʳ¬¤¬Í褿¤é¥«¥¦¥ó¥È¤ò¥ê¥»¥Ã¥È¤¹¤ë»ÅÁȤߤ¹¤ë¤³¤È¤ÇȽÄê¤Î¥ß¥¹¤òÍÞ¤¨¤Þ¤·¤¿¡£
*** ­¥Ä¾³Ñ¥«¡¼¥Ö¤È¸òº¹ÅÀ¤Ç¤Î¹ÔÆ°ÍÑ´Ø¿ô [#ca2a43c6]
 def closs(pp):#¸òº¹ÅÀ¤Èľ³Ñ¥«¡¼¥Ö¤ÎºÝ¤Î¹ÔÆ°ÍÑ¥×¥í¥°¥é¥à
     cvp= cs.reflected_light_intensity
     MLT = Linetorace(cvp)
     tw.on(-MLT.lesp,-MLT.risp)
     sleep(0.1*brockch)
     tw.off()
     if pp==0:
         follow_line(tst,tst+0.1)
     else:
         sleep(5)
         if pp==1:
             follow_line(tst,tst+0.1)
         elif pp==2:
             tw.on_for_seconds(spmax,spmax,1)
         else:
             sttime=time()
             notime=time()
             while  (notime- sttime <=tst):
                 cvp= cs.reflected_light_intensity
                 MLT= Linetorace(cvp)
                 tw.on(MLT.risp,MLT.lesp)
                 sleep(0.1)
                 notime=time()
     tw.off()
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+ ¸½ºß¤Î¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤ«¤é¤µ¤Ã¤­¤Þ¤Ç¤ÎÆ»¤òÌá¤ë
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¸òº¹ÅÀ¤Ê¤Î¤Ç°ìÄê»þ´ÖÄä»ß¸å¹õÀþ¤Î±¦Â¦¤ò´ð½à¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¤¤Þ¤¹¡£

*** ­¦¥­¥å¡¼¥Ö¥­¥ã¥Ã¥ÁÍÑ´Ø¿ô [#s7a772b7]
 def fetch_cuboid(edti):#¥é¥¤¥ó¥È¥ì¡¼¥¹¸å¥­¥å¡¼¥Ö¤ò²ó¼ý¤·U¥¿¡¼¥ó¡¢¤½¤Î¸å¥é¥¤¥ó¥È¥ì¡¼¥¹ºÆ³«
     sttime2 = time()
     fase=0
     while not (ts.is_pressed):
         cvp= cs.reflected_light_intensity
         MLT= Linetorace(cvp)
         tw.on(MLT.risp,MLT.lesp)
         notime2= time()
         txle= us.distance_centimeters
         if txle <= 4 :
             tw.on(0,0)
             Mm.on_for_seconds(-10,1.2)
             tw.on_for_degrees(-spmax,spmax,360)
             fase=1
             break
         if (notime2-sttime2) >= edti:
             fase=1
             break
         sleep(0.1)
     if fase==1:
         follow_line(5,edti)
     tw.off()
     Mm.off()
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+ ¥­¥å¡¼¥Ü¥¤¥É¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹~
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         cvp= cs.reflected_light_intensity
         MLT= Linetorace(cvp)
         tw.on(MLT.risp,MLT.lesp)
         notime2= time()
         txle= us.distance_centimeters
+ ¥­¥å¡¼¥Ü¥¤¥É¤Î¸¡ÃΤȥ­¥ã¥Ã¥Á~
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         if txle <= 4 :
             tw.on(0,0)
             Mm.on_for_seconds(-10,1.2)
+ U¥¿¡¼¥ó~
¥­¥å¡¼¥Ü¥¤¥É¤ò¥­¥ã¥Ã¥Á¸å¤½¤Î¾ì¤ÇÈ¿»þ·×²ó¤ê¤ËȾ²óž¤·¤Þ¤¹
             tw.on_for_degrees(-spmax,spmax,360)
+ Í褿ƻ¤òÌá¤ë~
U¥¿¡¼¥ó¤·¤ÆÀè¤Û¤É¤Þ¤ÇÄ̤äƤ­¤¿Àþ¤ËÌá¤Ã¤Æ¤­¤Þ¤¹¡£¤Ç¤¹¤¬Àè¤Û¤É¤Ï¹õÀþ¤Î±¦Â¦¤Ç¤·¤¿¤¬U¥¿¡¼¥ó¤¹¤ë¤È±¦Â¦¤À¤Ã¤¿¤Î¤¬º¸Â¦¤Ë¤Ê¤ë¤Î¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤âº¸Â¦´ð½à¤ËÊѹ¹¤·¤Þ¤¹¡£
     if fase==1:
         follow_line(5,edti)
*** ­§¥¹¥¿¡¼¥ÈÍѤδؿô [#q7516c13]
 def gostart():#¥¹¥¿¡¼¥È»þ¤ÎÁ°¿ÊÍÑ¥×¥í¥°¥é¥à
     tw.on_for_seconds(spmax,spmax,2)
A¤«¤éB¤Ë¿Ê¤à¤È¤­¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ç¿Ê¤à¤Î¤ÏÂçÊѤΤʤΤǤ¿¤Àľ¿Ê¤µ¤»¤ë´Ø¿ô
 
*** ­¨¥á¥¤¥ó¥×¥í¥°¥é¥à [#y525a140]
 def main():
     MAP=[root(4,0),root(0,0),root(1,0),root(0,0),root(1,1),root(0,0),root(1,1),root(2,30),root(0,20),root(1,2)]
     for i in range(len(MAP)):
         if not ts.is_pressed:
             MAP[i].action()
         else:
             break
     print("all clear")
 if __name__ == '__main__':
     main()
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** ¥×¥í¥°¥é¥à¤Î¤Þ¤È¤á [#z7e38825]
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