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#!/usr/bin/env python3 from ev3dev2.motor import * from ev3dev2.sensor import * from ev3dev2.sensor.lego import * from ev3dev2.sound import * from time import * Wmax,Bmax,spmax,spmin,brockch,tst,balltime=75,5,8,4,6,2.3,1 tw = MoveTank(OUTPUT_A, OUTPUT_D) Mm= MediumMotor(OUTPUT_B) 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] ballst=[1,1,1,0,0,0] snd=Sound() 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 accomand: def __init__(self,line,cltyp,sttime,endtime): self.line,self.cltyp,self.sttime,self.endtime=line,cltyp,sttime,endtime def sendcomand(self): action(self.line,self.sttime,self.endtime) closs(self.cltyp,self.line) class Vector2: def __init__(self,x,y): self.x,self.y=x,y self.comp=complex(x,y) def disp(self): print(self.x,",",self.y) def fukusosuu(self): print(self.comp) class houkou: def __init__(self,hou): self.hou=hou self.x,self.y=0,0 self.kakutei() def kakutei(self): if self.hou==1: self.x=1 elif self.hou==2: self.y=1 elif self.hou==3: self.x=-1 elif self.hou==4: self.y=-1 self.ch=complex(self.x,self.y) class st: def __init__(self): self.stt="xa" self.line,self.point=0,0 def go(self): print("0") def linekizyun(linehou,pointhou): a=houkou(linehou) b=houkou(pointhou) che=Vector2(0,1) if a.ch==(b.ch*che.comp): print("left") ty=0 else: print("ri") ty=1 return ty def vector2math(vec1,vec2): avec=Vector2(vec1.x+vec2.x,vec1.y+vec2.y) return avec def action(line,stti,enti): sttime1,notime1 = time(),time() bcon=0 while not (ts.is_pressed) and not ((notime1-sttime1)>enti): cvp = cs.reflected_light_intensity MLT=Linetorace(cvp) if MLT.colortyp==4: bcon=bcon+1 else: bcon=0 notime1=time() if (stti <= (notime1-sttime1) <=enti) and (bcon== brockch): break if line==0: tw.on(MLT.lesp,MLT.risp) elif line==1: tw.on(MLT.risp,MLT.lesp) else: tw.on(-MLT.lesp,-MLT.risp) sleep(0.1) tw.off() def closs(pp,line): cvp= cs.reflected_light_intensity MLT = Linetorace(cvp) if line==0: tw.on(-MLT.lesp,-MLT.risp) else: tw.on(-MLT.risp,-MLT.lesp) sleep(0.1*brockch) tw.off() if pp==0: action(0,tst,tst+0.1) else: if pp==1: action(0,tst,tst+0.1) elif pp==2: tw.on_for_seconds(spmax,spmax,1) else: action(1,tst,tst+0.1) tw.off() def ballaction(tp): face=0 while not (ts.is_pressed): cvp= cs.reflected_light_intensity MLT= Linetorace(cvp) tw.on(MLT.risp,MLT.lesp) txle= us.distance_centimeters if txle<=4: tw.on_for_seconds(4,4,0.9) face=1 break sleep(0.1) tw.off() if face==1: print("check") if tp==0: Mm.on_for_rotations(20,0.3) tw.on_for_seconds(-15,-15,1.1) tw.on_for_degrees(-4,4,360) else: Mm.on_for_rotations(-10,0.3) tw.on_for_seconds(-15,-15,1.1) tw.on_for_degrees(-4,4,360) def point_a(stas): print("a") root=accomand(linekizyun(1,4),1,0,30) root.sendcomand() stas.stt="yl" if not (ts.is_pressed): point_b(stas) def point_b(stas): print("b") if stas.stt in "xa": ballaction(0) if not (ts.is_pressed): point_a(stas) elif stas.stt in "y" or "xg" or "xh": root=accomand(linekizyun(2,1),0,0,30) root.sendcomand() if not (ts.is_pressed): point_c(stas) def point_c(stas): sleep(15) print("c") if stas.stt in "x": root=accomand(linekizyun(2,3),3,0,30) root.sendcomand() if not (ts.is_pressed): point_b(stas) elif stas.stt in "y" or "yl": root=accomand(linekizyun(2,1),3,0,30) root.sendcomand() if not (ts.is_pressed): point_d(stas) def point_d(stas): print("d") if stas.stt in "xa": root=accomand(linekizyun(2,3),3,0,30) root.sendcomand() if not (ts.is_pressed): point_c(stas) elif stas.stt in "yl": root=accomand(linekizyun(4,2),2,0,30) root.sendcomand() if not (ts.is_pressed): point_i(stas) elif stas.stt in "yn": root=accomand(linekizyun(4,2),3,2,30) root.sendcomand() if not (ts.is_pressed): point_i(stas) elif stas.stt in "yp": root=accomand(linekizyun(4,2),3,2,30) root.sendcomand() if not (ts.is_pressed): point_i(stas) elif stas.stt in "xg": root=accomand(linekizyun(3,2),2,2,30) root.sendcomand() if not (ts.is_pressed): point_e(stas) elif stas.stt in "xh": root=accomand(linekizyun(3,2),3,2,30) root.sendcomand() if not (ts.is_pressed): point_e(stas) def point_e(stas): print("e") if stas.stt in "xg": root=accomand(linekizyun(3,2),3,0,30) root.sendcomand() if not (ts.is_pressed): point_f(stas) if stas.stt in "xh": ballaction(0) if not (ts.is_pressed): point_h(stas) elif stas.stt in "yp" or "yn": root=accomand(linekizyun(3,4),1,0,30) root.sendcomand() if not (ts.is_pressed): point_d(stas) def point_f(stas): print("f") if stas.stt in "xg": ballaction(0) if not (ts.is_pressed): point_g(stas) elif stas.stt in "yp": root=accomand(linekizyun(3,4),2,0,30) root.sendcomand() if not (ts.is_pressed): point_e(stas) def point_g(stas): print("g") stas.stt="yp" root=accomand(linekizyun(3,4),2,0,30) root.sendcomand() if not (ts.is_pressed): point_e(stas) def point_h(stas): print("h") stas.stt="yn" root=accomand(linekizyun(3,4),1,0,30) root.sendcomand() if not (ts.is_pressed): point_d(stas) def point_i(stas): print("i") if stas.stt in "xa": root=accomand(linekizyun(2,3),2,2,30) root.sendcomand() if not (ts.is_pressed): point_d(stas) elif stas.stt in "yl": root=accomand(linekizyun(4,1),3,0,30) root.sendcomand() if not (ts.is_pressed): point_j(stas) elif stas.stt in "yn": root=accomand(linekizyun(1,4),3,2,30) root.sendcomand() if not (ts.is_pressed): point_m(stas) elif stas.stt in "yp": root=accomand(linekizyun(1,4),2,2,30) root.sendcomand() if not (ts.is_pressed): point_m(stas) elif stas.stt in "xg": root=accomand(1,3,2,30) root.sendcomand() if not (ts.is_pressed): point_d(stas) elif stas.stt in "xh": root=accomand(linekizyun(2,3),3,2,30) root.sendcomand() if not (ts.is_pressed): point_d(stas) def point_j(stas): print("j") if stas.stt in "xg": root=accomand(linekizyun(4,3),3,0,30) root.sendcomand() if not (ts.is_pressed): point_i(stas) elif stas.stt in "y" or "yl": root=accomand(linekizyun(4,1),3,0,30) root.sendcomand() if not (ts.is_pressed): point_k(stas) def point_k(stas): print("k") if stas.stt in "yl": ballaction(1) if not (ts.is_pressed): point_l(stas) elif stas.stt in "x" or "xg": root=accomand(linekizyun(4,3),0,0,30) root.sendcomand() if not (ts.is_pressed): point_j(stas) def point_l(stas): print("l") stas.stt="ee" root=accomand(linekizyun(3,2),1,0,30) root.sendcomand() if not (ts.is_pressed): endd() def point_m(stas): print("m") if stas.stt in "yp": root=accomand(linekizyun(1,4),3,0,30) root.sendcomand() if not (ts.is_pressed): point_o(stas) elif stas.stt in "yn": ballaction(1) if not (ts.is_pressed): endd() stas.stt="ee" elif stas.stt in "xa" or "xh": root=accomand(linekizyun(1,2),1,2,30) root.sendcomand() if not (ts.is_pressed): point_i(stas) def point_n(stas): print("n") stas.stt="xa" root=accomand(linekizyun(1,2),1,0,30) root.sendcomand() if not (ts.is_pressed): point_i(stas) def point_o(stas): print("o") if stas.stt in "yp": ballaction(1) if not (ts.is_pressed): point_p(stas) elif stas.stt in "xa": root=accomand(linekizyun(1,2),2,0,30) root.sendcomand() if not (ts.is_pressed): point_m(stas) def point_p(stas): print("p") stas.stt="xh" root=accomand(linekizyun(1,2),2,0,30) root.sendcomand() if not (ts.is_pressed): point_m(stas) def endd(): snd.speak("finish") def main(): snd.speak("start") lobo=st() point_b(lobo) snd.beep() if __name__ == '__main__': main() - 2ÂæÌÜ¤Î¥×¥í¥°¥é¥à #!/usr/bin/env python3 from ev3dev2.motor import * from ev3dev2.sensor import * from ev3dev2.sensor.lego import * from ev3dev2.sound import * from time import * Wmax,Bmax,spmax,spmin,brockch,tst,balltime=75,5,8,4,6,2.3,1 tw = MoveTank(OUTPUT_A, OUTPUT_D) Mm= MediumMotor(OUTPUT_B) 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] ballst=[1,1,1,0,0,0] snd=Sound() 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 accomand: def __init__(self,line,cltyp,sttime,endtime): self.line,self.cltyp,self.sttime,self.endtime=line,cltyp,sttime,endtime def sendcomand(self): action(self.line,self.sttime,self.endtime) closs(self.cltyp,self.line) class Vector2: def __init__(self,x,y): self.x,self.y=x,y self.comp=complex(x,y) def disp(self): print(self.x,",",self.y) def fukusosuu(self): print(self.comp) class houkou: def __init__(self,hou): self.hou=hou self.x,self.y=0,0 self.kakutei() def kakutei(self): if self.hou==1: self.x=1 elif self.hou==2: self.y=1 elif self.hou==3: self.x=-1 elif self.hou==4: self.y=-1 self.ch=complex(self.x,self.y) class st: def __init__(self): self.stt="xg" self.line,self.point=0,0 def go(self): print("0") def linekizyun(linehou,pointhou): a=houkou(linehou) b=houkou(pointhou) che=Vector2(0,1) if a.ch==(b.ch*che.comp): print("left") ty=0 else: print("ri") ty=1 return ty def vector2math(vec1,vec2): avec=Vector2(vec1.x+vec2.x,vec1.y+vec2.y) return avec def action(line,stti,enti): sttime1,notime1 = time(),time() bcon=0 while not (ts.is_pressed) and not ((notime1-sttime1)>enti): cvp = cs.reflected_light_intensity MLT=Linetorace(cvp) if MLT.colortyp==4: bcon=bcon+1 else: bcon=0 notime1=time() if (stti <= (notime1-sttime1) <=enti) and (bcon== brockch): break if line==0: tw.on(MLT.lesp,MLT.risp) elif line==1: tw.on(MLT.risp,MLT.lesp) else: tw.on(-MLT.lesp,-MLT.risp) sleep(0.1) tw.off() def closs(pp,line): cvp= cs.reflected_light_intensity MLT = Linetorace(cvp) if line==0: tw.on(-MLT.lesp,-MLT.risp) else: tw.on(-MLT.risp,-MLT.lesp) sleep(0.1*brockch) tw.off() if pp==0: action(0,tst,tst+0.1) else: if pp==1: action(0,tst,tst+0.1) elif pp==2: tw.on_for_seconds(spmax,spmax,1) else: action(1,tst,tst+0.1) tw.off() def ballaction(tp): face=0 while not (ts.is_pressed): cvp= cs.reflected_light_intensity MLT= Linetorace(cvp) tw.on(MLT.risp,MLT.lesp) txle= us.distance_centimeters if txle<=4: tw.on_for_seconds(4,4,0.9) face=1 break sleep(0.1) tw.off() if face==1: print("check") if tp==0: Mm.on_for_rotations(20,0.3) tw.on_for_seconds(-15,-15,1.1) tw.on_for_degrees(-4,4,360) else: Mm.on_for_rotations(-10,0.3) tw.on_for_seconds(-15,-15,1.1) tw.on_for_degrees(-4,4,360) def point_a(stas): print("a") root=accomand(linekizyun(1,4),1,0,30) root.sendcomand() stas.stt="yl" if not (ts.is_pressed): point_b(stas) def point_b(stas): print("b") if stas.stt in "xa": ballaction(0) if not (ts.is_pressed): point_a(stas) elif stas.stt in "y" or "xg" or "xh": root=accomand(linekizyun(2,1),0,0,30) root.sendcomand() if not (ts.is_pressed): point_c(stas) def point_c(stas): print("c") if stas.stt in "x": root=accomand(linekizyun(2,3),3,0,30) root.sendcomand() if not (ts.is_pressed): point_b(stas) elif stas.stt in "y" or "yl": root=accomand(linekizyun(2,1),3,0,30) root.sendcomand() if not (ts.is_pressed): point_d(stas) def point_d(stas): print("d") if stas.stt in "xa": root=accomand(linekizyun(2,3),3,0,30) root.sendcomand() if not (ts.is_pressed): point_c(stas) elif stas.stt in "yl": root=accomand(linekizyun(4,2),2,0,30) root.sendcomand() if not (ts.is_pressed): point_i(stas) elif stas.stt in "yn": root=accomand(linekizyun(4,2),3,2,30) root.sendcomand() if not (ts.is_pressed): point_i(stas) elif stas.stt in "yp": root=accomand(linekizyun(4,2),3,2,30) root.sendcomand() if not (ts.is_pressed): point_i(stas) elif stas.stt in "xg": root=accomand(linekizyun(3,2),2,2,30) root.sendcomand() if not (ts.is_pressed): point_e(stas) elif stas.stt in "xh": root=accomand(linekizyun(3,2),3,2,30) root.sendcomand() if not (ts.is_pressed): point_e(stas) def point_e(stas): print("e") if stas.stt in "xg": root=accomand(linekizyun(3,2),3,0,30) root.sendcomand() if not (ts.is_pressed): point_f(stas) if stas.stt in "xh": ballaction(0) if not (ts.is_pressed): point_h(stas) elif stas.stt in "yp" or "yn": root=accomand(linekizyun(3,4),1,0,30) root.sendcomand() if not (ts.is_pressed): point_d(stas) def point_f(stas): print("f") if stas.stt in "xg": ballaction(0) if not (ts.is_pressed): point_g(stas) elif stas.stt in "yp": root=accomand(linekizyun(3,4),2,0,30) root.sendcomand() if not (ts.is_pressed): point_e(stas) def point_g(stas): sleep(20) print("g") stas.stt="yp" root=accomand(linekizyun(3,4),2,0,30) root.sendcomand() if not (ts.is_pressed): point_e(stas) def point_h(stas): print("h") stas.stt="yn" root=accomand(linekizyun(3,4),1,0,30) root.sendcomand() if not (ts.is_pressed): point_d(stas) def point_i(stas): print("i") if stas.stt in "xa": root=accomand(linekizyun(2,3),2,2,30) root.sendcomand() if not (ts.is_pressed): point_d(stas) elif stas.stt in "yl": root=accomand(linekizyun(4,1),3,0,30) root.sendcomand() if not (ts.is_pressed): point_j(stas) elif stas.stt in "yn": root=accomand(linekizyun(1,4),3,2,30) root.sendcomand() if not (ts.is_pressed): point_m(stas) elif stas.stt in "yp": root=accomand(linekizyun(1,4),2,2,30) root.sendcomand() if not (ts.is_pressed): point_m(stas) elif stas.stt in "xg": root=accomand(1,3,2,30) root.sendcomand() if not (ts.is_pressed): point_d(stas) elif stas.stt in "xh": root=accomand(linekizyun(2,3),3,2,30) root.sendcomand() if not (ts.is_pressed): point_d(stas) def point_j(stas): print("j") if stas.stt in "xg": root=accomand(linekizyun(4,3),3,0,30) root.sendcomand() if not (ts.is_pressed): point_i(stas) elif stas.stt in "y" or "yl": root=accomand(linekizyun(4,1),3,0,30) root.sendcomand() if not (ts.is_pressed): point_k(stas) def point_k(stas): print("k") if stas.stt in "yl": ballaction(1) if not (ts.is_pressed): point_l(stas) elif stas.stt in "x" or "xg": root=accomand(linekizyun(4,3),0,0,30) root.sendcomand() if not (ts.is_pressed): point_j(stas) def point_l(stas): print("l") stas.stt="xg" root=accomand(linekizyun(3,2),1,0,30) root.sendcomand() if not (ts.is_pressed): point_k(stas) def point_m(stas): print("m") if stas.stt in "yp": root=accomand(linekizyun(1,4),3,0,30) root.sendcomand() if not (ts.is_pressed): point_o(stas) elif stas.stt in "yn": ballaction(1) if not (ts.is_pressed): endd() stas.stt="ee" elif stas.stt in "xa" or "xh": root=accomand(linekizyun(1,2),1,2,30) root.sendcomand() if not (ts.is_pressed): point_i(stas) def point_n(stas): print("n") stas.stt="xa" root=accomand(linekizyun(1,2),1,0,30) root.sendcomand() if not (ts.is_pressed): point_i(stas) def point_o(stas): print("o") if stas.stt in "yp": ballaction(1) if not (ts.is_pressed): point_p(stas) elif stas.stt in "xa": root=accomand(linekizyun(1,2),2,0,30) root.sendcomand() if not (ts.is_pressed): point_m(stas) def point_p(stas): print("p") stas.stt="xh" root=accomand(linekizyun(1,2),2,0,30) root.sendcomand() if not (ts.is_pressed): point_m(stas) def endd(): snd.speak("finish") def main(): snd.speak("start") lobo=st() point_j(lobo) snd.beep() if __name__ == '__main__': main() °Ê¾å¤Î¥×¥í¥°¥é¥à¤ò¤¤¤¯¤Ä¤«¤Ëʬ¤±¤ÆÀâÌÀ¤·¤Æ¤¤¤¤Þ¤¹¡£ *** ¡¥×¥í¥°¥é¥à¤Î»öÁ°ÀßÄê¤È´ð½àÃͤλ»½Ð [#jb56f6b0] ¤³¤ÎÉôʬ¤Ï¤Û¤È¤ó¤É²ÝÂꢤÈƱ¤¸¤Ç¤¹¡£ #!/usr/bin/env python3 from ev3dev2.motor import * from ev3dev2.sensor import * from ev3dev2.sensor.lego import * from ev3dev2.sound 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´ð½àÃÍ¤Ï + 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 [#vfd492c2] ¤³¤Î¥¯¥é¥¹¤Ï²ÝÂꢤǺîÀ®¤·¤¿¤â¤Î¤ò¤½¤Î¤Þ¤ÞήÍѤ·¤Þ¤·¤¿¡£ 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 ¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤò5Ãʳ¬¤Î¤¦¤Á¤É¤ì¤Ë³ºÅö¤¹¤ë¤«¤òȽÄꤹ¤ë¡£¤½¤Î¸å¤½¤ì¤¾¤ì¤ÎÃʳ¬¤´¤È¤Ëº¸±¦¤Î¥â¡¼¥¿¡¼¤Î®ÅÙ¤ò·è¤á¤ë¡£~ ¤³¤Î¥¯¥é¥¹¤Ï¥»¥ó¥µ¡¼¤ÎÃͤ«¤éº¸±¦¤Î®ÅÙ¡¢Ãʳ¬¤Ê¤É¤ò¼èÆÀ¤Ç¤¤ë¤Î¤Ç¥«¥é¡¼¥»¥ó¥µ¡¼´Ø·¸¤ò°ì³ç¤Ç´ÉÍý¤¹¤ë¤³¤È¤¬¤Ç¤¤Þ¤¹¡£~ ¤³¤Î¥¯¥é¥¹¤Î¥á¥¤¥ó¤Ç¤¢¤ëÃʳ¬Ê¬¤±¤Èº¸±¦¤Î®ÅÙ·èÄê¤òÀâÌÀ¤·¤Æ¤¤¤¤Þ¤¹¡£ + Ãʳ¬Ê¬¤± ¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤò°Ê²¼¤Îɽ¤È¾È¤é¤·¹ç¤ï¤»¤ÆÃʳ¬¿ô¤ò·è¤á¤Þ¤¹¡£¤³¤³¤Ç¤ÎÈϰϤϳ¥¿§¤ò´ð½à¤ËÂоΤˤʤë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£ |¿§¤ÎÃʳ¬|Çò¿§|Çò¿§¤È³¥¿§¤ÎÃæ´Ö|³¥¿§|¹õ¿§¤È³¥¿§¤ÎÃæ´Ö|¹õ¿§| |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| + º¸±¦¤Î®ÅÙ·èÄê Ãʳ¬¿ô¤¬·è¤Þ¤Ã¤¿¤é¤½¤ÎÃʳ¬¿ô¤´¤È¤Ë·è¤á¤é¤ì¤¿Â®ÅÙ¤òµá¤á¤ë·×»»¼°¤Ë¥»¥ó¥µ¡¼¤ÎÃͤòÂåÆþ¤·¤Æ¤¤¤¤Þ¤¹¡£¤³¤³¤Ç¤Î´ð½à¤Ï¹õÀþ¤Îº¸Â¦¤È¤·¤Æ¤¤¤Þ¤¹¡£~ ''¡Ê·èÄꤷ¤¿Ãʳ¬¤Î¾å¸Â-¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃÍ¡Ë¡à¡ÊÈϰϤÎÉý¡ß£²¡Ë''¤ÎÃͤò''Ä´À°ÃÍ''¤È¤¹¤ë¡£ |Ãʳ¬¿ô|0|1|2|3|4| |±¦¤Î®ÅÙ(ʸ»ú)|-¡ÊºÇÄã®ÅÙ¡Ë|®ÅÙ¤ÎÊ¿¶ÑÃÍ+¡ÊºÇ¹â®ÅÙ-®ÅÙ¤ÎÊ¿¶ÑÃÍ¡Ë¡ßÄ´À°ÃÍ|ºÇ¹â®ÅÙ|ºÇ¹â®ÅÙ|®ÅÙ¤ÎÊ¿¶ÑÃÍ-¡Ê®ÅÙ¤ÎÊ¿¶ÑÃÍ-ºÇÄã®ÅÙ¡Ë¡ßÄ´À°ÃÍ| |±¦¤Î®ÅÙ(¼°)|-spmin|spab+(spmax-spab)*zuw|spmax|spmax|spab-(spab-spmin)*zuw| |º¸¤Î®ÅÙ(ʸ»ú)|®ÅÙ¤ÎÊ¿¶ÑÃÍ-¡Ê®ÅÙ¤ÎÊ¿¶ÑÃÍ-ºÇÄã®ÅÙ¡Ë¡ßÄ´À°ÃÍ|ºÇ¹â®ÅÙ|ºÇ¹â®ÅÙ|®ÅÙ¤ÎÊ¿¶ÑÃÍ+¡ÊºÇ¹â®ÅÙ-®ÅÙ¤ÎÊ¿¶ÑÃÍ¡Ë¡ßÄ´À°ÃÍ|-¡ÊºÇÄã®ÅÙ¡Ë| |º¸¤Î®ÅÙ(¼°)|spab-(spab-spmin)*zuw|spmax|spmax|spab+(spmax-spab)*zuw|-spmin| ɽ¤«¤é¤ï¤«¤ë¤è¤¦¤ËÃʳ¬¤¬0¤È4¡¢1¤È3¤Ï¼°¤¬º¸±¦È¿ÂФÀ¤±¤Ç·×»»¼°¤ÏƱ¤¸¤Ë¤·¤Æ¤¢¤ê¤Þ¤¹¡£ - ''Ǥ°Õ¤Ë¤è¤ëº¸±¦¤Î´ð½à¤òÊѹ¹²Äǽ''~ Ãʳ¬Ê¬¤±¤ÎÂоΤª¤è¤Ó·×»»¼°¤ÎÄ´À°¤Ë¤è¤Ã¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î´ð½à¤òº¸±¦¤Î¤É¤Á¤é¤«¤Ç¤â¤³¤Î¥¯¥é¥¹1¤Ä¤Ç®ÅÙ¤òµá¤á¤ë¤³¤È¤¬¤Ç¤¤ë¤Î¤Ç¤¹¡£~ -- º¸Â¦¤Î»þ¤Ï±¦¤Î®ÅÙ¤ò±¦¤Î¥â¡¼¥¿¡¼¤Ëº¸¤Î®ÅÙ¤òº¸¤Î¥â¡¼¥¿¡¼¤ËÁ÷¤ë -- ±¦Â¦¤Î»þ¤Ï±¦¤Î®ÅÙ¤òº¸¤Î¥â¡¼¥¿¡¼¤Ëº¸¤Î®ÅÙ¤ò±¦¤Î¥â¡¼¥¿¡¼¤ËÁ÷¤ë *** £¥é¥¤¥ó¥È¥ì¡¼¥¹´Ø·¸¤Î°ì³ç´ÉÍýÍÑ¥¯¥é¥¹ [#sbb279a1] class accomand: def __init__(self,line,cltyp,sttime,endtime): self.line,self.cltyp,self.sttime,self.endtime=line,cltyp,sttime,endtime def sendcomand(self): action(self.line,self.sttime,self.endtime) closs(self.cltyp,self.line) ¤³¤Î¥¯¥é¥¹¤òÍѤ¤¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤È¸òº¹ÅÀ¤Þ¤¿¤Ïľ³Ñ¥«¡¼¥Ö¤Ç¤Ö¤Ä¤«¤Ã¤¿¸å¤ÎÆ°¤¤ò¤Þ¤È¤á¤Æ»ØÄê¤Ç¤¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£º£²óÅÀ¤ÈÅÀ¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¤È´Ö¤Î°ÜÆ°¤ÈÅÀ¤ËÅþã¸å¤ÎÆ°¤¤Ï¤Þ¤È¤á¤Æ»ØÄê¤Ç¤¤ëÊý¤¬Ë¾¤Þ¤·¤¤¤È»×¤¤¤³¤Î¤è¤¦¤Ê¥¯¥é¥¹¤òºîÀ®¤·¤Þ¤·¤¿¡£~ ¤³¤Î¥¯¥é¥¹¤Ç¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î´ð½à¡¢¸òº¹ÅÀ¤Ç¤ÎÆ°¤¡¢¸òº¹ÅÀȽÄ곫»Ï¤Þ¤Ç¤Î»þ´Ö¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³¤±¤ë»þ´Ö¤Î4¤Ä¤ò»ØÄꤷ¤Þ¤¹¡£ *** ¤¥Ù¥¯¥È¥ë¤Ë»È¤¦¥¯¥é¥¹ [#d943504f] class Vector2: def __init__(self,x,y): self.x,self.y=x,y self.comp=complex(x,y) def disp(self): print(self.x,",",self.y) def fukusosuu(self): print(self.comp) class houkou: def __init__(self,hou): self.hou=hou self.x,self.y=0,0 self.kakutei() def kakutei(self): if self.hou==1: self.x=1 elif self.hou==2: self.y=1 elif self.hou==3: self.x=-1 elif self.hou==4: self.y=-1 self.ch=complex(self.x,self.y) ¤³¤Î2¤Ä¤Î¥¯¥é¥¹¤Ç¥Ù¥¯¥È¥ë¤ÎÀßÄê¤È¡¢¾å²¼º¸±¦¤ÎÊý¸þ¤òɽ¤¹¥Ù¥¯¥È¥ë¤ÎÀßÄê¤ò¹Ô¤¤¤Þ¤¹¡£ *** ¥¥í¥Ü¥Ã¥È¤ÎIDÀßÄêÍÑ¥¯¥é¥¹ [#n203d7bb] class st: def __init__(self): self.stt="xg" self.line,self.point=0,0 def go(self): print("0") ¤³¤Î¥¯¥é¥¹¤òºîÀ®¤·¤Æ¡¢³ÆÅÀ¤Ç¤ÎÆ°¤¤Î´ÉÍý¤ò¤Ç¤¤ë¤è¤¦¤Ë¤·¤Æ¤Þ¤¹¡£ ¤³¤³¤Ç¤ÏID¤Î½é´üÀßÄê¤Ï¡Öxg¡×¤È¤Ê¤Ã¤Æ¤¤¤Þ¤¹¤¬¡¢¤â¤¦°ìÊý¤Î½é´üÀßÄê¤Ï¡Öxa¡×¤È¤Ê¤Ã¤Æ¤ª¤ê¥¹¥¿¡¼¥È¤·¤ÆƱ¤¸ÌÜɸ¤Ë¹Ô¤«¤Ê¤¤¤è¤¦¤Ë¤·¤Æ¤¤¤Þ¤¹¡£ *** ¦Ê£ÁÇ¿ô¤òÍѤ¤¤¿¥é¥¤¥ó¥È¥ì¡¼¥¹¤Îº¸±¦¤Î´ð½à¤Î·èÄê [#be4e8913] def linekizyun(linehou,pointhou): a=houkou(linehou) b=houkou(pointhou) che=Vector2(0,1) if a.ch==(b.ch*che.comp): print("left") ty=0 else: print("ri") ty=1 return ty ¤¢¤ëÆ»¤Ï·è¤Þ¤Ã¤¿Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·¤Æ¿Ê¤ó¤Ç¤Û¤·¤¤¤Ç¤¹¤¬¡¢¥í¥Ü¥Ã¥È¤Î¿Ê¤à¸þ¤¤Ë¤è¤Ã¤Æ¤½¤ì¤¬±¦¤Ê¤Î¤«º¸¤Ê¤Î¤«ÊѤï¤Ã¤Æ¤·¤Þ¤¤¤Þ¤¹¡£¤½¤³¤Ç¥Þ¥Ã¥×¤Ç¤½¤ÎÀþ¤Î¾å²¼¤Þ¤¿¤Ïº¸±¦¤Î¤É¤Ã¤Á¤Î¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤·¤Æ¤Û¤·¤¤¤«¤ò»ØÄꤷ¡¢¤½¤ÎÊý¸þ¤¬¿Ê¤à¸þ¤¤ò´ð½à¤Ë¤¹¤ë¤Èº¸±¦¤É¤Á¤é¤Ê¤Î¤«¤òȽÄꤹ¤ë¤Î¤¬¤³¤Î´Ø¿ô¤Ç¤¹¡£Êý¸þ¤ò¥Ù¥¯¥È¥ë¤Çɽ¤·¤Æ¤¤¤ë¤¿¤á¡¢º¸±¦¤ÎȽÄê¤ÏÊ£ÁÇ¿ô¤òÍѤ¤¤Æ·×»»¤·¤Æ¤¤¤Þ¤¹¡£ *** §¥é¥¤¥ó¥È¥ì¡¼¥¹ÍÑ´Ø¿ô [#p3613cc8] def action(line,stti,enti): sttime1,notime1 = time(),time() bcon=0 while not (ts.is_pressed) and not ((notime1-sttime1)>enti): cvp = cs.reflected_light_intensity MLT=Linetorace(cvp) if MLT.colortyp==4: bcon=bcon+1 else: bcon=0 notime1=time() if (stti <= (notime1-sttime1) <=enti) and (bcon== brockch): break if line==0: tw.on(MLT.lesp,MLT.risp) elif line==1: tw.on(MLT.risp,MLT.lesp) else: tw.on(-MLT.lesp,-MLT.risp) sleep(0.1) tw.off() ¥×¥í¥°¥é¥à¤Î¹½Â¤¤Ï²ÝÂꢤȤۤȤó¤ÉƱ¤¸¤Ç¤¹¤¬¡¢º£²ó¤Ï¤½¤³¤Ëº¸±¦¤ò°ú¿ô¤Ç»ØÄê¤Ç¤¤ë¤è¤¦¤Ë¤·¡¢1¤Ä¤Î´Ø¿ô¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¨¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£ 3¤Ä¤Î°ú¿ô¡Ê¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î´ð½à¡¢¸òº¹ÅÀȽÄ곫»Ï¤Þ¤Ç¤Î»þ´Ö¡¢´Ø¿ô¤Î½èÍý¤ÎÀ©¸Â»þ´Ö¡Ë¤ò»È¤¦´Ø¿ô¤Ç¤¹¡£¤³¤Î´Ø¿ôÆâ¤Ç¹Ô¤¦½èÍý¤ÏÂ礤¯Ê¬¤±¤ë¤È - 1¤ÄÌܤϺ£¤Î¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤ«¤éº¸±¦¤Î¥â¡¼¥¿¡¼¤Î®ÅÙ¤ò¼èÆÀ¤·¤½¤ì¤ò¤½¤ì¤¾¤ì¤Î¥â¡¼¥¿¡¼¤ËÁ÷¤ë - 2¤ÄÌܤϸòº¹ÅÀ¤Þ¤¿¤Ïľ³Ñ¥«¡¼¥Ö¤ËÍè¤Æ¤¤¤ë¤«¤É¤¦¤« ¤Î£²¤Ä¤Ç¤¹¡£¤³¤ì¤é¤Î½èÍý¤Ë¤Ä¤¤¤ÆÀâÌÀ¤·¤Æ¤¤¤¤Þ¤¹¡£ + ¥é¥¤¥ó¥È¥ì¡¼¥¹ ¤³¤³¤Ç¤Î½èÍý¤Ï¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬²¡¤µ¤ì¤Æ¤ª¤é¤º¤Þ¤¿¡¢´Ø¿ô¤Î½èÍý¤ò¼Â¹Ô¤·¤Æ¤«¤é¤Î»þ´Ö¤¬À©¸Â»þ´Ö¤òĶ¤¨¤Æ¤¤¤Ê¤¤¤È¤¤Ë¡¢º£¤Î¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤòÍÑ°Õ¤·¤Æ¤¢¤ë¥é¥¤¥ó¥È¥ì¡¼¥¹ÍѤΥ¯¥é¥¹¤ËÂåÆþ¤·¥â¡¼¥¿¡¼¤Î®ÅÙ¤òµá¤á¤ë¡£¤½¤Î¸å¤½¤ÎÃͤòº¸±¦¤Î¥â¡¼¥¿¡¼¤ËÁ÷¤ë¡£¤³¤³¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ï¥¯¥é¥¹¤Ç¤Î·è¤á¤¿º¸±¦¤ò¤½¤Î¤Þ¤Þ»È¤¦¤¿¤á¹õÀþ¤Îº¸Â¦¤ò´ð½à¤È¤·¤Æ¤¤¤Þ¤¹¡£ 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¤·¤¿¡£~ ¤³¤³¤Ç¤Î½èÍý¤Ï1¤ÄÌܤνèÍý¤Ç»È¤Ã¤¿¥¯¥é¥¹¤ÎÃʳ¬¤¬¹õ¿§¤Î¾ì¹ç¤Î¤ß¥«¥¦¥ó¥È¤·¡¢¤½¤Î¥«¥¦¥ó¥È¿ô¤¬Àè¤Ë·è¤á¤¿¹õ¿§È½Äê¤Þ¤Ç¤Î¥«¥¦¥ó¥È¿ô¤Ë¤Ê¤Ã¤¿¤é¸½ºß¤¤¤ë¤Î¤Ï¸òº¹ÅÀ¤ÈÃÇÄꤷ¡¢¤³¤Î´Ø¿ô¤Î½èÍý¤òÄä»ß¤·¡¢º¸±¦¤Î¥â¡¼¥¿¡¼¤òÄä»ß¤µ¤»¤Þ¤¹¡£ 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 [#q91b87c6] def closs(pp,line): cvp= cs.reflected_light_intensity MLT = Linetorace(cvp) if line==0: tw.on(-MLT.lesp,-MLT.risp) else: tw.on(-MLT.risp,-MLT.lesp) sleep(0.1*brockch) tw.off() if pp==0: action(0,tst,tst+0.1) else: if pp==1: action(0,tst,tst+0.1) elif pp==2: tw.on_for_seconds(spmax,spmax,1) else: action(1,tst,tst+0.1) tw.off() °ú¿ô¤Ç¥«¡¼¥Ö¡¢¸òº¹ÅÀ¤òº¸ÀÞ¡¢±¦ÀÞ¡¢Ä¾¿Ê¤Î4¤Ä¤ò»Ø¼¨¤·¤½¤ì¤¾¤ì¤Î½èÍý¤ò¼Â¹Ô¤¹¤ë´Ø¿ô¤Ç¤¹¡£¤³¤³¤Ç¤Î½èÍý¤Ï + ¸½ºß¤Î¥«¥é¡¼¥»¥ó¥µ¡¼¤ÎÃͤ«¤é¤µ¤Ã¤¤Þ¤Ç¤ÎÆ»¤òÌá¤ë + ¤½¤Î¸å4¤Ä¤½¤ì¤¾¤ì¤ÎÆ°¤¤ò¼Â¹Ô¤¹¤ë ¤È¤¤¤Ã¤¿Î®¤ì¤Ç¤¹¡£~ ¤Ê¤¼¸òº¹ÅÀ¤Ç¤Î½èÍý¤Ç°ìöƻ¤òÌá¤ë¤Î¤Ï¤³¤Î´Ø¿ô¤¬¸Æ¤Ó½Ð¤µ¤ì¤¿»þ¤Î¥í¥Ü¥Ã¥È¤Î¾õ¶·¤Ë¤¢¤ê¤Þ¤¹¡£¤³¤Î´Ø¿ô¤ò¸Æ¤Ö¤È¤¤¤¦¤³¤È¤Ï¸òº¹ÅÀ¤Ë¤¤¤ë¤È¤¤¤¦¤³¤È¤Ç¤¹¡£¤³¤Î»þ¥í¥Ü¥Ã¥È¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ç¹õ¿§¤ÎȽÄê¤Ê¤Î¤Çº¸¤Ë¶Ê¤¬¤Ã¤Æ¤¤¤Þ¤¹¡£¼¡¤Î½èÍý¤¬¥«¡¼¥Ö¤äº¸ÀޤǤ¢¤ì¤ÐÌäÂꤢ¤ê¤Þ¤»¤ó¤¬Ä¾¿Ê¤ä±¦Àޤξì¹ç¤ÏÆ°¤¤¬Ê£»¨¤Ë¤¢¤Ã¤Æ¤·¤Þ¤¤¤Þ¤¹¡£¤³¤ì¤ò´Êñ¤Ë¤¹¤ë¤¿¤á¤Ë¸òº¹ÅÀȽÄê¤Î¥«¥¦¥ó¥È¤ò»Ï¤á¤ëľÁ°¤Î¥í¥Ü¥Ã¥È¤¬¤ª¤ª¤à¤Í¹õÀþ¤ËÂФ·¤ÆÊ¿¹Ô¤Î¾õÂÖ¤Þ¤ÇÆ»¤òÌá¤ë½èÍý¤ò¹Ô¤¤¤Þ¤¹¡£~ ¸å¤Ï°ú¿ô¤ÎÃͤǽèÍý¤òÊѤ¨¤Æ4¤Ä¤Î¹ÔÆ°¤òʬ¤±¤Þ¤¹¡£ ++ ¥«¡¼¥Ö~ ¥«¡¼¥Ö¤Î¾ì¹ç¤Ï°ìö»ß¤Þ¤ëɬÍפϤʤ¤¤Î¤Ç¤½¤Î¤Þ¤Þ¹õÀþ¤Îº¸Â¦¤ò´ð½à¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¤¤Þ¤¹¡£ ++ ¸òº¹ÅÀ¤òº¸ÀÞ~ ¸òº¹ÅÀ¤Ê¤Î¤Ç¥«¡¼¥Ö¤ÈƱÍͤνèÍý¤ò¤·¤Þ¤¹¡£ ++ ¸òº¹ÅÀ¤òľ¿Ê~ ¸òº¹ÅÀ¤Ê¤Î¤Çº¸±¦¤Î¥â¡¼¥¿¡¼¤òºÇÂç®ÅÙ¤Ç1ÉôÖÆ°¤«¤·¤Þ¤¹¡£ ++ ¸òº¹ÅÀ¤ò±¦ÀÞ~ ¸òº¹ÅÀ¤Ê¤Î¤Ç¹õÀþ¤Î±¦Â¦¤ò´ð½à¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¤¤Þ¤¹¡£ *** ©¥Ü¡¼¥ë´Ø·¸¤Î¹ÔÆ°ÍÑ´Ø¿ô [#xc2f5d47] def ballaction(tp): face=0 while not (ts.is_pressed): cvp= cs.reflected_light_intensity MLT= Linetorace(cvp) tw.on(MLT.risp,MLT.lesp) txle= us.distance_centimeters if txle<=4: tw.on_for_seconds(4,4,0.9) face=1 break sleep(0.1) tw.off() if face==1: print("check") if tp==0: Mm.on_for_rotations(20,0.3) tw.on_for_seconds(-15,-15,1.1) tw.on_for_degrees(-4,4,360) else: Mm.on_for_rotations(-10,0.3) tw.on_for_seconds(-15,-15,1.1) tw.on_for_degrees(-4,4,360) ¤³¤Î´Ø¿ô¤Ç¥Ü¡¼¥ë¤Î²ó¼ý¤ÈÀßÃÖ¤ò¹Ô¤¤¤Þ¤¹¡£¤³¤Î´Ø¿ô¤Ï´Ì¤¬¤¢¤ëÀþ¤ËÍ褿»þ¤ËÈô¤Ó½Ð¤µ¤ì¡¢Ä¶²»ÇÈ¥»¥ó¥µ¡¼¤Çµ÷Î¥¤ò¬¤ê¤Ê¤¬¤é°ìÄê¤ÎŤµ¤ËÍè¤ë¤Þ¤Ç¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¤Æ´Ì¤Ë¶á¤Å¤¤¤Æ¤¤¤¤Þ¤¹¡£°ìÄê¤Îµ÷Î¥¤ËÍ褿¤é¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤ä¤á¤Þ¤¹¡£¤·¤«¤·¡¢Ä¶²»ÇÈ¥»¥ó¥µ¡¼¤ÎÅÔ¹ç¤Ç´°Á´¤Ë¥í¥Ü¥Ã¥È¤¬´Ì¤ËÀܶá¤Ç¤¤Æ¤¤¤Ê¤¤¤Î¤Ç¤½¤ÎÄ´À°¤ò¤·¡¢¤½¤Î¸å²ó¼ý¤Ê¤Î¤«ÀßÃ֤ʤΤ«¤ò°ú¿ô¤«¤éȽÃǤ·¡¢¥¢¡¼¥à¤òÆ°¤«¤·¤Þ¤¹¡£¥¢¡¼¥à¤ÎÆ°ºî¤¬½ªÎ»¤·¤¿¤é¼¡¤Îºî¶È¤Î¤¿¤á¤ËU¥¿¡¼¥ó¤·¤Ê¤¤¤È¤¤¤±¤Ê¤¤¤Î¤Ç¤¹¤¬¡¢º£²ó¤Î²ÝÂê¤Ç¤Ï´Ì¤Ë¥í¥Ü¥Ã¥È¤¬¤Ö¤Ä¤«¤Ã¤Æ´Ì¤òÆ°¤«¤·¤Æ¤·¤Þ¤¦¤È¸ºÅÀ¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤¦¤Î¤Ç°ìö¥Ð¥Ã¥¯¤ò¤·¤¢¤¿¤é¤Ê¤¤µ÷Î¥¤Þ¤ÇÎ¥¤ì¤Æ¤«¤éU¥¿¡¼¥ó¤ò¤¹¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£ *** ª¥Þ¥Ã¥×´Ø¿ô [#q841576d] ÀìÍѤΥޥåפò¥×¥í¥°¥é¥à¤Ç´ÉÍý¤·¤Æ¤¤¤¯¤¿¤á¤Î´Ø¿ô¤òºîÀ®¤·¡¢¥í¥Ü¥Ã¥È¤ÎÆ°¤¤ò·èÄꤹ¤ë¤è¤¦¤Ë¤·¤Þ¤¹¡£¤Þ¤º¥Þ¥Ã¥×¤Ë¤¢¤ëÅÀA¡ÁÅÀP¤Þ¤Ç¤ò2¤Ä¤Ëʬ¤±¤Þ¤¹¡£ + ´Ì¤¬ÀßÃÖ¤·¤Æ¤¢¤ëÅÀ¡ÊA,G,H,L,N,P¡Ë + Ãæ´ÖÅÀ¤Þ¤¿¤Ïʬ´ôÅÀ~ - ´Ì¤¬ÀßÃÖ¤·¤Æ¤¢¤ëÅÀ¤ËÍ褿¤È¤¤¤¦¤³¤È¤Ï¥Ü¡¼¥ë¤Î²ó¼ý¤Þ¤¿¤ÏÀßÃÖ¤ò¤·½ª¤¨¼¡¤Î´Ì¤Î¤È¤³¤í¤Ë¸þ¤«¤¤¤Þ¤¹¡£¤Ê¤Î¤Ç¤³¤ÎÅÀ¤Î¥×¥í¥°¥é¥à¡ÊÎã¤È¤·¤ÆÅÀA¤Î¥×¥í¥°¥é¥à¡Ë¤ÇÀâÌÀ¤·¤Æ¤¤¤¤Þ¤¹¡£ def point_a(stas): print("a") root=accomand(linekizyun(1,4),1,0,30) root.sendcomand() stas.stt="yl" if not (ts.is_pressed): point_b(stas) -- ÅÀA¤Î¼¡¤ÎÅÀ¤Ç¤¢¤ëB¤Ë¸þ¤«¤¦¤¿¤á¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¤¤Þ¤¹ root=accomand(linekizyun(1,4),1,0,30) root.sendcomand() -- ÅÀA¤Ç²ó¼ý¤·¤¿¥Ü¡¼¥ë¤òÅÀL¤ËÃÖ¤¤Ë¹Ô¤¯¤¿¤á¥í¥Ü¥Ã¥È¤ÎID¤ò¡Öyl¡×¤ËÀßÄꤷ¤Þ¤¹¡£ stas.stt="yl" -- ÅÀA¤Ç¤Î½èÍý¤¬½ª¤ï¤Ã¤¿¤Î¤Ç¼¡¤ÎÅÀ¤Ç¤¢¤ëÅÀB¤Î´Ø¿ô¤ò¸Æ¤Ó½Ð¤·¤Þ¤¹ if not (ts.is_pressed): point_b(stas) - Ãæ´ÖÅÀ¤Þ¤¿¤Ïʬ´ôÅÀ¤Ç¤Ï¥í¥Ü¥Ã¥È¤ÎID¤Ë±þ¤¸¤Æ¼¡¤ÎÅÀ¤È¹ÔÆ°¤ò·èÄꤷ¤Þ¤¹¡£¤³¤ÎÅÀ¤Ç¤Î¥×¥í¥°¥é¥à¡ÊÎã¤È¤·¤ÆÅÀB¤Î¥×¥í¥°¥é¥à¡Ë¤ÇÀâÌÀ¤·¤Æ¤¤¤¤Þ¤¹¡£ def point_b(stas): print("b") if stas.stt in "xa": ballaction(0) if not (ts.is_pressed): point_a(stas) elif stas.stt in "y" or "xg" or "xh": root=accomand(linekizyun(2,1),0,0,30) root.sendcomand() if not (ts.is_pressed): point_c(stas) -- ÅÀB¤Ç¤ÏID¤¬¡Öxa¡×¤Î»þ¤ÏÅÀA¤Ë¿Ê¤ß¡¢ID¡Öy_¡×,¡Öxg¡×,¡Öxh¡×¤Î»þ¤ÏÅÀC¤Ë¿Ê¤ß¤Þ¤¹¡£¤³¤Î»þÅÀÅÀA¤Ë¿Ê¤à¤È¤¤Ï¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¤Î¤Ç¤Ï¤Ê¤¯¡¢¥Ü¡¼¥ë¤Î²ó¼ýÍѤδؿô¤ò¸Æ¤Ó½Ð¤·¤Þ¤¹¡£ - ¤³¤Î2¼ïÎà¤ÎÅÀ¤ò»È¤¤¤¹¤Ù¤Æ¤ÎÅÀ¤Î´Ø¿ô¤òºîÀ®¤·¤Þ¤¹¡£¤¹¤Ù¤Æ¤Î´Ø¿ô¤òÄêµÁ¤¹¤ë¤³¤È¤Ç¥Þ¥Ã¥×¤¬ºîÀ®¤Ç¤¡¢¹ÔÆ°¤ò½çÈ֤˸ƤӽФµ¤ì¤Æ¤¤¤¯¤³¤È¤¬¤Ç¤¤Þ¤¹¡£ *** «±¿È½ªÎ»ÍÑ´Ø¿ô [#t7422e7d] def point_m(stas): print("m") if stas.stt in "yp": root=accomand(linekizyun(1,4),3,0,30) root.sendcomand() if not (ts.is_pressed): point_o(stas) elif stas.stt in "yn": ballaction(1) if not (ts.is_pressed): endd() stas.stt="ee" elif stas.stt in "xa" or "xh": root=accomand(linekizyun(1,2),1,2,30) root.sendcomand() if not (ts.is_pressed): point_i(stas) def endd(): snd.speak("finish") ª¤ÇÀâÌÀ¤·¤¿¥Þ¥Ã¥×¤Î´Ø¿ô¤Ç¤Ï1Âæ¤Ç3¤Ä¤Î¥Ü¡¼¥ë¤Î±¿È¤ò¤Ç¤¤ë¤è¤¦¤Ë¤·¤Æ¤¤¤Þ¤¹¡£¤Ç¤¹¤¬¡¢ËÜÈÖ¤Ï2Âæ¤Ç3¤Ä¤Î¥Ü¡¼¥ë¤Î±¿È¤ò¤¹¤ë¤¿¤á¡¢¥Þ¥Ã¥×´Ø¿ô¤Î½Û´Ä¤«¤éÈ´¤±½Ð¤·¤Æ¥×¥í¥°¥é¥à¤ò½ªÎ»¤¹¤ëɬÍפ¬¤¢¤ê¤Þ¤¹¡£¥×¥í¥°¥é¥à¤ò½ªÎ»ÊýË¡¤Ï¡¢¸½ºß¤ÎÅÀ¤Ç¤Î½èÍý¤ò½ªÎ»¤·¼¡¤ÎÅÀ¤Î´Ø¿ô¤ò¸Æ¤Ó½Ð¤¹Éôʬ¤òºï½ü¤·¡¢¤½¤ÎºÝ¤½¤ì¤¬¤ï¤«¤ë¤è¤¦¤ËEV3¤«¤é²»À¼¤ò½Ð¤¹¤è¤¦¤Ë¤·¤Þ¤¹¡£¤Þ¤¿ËÜÍè¤Ê¤é¤³¤ì¤À¤±¤Ç¤¤¤¤¤Î¤Ç¤¹¤¬¡¢¤Ê¤¼¤«¥í¥Ü¥Ã¥È¤ÎID¤òÊѹ¹¤·¤Ê¤¤¤È¤¦¤Þ¤¯½ªÎ»¤·¤Æ¤¯¤ì¤Ê¤¤¤Î¤ÇID¤ò´Ø·¸¤Ê¤¤¤â¤Î¤Ë½ñ¤¤«¤¨¤Þ¤¹¡£¤³¤¦¤¹¤ë¤³¤È¤Ç±¿È¤ò½ªÎ»¤Ç¤¤Þ¤¹¡£ *** ¬¥á¥¤¥ó¥×¥í¥°¥é¥à [#u379c5d1] def main(): snd.speak("start") lobo=st() point_j(lobo) snd.beep() if __name__ == '__main__': main() ¥×¥í¥°¥é¥à¤¬µ¯Æ°¤·¤¿¤Î¤ò¤ï¤«¤ê¤ä¤¹¤¯¤¹¤ë¤¿¤á¤Ë¤¤¤Ã¤¿¤ó²»À¼¤¬½Ð¤ë¤è¤¦¤Ë¤·¡¢¤½¤Î¸å¥í¥Ü¥Ã¥È¤ÎID¤ÎÀßÄê¤È¡¢¥Þ¥Ã¥×´Ø¿ô¤Î¸Æ¤Ó½Ð¤·¤ò¤·¤Þ¤¹¡£¤³¤³¤Ç¤Ï¡Öpoint_j¡×¤È¤Ê¤Ã¤Æ¤¤¤Þ¤¹¤¬¡¢¤â¤¦°ìÊý¤Î¥í¥Ü¥Ã¥È¤Ç¤Ï¤³¤ÎÉôʬ¤Ï¡Öpoint_b¡×¤Ë¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£¤³¤ì¤Ï¥¹¥¿¡¼¥È°ÌÃÖ¤¬°ã¤Ã¤Æ¤¤¤ë¤¿¤á¤ÎÂбþ¤Ë¤Ê¤ê¤Þ¤¹¡£ºÇ¸å¤Ë¥Þ¥Ã¥×´Ø¿ô¤¬½ªÎ»¤·´°Á´¤Ë¥×¥í¥°¥é¥à¤Î½èÍý¤¬½ªÎ»¤·¤¿¤È¤¤¤¦¿®¹æ¤È¤·¤Æ¥Ó¡¼¥×²»¤òÌĤ餷¤Þ¤¹¡£ ** ¥×¥í¥°¥é¥à¤Î¤Þ¤È¤á [#da77f4c5] ËÜÍ褳¤Î²ÝÂê¤Ç¤Ï2Âæ¤Î´Ö¤ÇÄÌ¿®¤·¤Ê¤¤¤È¤¤¤±¤Ê¤¤¤Î¤Ç¤¹¤¬¡¢ÄÌ¿®µ¡Ç½¤ÎÄɲäòÁÛÄꤻ¤º¤Ë¥×¥í¥°¥é¥à¤òÁȤßΩ¤Æ¤¿¤¿¤á¾¯¤·°ì»þÄä»ß¤ò¤µ¤»¤¿¤ê¤È¤¤¤Ã¤¿ÈùÄ´À°¤À¤±¤Ç2Âæ¤Ç¤Îºî¶È¤¬¤Ç¤¤Æ¤·¤Þ¤Ã¤¿¤³¤È¤ä¡¢¥Þ¥Ã¥×¤Î¥·¥¹¥Æ¥à¤ÎºîÀ®¤ËÆñ¹Ò¤·¤Æ¤·¤Þ¤¤¤Ç¤¤¿¤³¤í¤Ë¤ÏÄÌ¿®µ¡Ç½¤ò¤Ä¤±¤ë¤è¤¦¤Ê»þ´Ö¤Î;͵¤¬¤Ê¤¯¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¤Ê¤É¤ÎÍýͳ¤Ç2Âæ¤ÎÄÌ¿®¤ò¹Ô¤¤¤Þ¤»¤ó¤Ç¤·¤¿¡£ËÜÅö¤Ê¤é¤ÐÄÌ¿®µ¡Ç½¤ò»È¤Ã¤Æ¤â¤Ã¤È¶Å¤Ã¤¿¤³¤È¤ò¤·¤è¤¦¤È¤·¤Æ¤¤¤¿¤Î¤Ç¤¹¤¬¡¢»ÄÇ°¤Ê¤¬¤é¤Ç¤¤Þ¤»¤ó¤Ç¤·¤¿¡£ * ·ë²Ì [#jff54c82] ËÜÈ֤Ǥϥí¥Ü¥Ã¥ÈËÜÂÎ¤È¥×¥í¥°¥é¥à¤ÎξÊý¤¬¤¦¤Þ¤¯¤Ç¤¤Æ¤¤¤¿¤Î¤«¡¢²ÝÂê¤Ç¤¢¤ë3¤Ä¤Î¥Ü¡¼¥ë¤Î±¿È¤ò¤¹¤Ù¤Æ¹Ô¤¦¤³¤È¤¬¤Ç¤¤Þ¤·¤¿¡£¤Ç¤¹¤¬¡¢Ä¶²»ÇÈ¥»¥ó¥µ¡¼¤¬¤¦¤Þ¤¯È¿±þ¤·¤Ê¤«¤Ã¤¿¤Î¤«1¤Ä¤Î´Ì¤À¤±ÁÛÄêÄ̤ꤤ¤«¤º´Ì¤¬±ß¤Î³°Â¦¤Ë¤Ï¤ß½Ð¤·¤Æ¤·¤Þ¤¤¤Þ¤·¤¿¡£¤â¤·¤«¤·¤¿¤é¥Ñ¡¼¥Õ¥§¥¯¥È¤¬¼è¤ì¤¿¤«¤â¤·¤ì¤Ê¤«¤Ã¤¿¤Î¤Ç¾¯¤·»ÄÇ°¤Ç¤¹¤¬¡¢¥í¥Ü¥³¥ó¤Ç1°Ì¤Ë¤Ê¤ì¤¿¤Î¤Ç´èÄ¥¤Ã¤¿¤«¤¤¤¬¤¢¤Ã¤¿¤È»×¤¤¤Þ¤¹¡£