2016a/Member/KAIYMB/Mission2
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[[2016a/Member]]
#contents
*½é¤á¤Ë [#p0942013]
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CÃÏÅÀ¤ò½Ðȯ¢ªSÃÏÅÀ¤òº¸ÀÞ¢ªPÃÏÅÀ¤òº¸ÀÞQÃÏÅÀ¤òľ¿Ê¢ªQÃÏÅÀ¤òľ¿Ê¢ªRÃÏÅÀ¤òº¸ÀÞ¢ªPÃÏÅÀ¤òº¸ÀÞ¢ªAÃÏÅÀ¤ËÅþÃå
*¥×¥í¥°¥é¥ß¥ó¥°¤Ë¤Ä¤¤¤Æ [#z69754a6]
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m = ev3.LargeMotor('outA')
n = ev3.LargeMotor('outB')
cs = ev3.ColorSensor('in1')
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def trace(x):
t0 = time.time()
while time.time() - t0 < x:
if cs.value () > 30:
m.run_forever(duty_cycle_sp=-30)
n.run_forever(duty_cycle_sp=20)
t0 = time.time()
elif cs.value () >= 10:
m.run_forever(duty_cycle_sp=45)
n.run_forever(duty_cycle_sp=45)
t0 = time.time()
else:
m.run_forever(duty_cycle_sp=20)
n.run_forever(duty_cycle_sp=-30)
xÉôֹõ¤òǧ¼±¤·¤¿¤È¤¤Ëº¸ÀÞ¤¹¤ë¤è¤¦¤ÊÆ°¤¤ò¸«¤»¤Æ»ß¤Þ¤ë¤è¤¦¤Ë¤·¤Æ¤¢¤ë¡£x¤òÊѹ¹¤¹¤ë¤³¤È¤Ç¡¢ºÙ¤«¤¤Àû²ó¤¬É¬ÍפʤȤ³¤í¤Ç¸òº¹ÅÀ¤È¸íǧ¤·¤Ê¤¤¤è¤¦¤Ë¤·¤¿¡£
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def turnR():
m.run_forever(duty_cycle_sp=-50)
n.run_forever(duty_cycle_sp=20)
time.sleep(0.825)
m.run_forever(duty_cycle_sp=40)
n.run_forever(duty_cycle_sp=40)
time.sleep(0.9)
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def turnL():
m.run_forever(duty_cycle_sp=20)
n.run_forever(duty_cycle_sp=-30)
time.sleep(0.6)
m.run_forever(duty_cycle_sp=40)
n.run_forever(duty_cycle_sp=40)
time.sleep(0.425)
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def straight(x,y):
m.run_forever(duty_cycle_sp=x)
n.run_forever(duty_cycle_sp=y)
time.sleep(0.225)
¡¤ËµºÜ¤·¤¿¤¬¡¢¸òº¹ÅÀ¤òǧÃΤ·¤¿¤È¤¤Ëº¸ÀÞ¤ò¤¹¤ë¤è¤¦¤ÊÆ°¤¤ò¼è¤ê¡¢¤Þ¤¿¸òº¹ÅÀ¤Èǧ¼±¤¹¤ë¤Þ¤Ç¤Ë¤«¤«¤ë»þ´Ö¤ÎÀßÄ꤬°Û¤Ê¤ë¤¿¤á¡¢Ä¾¿Ê¤¹¤ëÆ°¤¤¬»Ï¤Þ¤ë°ÌÃÖ¤¬¤½¤Î»þ¡¹¤Ë¤è¤Ã¤Æ°Û¤Ê¤ë¡£¤½¤Î¤¿¤á¡¢¤½¤ì¤Ë¹ç¤ï¤»¤Æ±¦ÎؤȺ¸ÎؤΥ¹¥Ô¡¼¥É¤òÄ´À᤹¤ë¤è¤¦¤Ë¤·¤¿¡£
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trace(0.225)
turnL()
trace(0.225)
turnL()
trace(0.24)
straight(30,40)
trace(0.245)
straight(35,30)
trace(0.235)
turnR()
trace(0.225)
turnL()
trace(0.23)
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straight(70,70)
m.stop
n.stop
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[[2016a/Member]]
#contents
*½é¤á¤Ë [#p0942013]
¡¡»ä¤¿¤Á¤Ï²ÝÂ꣱ƱÍÍEV3¤ËTera Term¤ò»ÈÍѤ¹¤ë¤³¤È¤ÇWindowsOS¤Î¤Þ¤Þ¤ÇÀܳ¤·¤Æ¤¤¤ë¡£¤Þ¤¿¥×¥í¥°¥é¥ß¥ó¥°¸À¸ì¤âÁ°²óƱÍÍPython¤ò»ÈÍѤ·¤Æ¤¤¤ë¡£
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CÃÏÅÀ¤ò½Ðȯ¢ªSÃÏÅÀ¤òº¸ÀÞ¢ªPÃÏÅÀ¤òº¸ÀÞQÃÏÅÀ¤òľ¿Ê¢ªQÃÏÅÀ¤òľ¿Ê¢ªRÃÏÅÀ¤òº¸ÀÞ¢ªPÃÏÅÀ¤òº¸ÀÞ¢ªAÃÏÅÀ¤ËÅþÃå
*¥×¥í¥°¥é¥ß¥ó¥°¤Ë¤Ä¤¤¤Æ [#z69754a6]
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m = ev3.LargeMotor('outA')
n = ev3.LargeMotor('outB')
cs = ev3.ColorSensor('in1')
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def trace(x):
t0 = time.time()
while time.time() - t0 < x:
if cs.value () > 30:
m.run_forever(duty_cycle_sp=-30)
n.run_forever(duty_cycle_sp=20)
t0 = time.time()
elif cs.value () >= 10:
m.run_forever(duty_cycle_sp=45)
n.run_forever(duty_cycle_sp=45)
t0 = time.time()
else:
m.run_forever(duty_cycle_sp=20)
n.run_forever(duty_cycle_sp=-30)
xÉôֹõ¤òǧ¼±¤·¤¿¤È¤¤Ëº¸ÀÞ¤¹¤ë¤è¤¦¤ÊÆ°¤¤ò¸«¤»¤Æ»ß¤Þ¤ë¤è¤¦¤Ë¤·¤Æ¤¢¤ë¡£x¤òÊѹ¹¤¹¤ë¤³¤È¤Ç¡¢ºÙ¤«¤¤Àû²ó¤¬É¬ÍפʤȤ³¤í¤Ç¸òº¹ÅÀ¤È¸íǧ¤·¤Ê¤¤¤è¤¦¤Ë¤·¤¿¡£
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def turnR():
m.run_forever(duty_cycle_sp=-50)
n.run_forever(duty_cycle_sp=20)
time.sleep(0.825)
m.run_forever(duty_cycle_sp=40)
n.run_forever(duty_cycle_sp=40)
time.sleep(0.9)
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def turnL():
m.run_forever(duty_cycle_sp=20)
n.run_forever(duty_cycle_sp=-30)
time.sleep(0.6)
m.run_forever(duty_cycle_sp=40)
n.run_forever(duty_cycle_sp=40)
time.sleep(0.425)
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def straight(x,y):
m.run_forever(duty_cycle_sp=x)
n.run_forever(duty_cycle_sp=y)
time.sleep(0.225)
¡¤ËµºÜ¤·¤¿¤¬¡¢¸òº¹ÅÀ¤òǧÃΤ·¤¿¤È¤¤Ëº¸ÀÞ¤ò¤¹¤ë¤è¤¦¤ÊÆ°¤¤ò¼è¤ê¡¢¤Þ¤¿¸òº¹ÅÀ¤Èǧ¼±¤¹¤ë¤Þ¤Ç¤Ë¤«¤«¤ë»þ´Ö¤ÎÀßÄ꤬°Û¤Ê¤ë¤¿¤á¡¢Ä¾¿Ê¤¹¤ëÆ°¤¤¬»Ï¤Þ¤ë°ÌÃÖ¤¬¤½¤Î»þ¡¹¤Ë¤è¤Ã¤Æ°Û¤Ê¤ë¡£¤½¤Î¤¿¤á¡¢¤½¤ì¤Ë¹ç¤ï¤»¤Æ±¦ÎؤȺ¸ÎؤΥ¹¥Ô¡¼¥É¤òÄ´À᤹¤ë¤è¤¦¤Ë¤·¤¿¡£
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trace(0.225)
turnL()
trace(0.225)
turnL()
trace(0.24)
straight(30,40)
trace(0.245)
straight(35,30)
trace(0.235)
turnR()
trace(0.225)
turnL()
trace(0.23)
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straight(70,70)
m.stop
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