2017b/Member/hakuwa/Mission3
をテンプレートにして作成
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開始行:
#contents
今回は紙コップとピンポン玉を運び既定の位置に置くロボット...
ルールはhttp://yakushi.shinshu-u.ac.jp/robotics/?2017b%2F...
**ロボット [#r8de61a3]
*第一段階 [#sffe76aa]
課題をこなすためのロボットとして、二台同時に走らせ効率的...
そのため各班に与えられた六つのモータを二つに分け三つで作...
#ref(./daiitidankaia-mu.jpg,80%)
#ref(./daiitidankaia-mu (2).jpg,80%)
画像のように歯車を使うことで片方を開閉させ持ち上げること...
ろ誤差が大きくうまく作動しなかった
*第二段階 [#l7c1467e]
第一段階でうまくいかなかったので一台にまとめることにした...
#ref(./dai2dankaia-mu.jpg,80%)
画像のようにつかむ部分をモータにして、モータのついていな...
#ref(./daiitidankaidodai.jpg,80%)
車体部分も超音波センサーを縦につけることで誤差を軽減させ...
#ref(./dainidankai.jpg,80%)
しかしながらいざつけてみると画像のようにアームのモータが...
*第三段階 [#wb9b1524]
第二段階でアームをつかむ部分にモータをつけると重くなるこ...
#ref(./daisandankaikitai-5.jpg,80%)
画像のように軸に方向を変換できる歯車をつけることで軸が回...
#ref(./daisandankaidodai.jpg,80%)
車体はキットの説明書に載っているものを改良し、センサを取...
#ref(./daisandankaikitai-4.jpg,80%)
アームと車体をつなげたものアームの先端にゴムの部品をつけ...
#ref(./daisandankaikitai-3.jpg,80%)
#ref(./daisanndankaikitai-2.jpg,80%)
アームが開いた状態と持ち上がった状態。これでうまくいくか...
*第四段階 [#w6f33c7e]
基礎となる部分が第三段階でできたので問題点を改良しそれを...
#ref(./daisandannkaikitai.jpg,80%)
画像のようにアームのつかむ部分に棒を刺しそこにゴムをつけ...
*プログラミング [#i19ac945]
今回プログラミングはチームメイトが行ってくれたので詳しく...
**概略 [#m9cc5ee5]
#ref(./2017b-mission3.png,80%)
今回は機体を二台に分け赤ラインを一号車、緑ラインを二号車...
**プログラミング [#fa6f63e6]
ここではプログラムの概略だけ説明する。今回ライントレース...
import ev3dev.ev3 as ev3
import time
defnite constants, instance, function
mr = ev3.LargeMotor('outC')
assert mr.connected, "Connect right large motor to port C"
ml = ev3.LargeMotor('outA')
assert ml.connected, "Connect left large motor to port A"
arm = ev3.MediumMotor('outB')
assert arm.connected, "Connect arm medium motor to port B"
cs = ev3.ColorSensor()
assert cs.connected, "Connect a color sensor to any sens...
cs.mode = 'COL-REFLECT'
us = ev3.UltrasonicSensor()
assert us.connected, "Connect a color sensor to any sens...
us.mode = 'US-DIST-CM'
position_sp_to_angle = 1.55
target_val = 50
std_speed = 22
kp = std_speed*0.04
position_sp_to_cm = 20.05
intersection_time = 0.23/1.8
angle_stabilization_time = 0.3*1.8
def run_until_intersection(edge):
'If it find intersection,it will beep.'
global global_edge
global_edge = edge
start_time = time.time()
for motor in mr, ml:
motor.run_direct()
while time.time()-start_time <= intersection_time:
line_following(edge)
if 10 < cs.value() < 100:
start_time = time.time()
ev3.Sound.beep()
while abs(cs.value()-target_val) > 10:
line_following(edge)
for motor in mr, ml:
motor.stop(stop_action='brake')
def line_following(edge):
'It is used by other function'
if edge == 'left_edge':
p = (cs.value()-target_val)*kp
elif edge == 'right_edge':
p = (target_val-cs.value())*kp
else:
print('invailed edge')
if p > 0:
mr.duty_cycle_sp = std_speed-p
ml.duty_cycle_sp = std_speed
elif p <= 0:
mr.duty_cycle_sp = std_speed
ml.duty_cycle_sp = std_speed+p
def change_following_edge():
'It is used,when you wanna change following edge'
line_adjust_by_time(global_edge)
if global_edge == 'right_edge':
circle(90)
move(2)
circle(-90)
elif global_edge == 'left_edge':
circle(-90)
move(2)
circle(90)
def move(distance):
'The argument means cm distance.You can use negative...
for motor in mr, ml:
motor.run_to_rel_pos(position_sp=distance*positi...
speed_sp=std_speed*5,
stop_action='brake')
for motor in mr, ml:
motor.wait_while('running')
def circle(rotation_angle):
'Counterclockwise is positive,like math'
if rotation_angle < 0:
signs = [-1, 1]
elif rotation_angle >= 0:
signs = [1, -1]
for motor, sign in zip([mr, ml], signs):
motor.run_to_rel_pos(position_sp=sign*abs(rotati...
speed_sp=std_speed*5,
stop_action='brake')
for motor in mr, ml:
motor.wait_while('running')
def intersection_go_straight():
'It is used,when it find a intersection'
if global_edge == 'left_edge':
circle(-70*1.2)
elif global_edge == 'right_edge':
circle(70*1.2)
for motor in mr, ml:
motor.run_direct()
while abs(cs.value()-target_val) > 10:
line_following(global_edge)
for motor in mr, ml:
motor.stop(stop_action='brake')
def intersection_turn_right():
'It is used,when it find a intersection'
if global_edge == 'left_edge':
circle(-145)
move(2)
def intersection_turn_left():
'It is used,when it find a intersection'
if global_edge == 'right_edge':
circle(145)
move(2)
def init_arm():
'pos_positive: to inside, pos_negative: to outside'
arm.reset() # del stop_action='hold'
input('Press Enter to initialize closed arm position')
arm.reset()
def arm_open():
'You must run init_arm() beforehand'
arm.run_to_abs_pos(position_sp=200,
speed_sp=std_speed*5,
stop_action="hold")
arm.wait_while("running")
def cup_catch():
'You must run init_arm() beforehand'
mr.run_forever(speed_sp=std_speed*5)
ml.run_forever(speed_sp=std_speed*5)
while us.value() > 50:
pass
for motor in mr, ml:
motor.stop(stop_action='brake')
move(5)
arm.run_to_abs_pos(position_sp=0,
speed_sp=std_speed*5,
stop_action="hold")
arm.wait_while("running")
move(-5)
def cup_a_little_lift():
'You must run init_arm() beforehand'
arm.run_to_abs_pos(position_sp=-42,
speed_sp=std_speed*5,
stop_action="hold")
arm.wait_while("running")
def cup_lift():
'You must run init_arm() beforehand'
arm.run_to_abs_pos(position_sp=-230,
speed_sp=std_speed*5,
stop_action="hold")
arm.wait_while("running")
def search_min_d(search_time=4.5, i=1):
'if i=1 hantokeimawari,i=-1tokeimawari'
'serch minimum distance and face the angle'
if i == 1:
sign = [1, -1]
elif i == -1:
sign = [-1, 1]
min_d = 500
start_time = time.time()
mr.run_forever(speed_sp=sign[0]*std_speed*5)
ml.run_forever(speed_sp=sign[1]*std_speed*5)
while time.time()-start_time < search_time:
if min_d > us.value():
min_d = us.value()
for motor in mr, ml:
motor.stop(stop_action='brake')
start_time = time.time()
mr.run_forever(speed_sp=sign[1]*std_speed*5)
ml.run_forever(speed_sp=sign[0]*std_speed*5)
while time.time()-start_time < search_time:
if us.value() <= min_d:
for motor in mr, ml:
motor.stop(stop_action='brake')
return
for motor in mr, ml:
motor.stop(stop_action='brake')
search_min_d(search_time)
def line_adjust_by_edge(edge):
'it is used for avoid misditect as intersection'
for motor in mr, ml:
motor.run_direct()
while abs(cs.value()-target_val) > 10:
line_following(edge)
for motor in mr, ml:
motor.stop(stop_action='brake')
def line_adjust_by_time(edge, stab_time=angle_stabilizat...
'it is used for make it parallel to the line'
for motor in mr, ml:
motor.run_direct()
start_time = time.time()
while time.time()-start_time < stab_time:
line_following(edge)
for motor in mr, ml:
motor.stop(stop_action='brake')
def run_until_line():
'finding line,stops.'
for motor in mr, ml:
motor.run_forever(speed_sp=std_speed*5)
while abs(cs.value()-target_val) > 10:
pass
for motor in mr, ml:
motor.stop(stop_action='brake')
一号車はライントレース、コップをつかむ、xに行く、コップを...
def arm_set():
a = input('w, s')
while a in {'w', 's'}:
if a == 'w':
arm.run_timed(time_sp=0.1*1000, speed_sp=200...
arm.wait_while('running')
elif a == 's':
arm.run_timed(time_sp=0.1*1000, speed_sp=-20...
arm.wait_while('running')
a = input('w, s')
'''
def mqtt_send(x): #値を送信
position = x #位置情報をアルファベットで送信
client.publish("position", position) # "position"と...
print("send_position_"+x)
'''
def main():
#client.connect("10.60.2.156",1883, 60) # ブローカに...
line_adjust_by_time('left_edge', 1.3)
run_until_intersection('left_edge')
intersection_turn_left()
change_following_edge()
run_until_intersection('right_edge')
intersection_turn_right()
line_adjust_by_time('right_edge', 1)
run_until_intersection('right_edge')
circle(145) # intersection,change direction
arm_open()
move(-4)
search_min_d(1)
cup_catch()
circle(-105)
move(1)
line_adjust_by_time('left_edge', 1)
circle(-20)
run_until_intersection('left_edge')
cup_a_little_lift()
move(4)
circle(35)
move(5)
cup_a_little_lift()
move(10)
cup_lift()
circle(-30)
move(-5)
search_min_d(1, -1)
cup_catch()
arm_open()
cup_a_little_lift()
circle(60)
cup_lift()
circle(-140)
arm_open()
move(-4)
circle(-90)
#mqtt_send(1)
move(50)
#client.disconnect() # 切断
if __name__ == '__main__':
arm_set()
init_arm()
main()
二号車は画像下の紙コップをとる、xに行く、ピンポン玉を落と...
rom def_green_v016 import *
def arm_set():
a = input('w, s')
while a in {'w', 's'}:
if a == 'w':
arm.run_timed(time_sp=0.25*1000, speed_sp=20...
arm.wait_while('running')
elif a == 's':
arm.run_timed(time_sp=0.25*1000, speed_sp=-2...
arm.wait_while('running')
a = input('w, s')
def main()
run_until_line()
move(4)
line_adjust_by_edge('right_edge')
run_until_intersection('right_edge')
circle(33)
arm_open()
search_min_d(0.8)
cup_catch()
circle(-160)
line_adjust_by_edge('left_edge')
run_until_intersection('left_edge')
intersection_turn_left()
line_adjust_by_time('left_edge', 1.3)
cup_a_little_lift()
move(5)
cup_lift()
move(-50)
line_adjust_by_time('left_edge', 5)
run_until_intersection('left_edge')
move(15)
circle(35*1.2)
line_adjust_by_edge('left_edge')
line_adjust_by_time('left_edge', 3)
run_until_intersection('left_edge')
intersection_turn_left()
run_until_intersection('left_edge')
circle(-27)
arm_open()
if __name__ == '__main__':
arm_set()
init_arm()
main()
*結果 [#vcf79bb0]
今回自分たちのチームは基本点8技術点10.7で総合2位だった。...
終了行:
#contents
今回は紙コップとピンポン玉を運び既定の位置に置くロボット...
ルールはhttp://yakushi.shinshu-u.ac.jp/robotics/?2017b%2F...
**ロボット [#r8de61a3]
*第一段階 [#sffe76aa]
課題をこなすためのロボットとして、二台同時に走らせ効率的...
そのため各班に与えられた六つのモータを二つに分け三つで作...
#ref(./daiitidankaia-mu.jpg,80%)
#ref(./daiitidankaia-mu (2).jpg,80%)
画像のように歯車を使うことで片方を開閉させ持ち上げること...
ろ誤差が大きくうまく作動しなかった
*第二段階 [#l7c1467e]
第一段階でうまくいかなかったので一台にまとめることにした...
#ref(./dai2dankaia-mu.jpg,80%)
画像のようにつかむ部分をモータにして、モータのついていな...
#ref(./daiitidankaidodai.jpg,80%)
車体部分も超音波センサーを縦につけることで誤差を軽減させ...
#ref(./dainidankai.jpg,80%)
しかしながらいざつけてみると画像のようにアームのモータが...
*第三段階 [#wb9b1524]
第二段階でアームをつかむ部分にモータをつけると重くなるこ...
#ref(./daisandankaikitai-5.jpg,80%)
画像のように軸に方向を変換できる歯車をつけることで軸が回...
#ref(./daisandankaidodai.jpg,80%)
車体はキットの説明書に載っているものを改良し、センサを取...
#ref(./daisandankaikitai-4.jpg,80%)
アームと車体をつなげたものアームの先端にゴムの部品をつけ...
#ref(./daisandankaikitai-3.jpg,80%)
#ref(./daisanndankaikitai-2.jpg,80%)
アームが開いた状態と持ち上がった状態。これでうまくいくか...
*第四段階 [#w6f33c7e]
基礎となる部分が第三段階でできたので問題点を改良しそれを...
#ref(./daisandannkaikitai.jpg,80%)
画像のようにアームのつかむ部分に棒を刺しそこにゴムをつけ...
*プログラミング [#i19ac945]
今回プログラミングはチームメイトが行ってくれたので詳しく...
**概略 [#m9cc5ee5]
#ref(./2017b-mission3.png,80%)
今回は機体を二台に分け赤ラインを一号車、緑ラインを二号車...
**プログラミング [#fa6f63e6]
ここではプログラムの概略だけ説明する。今回ライントレース...
import ev3dev.ev3 as ev3
import time
defnite constants, instance, function
mr = ev3.LargeMotor('outC')
assert mr.connected, "Connect right large motor to port C"
ml = ev3.LargeMotor('outA')
assert ml.connected, "Connect left large motor to port A"
arm = ev3.MediumMotor('outB')
assert arm.connected, "Connect arm medium motor to port B"
cs = ev3.ColorSensor()
assert cs.connected, "Connect a color sensor to any sens...
cs.mode = 'COL-REFLECT'
us = ev3.UltrasonicSensor()
assert us.connected, "Connect a color sensor to any sens...
us.mode = 'US-DIST-CM'
position_sp_to_angle = 1.55
target_val = 50
std_speed = 22
kp = std_speed*0.04
position_sp_to_cm = 20.05
intersection_time = 0.23/1.8
angle_stabilization_time = 0.3*1.8
def run_until_intersection(edge):
'If it find intersection,it will beep.'
global global_edge
global_edge = edge
start_time = time.time()
for motor in mr, ml:
motor.run_direct()
while time.time()-start_time <= intersection_time:
line_following(edge)
if 10 < cs.value() < 100:
start_time = time.time()
ev3.Sound.beep()
while abs(cs.value()-target_val) > 10:
line_following(edge)
for motor in mr, ml:
motor.stop(stop_action='brake')
def line_following(edge):
'It is used by other function'
if edge == 'left_edge':
p = (cs.value()-target_val)*kp
elif edge == 'right_edge':
p = (target_val-cs.value())*kp
else:
print('invailed edge')
if p > 0:
mr.duty_cycle_sp = std_speed-p
ml.duty_cycle_sp = std_speed
elif p <= 0:
mr.duty_cycle_sp = std_speed
ml.duty_cycle_sp = std_speed+p
def change_following_edge():
'It is used,when you wanna change following edge'
line_adjust_by_time(global_edge)
if global_edge == 'right_edge':
circle(90)
move(2)
circle(-90)
elif global_edge == 'left_edge':
circle(-90)
move(2)
circle(90)
def move(distance):
'The argument means cm distance.You can use negative...
for motor in mr, ml:
motor.run_to_rel_pos(position_sp=distance*positi...
speed_sp=std_speed*5,
stop_action='brake')
for motor in mr, ml:
motor.wait_while('running')
def circle(rotation_angle):
'Counterclockwise is positive,like math'
if rotation_angle < 0:
signs = [-1, 1]
elif rotation_angle >= 0:
signs = [1, -1]
for motor, sign in zip([mr, ml], signs):
motor.run_to_rel_pos(position_sp=sign*abs(rotati...
speed_sp=std_speed*5,
stop_action='brake')
for motor in mr, ml:
motor.wait_while('running')
def intersection_go_straight():
'It is used,when it find a intersection'
if global_edge == 'left_edge':
circle(-70*1.2)
elif global_edge == 'right_edge':
circle(70*1.2)
for motor in mr, ml:
motor.run_direct()
while abs(cs.value()-target_val) > 10:
line_following(global_edge)
for motor in mr, ml:
motor.stop(stop_action='brake')
def intersection_turn_right():
'It is used,when it find a intersection'
if global_edge == 'left_edge':
circle(-145)
move(2)
def intersection_turn_left():
'It is used,when it find a intersection'
if global_edge == 'right_edge':
circle(145)
move(2)
def init_arm():
'pos_positive: to inside, pos_negative: to outside'
arm.reset() # del stop_action='hold'
input('Press Enter to initialize closed arm position')
arm.reset()
def arm_open():
'You must run init_arm() beforehand'
arm.run_to_abs_pos(position_sp=200,
speed_sp=std_speed*5,
stop_action="hold")
arm.wait_while("running")
def cup_catch():
'You must run init_arm() beforehand'
mr.run_forever(speed_sp=std_speed*5)
ml.run_forever(speed_sp=std_speed*5)
while us.value() > 50:
pass
for motor in mr, ml:
motor.stop(stop_action='brake')
move(5)
arm.run_to_abs_pos(position_sp=0,
speed_sp=std_speed*5,
stop_action="hold")
arm.wait_while("running")
move(-5)
def cup_a_little_lift():
'You must run init_arm() beforehand'
arm.run_to_abs_pos(position_sp=-42,
speed_sp=std_speed*5,
stop_action="hold")
arm.wait_while("running")
def cup_lift():
'You must run init_arm() beforehand'
arm.run_to_abs_pos(position_sp=-230,
speed_sp=std_speed*5,
stop_action="hold")
arm.wait_while("running")
def search_min_d(search_time=4.5, i=1):
'if i=1 hantokeimawari,i=-1tokeimawari'
'serch minimum distance and face the angle'
if i == 1:
sign = [1, -1]
elif i == -1:
sign = [-1, 1]
min_d = 500
start_time = time.time()
mr.run_forever(speed_sp=sign[0]*std_speed*5)
ml.run_forever(speed_sp=sign[1]*std_speed*5)
while time.time()-start_time < search_time:
if min_d > us.value():
min_d = us.value()
for motor in mr, ml:
motor.stop(stop_action='brake')
start_time = time.time()
mr.run_forever(speed_sp=sign[1]*std_speed*5)
ml.run_forever(speed_sp=sign[0]*std_speed*5)
while time.time()-start_time < search_time:
if us.value() <= min_d:
for motor in mr, ml:
motor.stop(stop_action='brake')
return
for motor in mr, ml:
motor.stop(stop_action='brake')
search_min_d(search_time)
def line_adjust_by_edge(edge):
'it is used for avoid misditect as intersection'
for motor in mr, ml:
motor.run_direct()
while abs(cs.value()-target_val) > 10:
line_following(edge)
for motor in mr, ml:
motor.stop(stop_action='brake')
def line_adjust_by_time(edge, stab_time=angle_stabilizat...
'it is used for make it parallel to the line'
for motor in mr, ml:
motor.run_direct()
start_time = time.time()
while time.time()-start_time < stab_time:
line_following(edge)
for motor in mr, ml:
motor.stop(stop_action='brake')
def run_until_line():
'finding line,stops.'
for motor in mr, ml:
motor.run_forever(speed_sp=std_speed*5)
while abs(cs.value()-target_val) > 10:
pass
for motor in mr, ml:
motor.stop(stop_action='brake')
一号車はライントレース、コップをつかむ、xに行く、コップを...
def arm_set():
a = input('w, s')
while a in {'w', 's'}:
if a == 'w':
arm.run_timed(time_sp=0.1*1000, speed_sp=200...
arm.wait_while('running')
elif a == 's':
arm.run_timed(time_sp=0.1*1000, speed_sp=-20...
arm.wait_while('running')
a = input('w, s')
'''
def mqtt_send(x): #値を送信
position = x #位置情報をアルファベットで送信
client.publish("position", position) # "position"と...
print("send_position_"+x)
'''
def main():
#client.connect("10.60.2.156",1883, 60) # ブローカに...
line_adjust_by_time('left_edge', 1.3)
run_until_intersection('left_edge')
intersection_turn_left()
change_following_edge()
run_until_intersection('right_edge')
intersection_turn_right()
line_adjust_by_time('right_edge', 1)
run_until_intersection('right_edge')
circle(145) # intersection,change direction
arm_open()
move(-4)
search_min_d(1)
cup_catch()
circle(-105)
move(1)
line_adjust_by_time('left_edge', 1)
circle(-20)
run_until_intersection('left_edge')
cup_a_little_lift()
move(4)
circle(35)
move(5)
cup_a_little_lift()
move(10)
cup_lift()
circle(-30)
move(-5)
search_min_d(1, -1)
cup_catch()
arm_open()
cup_a_little_lift()
circle(60)
cup_lift()
circle(-140)
arm_open()
move(-4)
circle(-90)
#mqtt_send(1)
move(50)
#client.disconnect() # 切断
if __name__ == '__main__':
arm_set()
init_arm()
main()
二号車は画像下の紙コップをとる、xに行く、ピンポン玉を落と...
rom def_green_v016 import *
def arm_set():
a = input('w, s')
while a in {'w', 's'}:
if a == 'w':
arm.run_timed(time_sp=0.25*1000, speed_sp=20...
arm.wait_while('running')
elif a == 's':
arm.run_timed(time_sp=0.25*1000, speed_sp=-2...
arm.wait_while('running')
a = input('w, s')
def main()
run_until_line()
move(4)
line_adjust_by_edge('right_edge')
run_until_intersection('right_edge')
circle(33)
arm_open()
search_min_d(0.8)
cup_catch()
circle(-160)
line_adjust_by_edge('left_edge')
run_until_intersection('left_edge')
intersection_turn_left()
line_adjust_by_time('left_edge', 1.3)
cup_a_little_lift()
move(5)
cup_lift()
move(-50)
line_adjust_by_time('left_edge', 5)
run_until_intersection('left_edge')
move(15)
circle(35*1.2)
line_adjust_by_edge('left_edge')
line_adjust_by_time('left_edge', 3)
run_until_intersection('left_edge')
intersection_turn_left()
run_until_intersection('left_edge')
circle(-27)
arm_open()
if __name__ == '__main__':
arm_set()
init_arm()
main()
*結果 [#vcf79bb0]
今回自分たちのチームは基本点8技術点10.7で総合2位だった。...
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