2018b/Member/shaymin/Mission3
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#contents
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*¥×¥í¥°¥é¥à [#gac64291]
**¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à [#v553580c]
def linetrace_rin():
c1=cs.value()
while c1>13:
c1=cs.value()
x=(abs(c1-10)/70)*100
if x>100:
x=100
l=(x/100)*210-30
r=150-l
ml.run_forever(speed_sp=l,stop_action='brake')
mr.run_forever(speed_sp=r,stop_action='brake')
stop()
def linetrace_lin():
c1=cs.value()
while c1>13:
c1=cs.value()
x=abs((c1-10)/70)*100
if x>100:
x=100
r=(x/100)*210-30
l=150-r
ml.run_forever(speed_sp=l,stop_action='brake')
mr.run_forever(speed_sp=r,stop_action='brake')
stop()
def linetrace_rout():
c1=cs.value()
while c1<40:
c1=cs.value()
x=(abs(c1-10)/70)*100
if x>100:
x=100
l=(x/100)*120-40
r=40-l
ml.run_forever(speed_sp=l,stop_action='brake')
mr.run_forever(speed_sp=r,stop_action='brake')
stop()
def linetrace_lout():
c1=cs.value()
while c1<40:
c1=cs.value()
x=(abs(c1-10)/70)*100
if x>100:
x=100
r=(x/100)*120-40
l=40-r
ml.run_forever(speed_sp=l,stop_action='brake')
mr.run_forever(speed_sp=r,stop_action='brake')
stop()
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def linetrace_ltime(j):
c1=cs.value()
t1=time.time() #¥×¥í¥°¥é¥à¤¬¥¹¥¿¡¼¥È¤·¤¿»þ¹ï¤òÄêµÁ
t2=time.time() #¥×¥í¥°¥é¥à¤Î·Ð²á»þ´Ö¤òÄêµÁ
while t2-t1<j: #jÉ÷Фä¿»þ¤Ë»ß¤Þ¤ë¡£
c1=cs.value()
t2=time.time()
x=abs((c1-10)/70)*100
if x>100:
x=100
r=(x/100)*210-30
l=150-r
ml.run_forever(speed_sp=l,stop_action='brake')
mr.run_forever(speed_sp=r,stop_action='brake')
stop()
**¥Ù¥ë¥È¥³¥ó¥Ù¥¢¤Î¥×¥í¥°¥é¥à [#u3042d27]
def roll(s):
ma.run_to_rel_pos(position_sp=s,speed_sp=80,stop_action='hold')
time.sleep(3)
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**¥Ü¡¼¥ë¤ò¼Í½Ð¤¹¤ë¥×¥í¥°¥é¥à [#lf5f9b4f]
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def discover_l(s,t): #º¸²ó¤ê¤Î¾ì¹ç
u1=us.value() #Ķ²»ÇÈ¥»¥ó¥µ¡¼¤ÎÃͤòÀè¤ËÄêµÁ¤¹¤ë
g1=gs.value() #¥×¥í¥°¥é¥à¥¹¥¿¡¼¥È»þ¤Î³ÑÅÙ¤òÄêµÁ
g2=gs.value() #¥×¥í¥°¥é¥à¤ÎÅÓÃæ·Ð²á¤Î³ÑÅÙ¤ò¤¢¤é¤«¤¸¤áÄêµÁ
while g1-g2<s: #g1-g2¤Ï²ó¤Ã¤¿³ÑÅÙ¤òɽ¤·¤Æ¤¤¤Æ¡¢¤½¤ì¤¬sÅÙ¤Ë㤷¤¿»þ¥×¥í¥°¥é¥à¤¬½ªÎ»¤¹¤ë ¤Á¤Ê¤ß¤Ë¥¸¥ã¥¤¥í¥»¥ó¥µ¡¼¤Ï±¦²óž¤¹¤ë¤È¤½¤ÎÃͤ¬Áý²Ã¤¹¤ë¤¿¤á¡¢º¸²óž¤·¤Æ¤¤¤¿¾ì¹ç¡¢g1>g2¤È¤Ê¤ë¤Î¤Ç°ú¤¯½çÈ֤˵¤¤ò¤Ä¤±¤ë
u2=us.value() #¥×¥í¥°¥é¥à¤Î¿Ê¹ÔÃæ¤ËÃ༡Ķ²»ÇÈ¥»¥ó¥µ¡¼¤ÎÃͤòÊݸ¤¹¤ë
ml.run_forever(speed_sp=-70,stop_action='hold')
mr.run_forever(speed_sp=70,stop_action='hold') #¼ÖÂΤòº¸²óž¤µ¤»¤ë
g2=gs.value() #¥¸¥ã¥¤¥í¥»¥ó¥µ¡¼¤ÎÃͤòÃ༡¹¹¿·¤¹¤ë
if u2<u1: #Ķ²»ÇÈ¥»¥ó¥µ¡¼¤ò¹¹¿·¤·¤¿»þ¡¢¤½¤ÎÃͤ¬ºÇ¾®ÃͤÀ¤Ã¤¿¾ì¹ç¤Ï¤½¤ÎÃͤòu1¤ËÊݸ¤·¤Æ¤ª¤¯
u1=u2
g3=gs.value() #¤½¤Î»þ¤Î³ÑÅÙ¤âg3¤ËÊݸ¤·¤Æ¤ª¤¯
g4=gs.value() #´Ìȯ¸«¸å¤Ë±¦²óž¤¹¤ë»þ¤Î¥¹¥¿¡¼¥ÈÃÏÅÀ¤Î³ÑÅÙ¤òÄêµÁ
g5=gs.value() #±¦²óž¤·¤Æ¤¤¤ë»þ¤Î³ÑÅÙ¤òÄêµÁ
if u1<=t: #»ØÄꤷ¤¿ÈÏ°ÏÆâ¤Ë´Ì¤¬Â¸ºß¤·¤Æ¤¤¤¿¾ì¹ç
while g5-g4<g3-g2-6: #´Ì¤Î°ÌÃÖ¤ËÅþ㤹¤ë¤Þ¤Ç±¦²ó¤ê¤¹¤ë -6¤¬¤Ä¤¤¤Æ¤¤¤ë¤Î¤Ï¡¢¥¸¥ã¥¤¥í¥»¥ó¥µ¡¼¤Î¸íº¹Ê¬¤òËä¤á¤ë¤¿¤á¤Ë¤¢¤ë¡£
mr.run_forever(speed_sp=-70,stop_action='hold')
ml.run_forever(speed_sp=70,stop_action='hold')
g5=gs.value()
stop()
u3=us.value() #Ķ²»ÇÈ¥»¥ó¥µ¡¼¤ÎÃͤò¤¢¤é¤«¤¸¤áÄêµÁ
t1=time.time() #¤³¤Î»þ¤Î»þ´Ö¤òÊݸ
while u3<2550: #¢¨1
ml.run_forever(speed_sp=100,stop_action='hold')
mr.run_forever(speed_sp=100,stop_action='hold') #´Ì¤Ë¶á¤Å¤¯¤¿¤á¤Ë¿Ê¤à
u3=us.value() #Ķ²»ÇÈ¥»¥ó¥µ¡¼¤ÎÃͤò¹¹¿·¤·¤Æ¤¤¤¯
t2=time.time() #¿Ê¤ó¤À·Ð²á»þ´Ö¤ò¬Äꤹ¤ë
stop()
roll(220) #¥Ù¥ë¥È¥³¥ó¥Ù¥¢¤ò²ó¤·¤Æ¥Ü¡¼¥ë¤ò¼Í½Ð¤¹¤ë
ml.run_timed(speed_sp=-100,time_sp=(t2-t1)*1000,stop_action='hold')
mr.run_timed(speed_sp=-100,time_sp=(t2-t1)*1000,stop_action='hold') #´Ì¤Ë¶á¤Å¤¯¤¿¤á¤Ë¿Ê¤ó¤Àʬ¤À¤±¸åÂह¤ë
time.sleep(t2-t1) #¸åÂष¤Æ¤¤¤ë´Ö¥×¥í¥°¥é¥à¤ò°ì»þÄä»ß¤¹¤ë
g6=gs.value() #½é´ü°ÌÃÖ¤ËÌá¤ë¤¿¤á¤Î¥¹¥¿¡¼¥È¤Î»þ´Ö¤òÄêµÁ
g7=gs.value() #½é´ü°ÌÃÖ¤ËÌá¤ë»þ¤Î·Ð²á»þ´Ö¤ò¤¢¤é¤«¤¸¤áÄêµÁ
while g7-g6<=g1-g3-6: #½é´ü°ÌÃÖ¤ËÌá¤ë¤Þ¤Ç¥ë¡¼¥×¤¹¤ë
mr.run_forever(speed_sp=-70,stop_action='hold')
ml.run_forever(speed_sp=70,stop_action='hold') #±¦²óž
g7=gs.value()
stop()
else: #¬Äꤷ¤¿ÈÏ°ÏÆâ¤Ç´Ì¤¬¸«¤Ä¤«¤é¤Ê¤«¤Ã¤¿¾ì¹ç
while g5-g4<g1-g2: #¬¤ê»Ï¤á¤¿°ÌÃÖ¤Þ¤ÇÌá¤ë
mr.run_forever(speed_sp=-70,stop_action='hold')
ml.run_forever(speed_sp=70,stop_action='hold')
g5=gs.value()
stop()
def discover_r(s,t): #±¦²óž¤Î¾ì¹ç ´ðËÜŪ¤Ëº¸²óž¤Î»þ¤ÈÊѤï¤é¤Ê¤¤¤Î¤ÇƱ¤¸½ê¤Ï¾Êά
u1=us.value()
g1=gs.value()
g2=gs.value()
while g2-g1<s: #º£²ó¤Ï±¦²óž¤È¤Ê¤ë¤¿¤ág2>g1¤È¤Ê¤ë
u2=us.value()
ml.run_forever(speed_sp=70,stop_action='hold')
mr.run_forever(speed_sp=-70,stop_action='hold')
g2=gs.value()
if u2<u1:
u1=u2
g3=gs.value()
g4=gs.value()
g5=gs.value()
if u1<=t:
while g4-g5<g2-g3-6:
mr.run_forever(speed_sp=70,stop_action='hold')
ml.run_forever(speed_sp=-70,stop_action='hold')
g5=gs.value()
stop()
u3=us.value()
t1=time.time()
while u3<2550:
ml.run_forever(speed_sp=100,stop_action='hold')
mr.run_forever(speed_sp=100,stop_action='hold')
u3=us.value()
t2=time.time()
stop()
roll(220)
ml.run_timed(speed_sp=-100,time_sp=(t2-t1)*1000,stop_action='hold')
mr.run_timed(speed_sp=-100,time_sp=(t2-t1)*1000,stop_action='hold')
time.sleep(t2-t1)
g6=gs.value()
g7=gs.value()
while g6-g7<=g3-g1-6:
mr.run_forever(speed_sp=70,stop_action='hold')
ml.run_forever(speed_sp=-70,stop_action='hold')
g7=gs.value()
stop()
else:
while g4-g5<90:
mr.run_forever(speed_sp=70,stop_action='hold')
ml.run_forever(speed_sp=-70,stop_action='hold')
g5=gs.value()
stop()
**¥×¥í¥°¥é¥à¤ÎÁ´ÂÎ [#n62ff5fd]
#!/usr/bin/env python3
from ev3dev.ev3 import *
import time
ml=LargeMotor('outA')
mr=LargeMotor('outD')
ma=LargeMotor('outB')
cs=ColorSensor('in3')
us=UltrasonicSensor('in4')
gs=GyroSensor('in1')
def stop(): ¼ÖÎؤò»ß¤á¤ë
ml.stop()
mr.stop()
def linetrace_rin(): #ÀâÌÀºÑ¤ß¤Î¤¿¤á¾Êά
c1=cs.value()
while c1>13:
c1=cs.value()
x=(abs(c1-10)/70)*100
if x>100:
x=100
l=(x/100)*210-30
r=150-l
ml.run_forever(speed_sp=l,stop_action='brake')
mr.run_forever(speed_sp=r,stop_action='brake')
stop()
def linetrace_lin():
c1=cs.value()
while c1>13:
c1=cs.value()
x=abs((c1-10)/70)*100
if x>100:
x=100
r=(x/100)*210-30
l=150-r
ml.run_forever(speed_sp=l,stop_action='brake')
mr.run_forever(speed_sp=r,stop_action='brake')
stop()
def linetrace_rout():
c1=cs.value()
while c1<40:
c1=cs.value()
x=(abs(c1-10)/70)*100
if x>100:
x=100
l=(x/100)*120-40
r=40-l
ml.run_forever(speed_sp=l,stop_action='brake')
mr.run_forever(speed_sp=r,stop_action='brake')
stop()
def linetrace_lout():
c1=cs.value()
while c1<40:
c1=cs.value()
x=(abs(c1-10)/70)*100
if x>100:
x=100
r=(x/100)*120-40
l=40-r
ml.run_forever(speed_sp=l,stop_action='brake')
mr.run_forever(speed_sp=r,stop_action='brake')
stop()
def linetrace_ltime(j): #ÀâÌÀºÑ¤ß¤Î¤¿¤á¾Êά
c1=cs.value()
t1=time.time()
t2=time.time()
while t2-t1<j:
c1=cs.value()
t2=time.time()
x=abs((c1-10)/70)*100
if x>100:
x=100
r=(x/100)*210-30
l=150-r
ml.run_forever(speed_sp=l,stop_action='brake')
mr.run_forever(speed_sp=r,stop_action='brake')
stop()
def runtime(l,r): #»ØÄꤷ¤¿»þ´Öʬ¥¿¥¤¥ä¤òÆ°¤«¤¹
ml.run_timed(time_sp=l*1000,speed_sp=70,stop_action='brake')
mr.run_timed(time_sp=r*1000,speed_sp=70,stop_action='brake')
time.sleep((l+r)/2)
def angle(l,r,t): #»ØÄꤷ¤¿³ÑÅÙʬ¥¿¥¤¥ä¤òÆ°¤«¤¹ l¤Ïº¸¥¿¥¤¥ä¤Î³ÑÅÙ¡¢r¤Ï±¦¥¿¥¤¥ä¤Î³ÑÅÙ¡¢t¤Ï¥¹¥ê¡¼¥×¤¹¤ë»þ´Ö
ml.run_to_rel_pos(position_sp=l,speed_sp=115,stop_action='hold')
mr.run_to_rel_pos(position_sp=r,speed_sp=115,stop_action='hold')
time.sleep(t)
def kaiten_r(s,t): ±¦²ó¤ê¤Ë²óž
g1=gs.value() #¥¸¥ã¥¤¥í¥»¥ó¥µ¡¼¤ÎÃͤò¤¢¤é¤«¤¸¤áÄêµÁ
g2=gs.value() #¥¸¥ã¥¤¥í¥»¥ó¥µ¡¼¤ÎÃͤò¤¢¤é¤«¤¸¤áÊ̤ÎÊÑ¿ô¤ËÄêµÁ
while g2-g1<s: #g2¤Èg1¤òÈæ³Ó¤·¤Æg2-g1¤¬»ØÄꤷ¤¿³ÑÅ٤ˤʤ俤é»ß¤Þ¤ë
ml.run_forever(speed_sp=t,stop_action='hold')
mr.run_forever(speed_sp=-t,stop_action='hold') #»ØÄꤷ¤¿Â®Å٤DZ¦²óž¤¹¤ë
g2=gs.value() #¥ë¡¼¥×¤¹¤ëÅÙ¤Ëg2¤ÎÃͤò¹¹¿·¤·¤Æ¤¤¤¯
stop() #»ß¤Þ¤ë
def kaiten_l(s,t): º¸²ó¤ê¤Ë²óž
g1=gs.value()
g2=gs.value()
while g1-g2<s: #¥¸¥ã¥¤¥í¥»¥ó¥µ¡¼¤Ï»þ·×²ó¤ê¤À¤ÈÃͤ¬Áý²Ã¤·¤Æ¤¤¤¯¤¿¤á¡¢º¸²ó¤ê¤Î¾ì¹çg1-g2¤Ë¤·¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤
ml.run_forever(speed_sp=-t,stop_action='hold')
mr.run_forever(speed_sp=t,stop_action='hold') #»ØÄꤷ¤¿Â®Å٤Ǻ¸²óž¤¹¤ë
g2=gs.value() #¥ë¡¼¥×¤¹¤ëÅÙ¤Ëg2¤ÎÃͤò¹¹¿·¤·¤Æ¤¤¤¯
stop() #»ß¤Þ¤ë
def roll(s): ¥Ù¥ë¥È¥³¥ó¥Ù¥¢¤òÆ°¤«¤¹¥×¥í¥°¥é¥à
ma.run_to_rel_pos(position_sp=s,speed_sp=80,stop_action='hold')
time.sleep(3)
def discover_l(s,t): #¾å¤ÇÀâÌÀºÑ¤ß¤Î¤¿¤á¾Êά
u1=us.value()
g1=gs.value()
g2=gs.value()
while g1-g2<s:
u2=us.value()
ml.run_forever(speed_sp=-70,stop_action='hold')
mr.run_forever(speed_sp=70,stop_action='hold')
g2=gs.value()
if u2<u1:
u1=u2
g3=gs.value()
g4=gs.value()
g5=gs.value()
if u1<=t:
while g5-g4<g3-g2-6:
mr.run_forever(speed_sp=-70,stop_action='hold')
ml.run_forever(speed_sp=70,stop_action='hold')
g5=gs.value()
stop()
u3=us.value()
t1=time.time()
while u3<2550:
ml.run_forever(speed_sp=100,stop_action='hold')
mr.run_forever(speed_sp=100,stop_action='hold')
u3=us.value()
t2=time.time()
stop()
roll(220)
ml.run_timed(speed_sp=-100,time_sp=(t2-t1)*1000,stop_action='hold')
mr.run_timed(speed_sp=-100,time_sp=(t2-t1)*1000,stop_action='hold')
time.sleep(t2-t1)
g6=gs.value()
g7=gs.value()
while g7-g6<=g1-g3-6:
mr.run_forever(speed_sp=-70,stop_action='hold')
ml.run_forever(speed_sp=70,stop_action='hold')
g7=gs.value()
stop()
else:
while g5-g4<90:
mr.run_forever(speed_sp=-70,stop_action='hold')
ml.run_forever(speed_sp=70,stop_action='hold')
g5=gs.value()
stop()
def discover_r(s,t):
u1=us.value()
g1=gs.value()
g2=gs.value()
while g2-g1<s:
u2=us.value()
ml.run_forever(speed_sp=70,stop_action='hold')
mr.run_forever(speed_sp=-70,stop_action='hold')
g2=gs.value()
if u2<u1:
u1=u2
g3=gs.value()
g4=gs.value()
g5=gs.value()
if u1<=t:
while g4-g5<g2-g3-6:
mr.run_forever(speed_sp=70,stop_action='hold')
ml.run_forever(speed_sp=-70,stop_action='hold')
g5=gs.value()
stop()
u3=us.value()
t1=time.time()
while u3<2550:
ml.run_forever(speed_sp=100,stop_action='hold')
mr.run_forever(speed_sp=100,stop_action='hold')
u3=us.value()
t2=time.time()
stop()
roll(220)
ml.run_timed(speed_sp=-100,time_sp=(t2-t1)*1000,stop_action='hold')
mr.run_timed(speed_sp=-100,time_sp=(t2-t1)*1000,stop_action='hold')
time.sleep(t2-t1)
g6=gs.value()
g7=gs.value()
while g6-g7<=g3-g1-6:
mr.run_forever(speed_sp=70,stop_action='hold')
ml.run_forever(speed_sp=-70,stop_action='hold')
g7=gs.value()
stop()
else:
while g4-g5<90:
mr.run_forever(speed_sp=70,stop_action='hold')
ml.run_forever(speed_sp=-70,stop_action='hold')
g5=gs.value()
def Redball(): #¥¹¥¿¡¼¥È¤«¤éÀ֥ܡ¼¥ë¤ò¼è¤ê¤Ë¹Ô¤¯¥×¥í¥°¥é¥à
angle(250,250,3) #À֥ܡ¼¥ë¤Î°ÌÃ֤ޤǿʤà
kaiten_r(180,110) #¥Ü¡¼¥ë¤òµÅ¤¦Éôʬ¤Ï¼ÖÂΤθå¤í¤Ë¤¢¤ë¤Î¤Ç180Åٲ󞤹¤ë
roll(220) #¥Ü¡¼¥ë¤òµÅ¤¦
kaiten_r(195,110) #¼ÖÂΤθþ¤¤òÌ᤹ ¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ò·ï¤Ë°ú¤Ã¤«¤«¤é¤Ê¤¤¤è¤¦¤Ë¤¹¤³¤·Í¾Ê¬¤Ë²ó¤Ã¤Æ¤ª¤¯
linetrace_lin() #GÃÏÅÀ¤Þ¤ÇÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
def Blueball(): Àĥܡ¼¥ë¤ò¼è¤ê¤Ë¹Ô¤¯¤Þ¤Ç¤Î¥×¥í¥°¥é¥à
angle(-20,160,2) #G¤Î¸òº¹ÅÀ¤ò¤Þ¤¿¤°¤¿¤á¤Ë°ÌÃÖ¤òÄ´À°¤¹¤ë
linetrace_lin() #G¤«¤éH¤Þ¤ÇÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
angle(-35,-35,1.5) #H¤Î¸òº¹ÅÀ¤òǧ¼±¤·¤¿¤é¼ÖÂΤò²óž¤·¤¿ºÝ¡¢¥Ü¡¼¥ë¤È¤Ö¤Ä¤«¤é¤Ê¤¤¤è¤¦¤Ë¾¯¤·²¼¤¬¤ë
kaiten_r(175,110) #¼ÖÂΤò180Åٲ󞤵¤»¤ë
roll(220) #¥Ü¡¼¥ë¤òµÅ¤¦
def move(): Àĥܡ¼¥ë¤ò½¦¤Ã¤¿¸å¡¢E¤Î¸òº¹ÅÀ¤Ë¹Ô¤¯¤Þ¤Ç¤Î¥×¥í¥°¥é¥à
kaiten_r(190,110) #¼ÖÂΤθþ¤¤ò¸µ¤ËÌ᤹
angle(-50,-50,1) #¥é¥¤¥ó¥È¥ì¡¼¥¹¤¬°ÂÄꤹ¤ë¤è¤¦¤Ë¾¯¤·²¼¤¬¤ë
linetrace_lin() #H¤Þ¤ÇÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
linetrace_lout() #H¤òǧ¼±¸å¡¢linetrace_lin()¤Ç¤Ï±¦¤Ë¶Ê¤¬¤ê¤¤ì¤Ê¤¤¤¿¤á¡¢¤è¤ê¤æ¤Ã¤¯¤ê¿Ê¤à¤³¤Á¤é¤ËÀÚ¤êÂؤ¨¤ë
linetrace_lin() #H¤«¤éI´Ö¤ÎÀþ¤Î¶³¦Àþ¾å¤Þ¤ÇÍ褿¤é¡¢¤³¤Á¤é¤ËÀÚ¤êÂؤ¨
linetrace_lout() #I¤òǧ¼±¸å¡¢¤³¤Á¤é¤ËÀè¤Û¤É¤ÈƱ¤¸Íýͳ¤Ç¤³¤Á¤é¤ËÀÚ¤êÂؤ¨
linetrace_lin() #E¤òǧ¼±¤¹¤ë¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹
def BlueZone(): #À֥ܡ¼¥ë¤ò´Ì¤Ë¾è¤»¤Æʬ´ô¤«¤éµ¢¤Ã¤Æ¤¤¿¸å¡¢Àĥܡ¼¥ë¤ò¾è¤»¤Ë¹Ô¤¯¥×¥í¥°¥é¥à
linetrace_rin() #E¤«¤éI´Ö¤ÎÀþ¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
linetrace_rout() #I¤òǧ¼±¸å¡¢linetrace_rin()¤Ç¤Ïº¸¤Ë¶Ê¤¬¤ê¤¤ì¤Ê¤¤¤¿¤á¡¢¤è¤ê¤æ¤Ã¤¯¤ê¿Ê¤à¤³¤Á¤é¤ËÀÚ¤êÂؤ¨¤ë
linetrace_rin() #I¤«¤éH´Ö¤ÎÀþ¤Î¶³¦Àþ¾å¤Þ¤ÇÍ褿¤é¡¢¤³¤Á¤é¤ËÀÚ¤êÂؤ¨¡¢¤³¤Î¤Þ¤ÞH¤Þ¤Ç¿Ê¤à
angle(70,0,1) #¸òº¹ÅÀ¤ò¸Ù¤°
linetrace_rin() #H¤«¤éK¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
def discover2(): #Àĥܡ¼¥ë¤ò¼Í½Ð¤¹¤ë¥×¥í¥°¥é¥à
kaiten_l(60,100) #³ÑÅÙ¤òÄ´À°¤·¤Æ¤ª¤¯
discover_r(90,500) #´Ì¤Ë¾è¤»¤ë¥×¥í¥°¥é¥à ¾å¤ÇÀâÌÀºÑ¤ß¤Ê¤Î¤Ç¾Êά
def start():
r=int(input("insert numbera")) #ÀÖ¤ÏÈÖ¹æ¤Î¾ì¹çʬ¤±¤¬ÍưפÀ¤Ã¤¿¤¿¤á¡¢À֤ΤߥÀ¥ß¡¼¤òÈò¤±¤ë¤¿¤á¤Ëʬ´ô¤òÀߤ±¤¿¡£¤½¤ÎºÝ¤Ë´Ì¤ËÈÖ¹æ¤òÆþÎϤ¹¤ë¡£
Redball()
Blueball()
move()
if r<=2: #´Ì1´Ì2¤ËÃÖ¤¯»þ E¤Î°ÌÃ֤Ǵ̤òõ¤·»Ï¤á¤ë
kaiten_l(90,110) #EÃÏÅÀ¤Ç¾å¤ÎÊý¸þ¤ò¸þ¤¯
discover_l(90,250) #´Ì¤ò¾è¤»¤ë¥×¥í¥°¥é¥à¤òºîÆ° ÈϰϤÏÃϿޤΥԥ󥯿§¤ÎÉôʬ
kaiten_l(95,100) #EÃÏÅÀ¤Çº¸Â¦¤ò¸þ¤¯
if r==3: #´Ì3¤ËÃÖ¤¯»þ D¤Þ¤Ç¿Ê¤ó¤Ç´Ì3¤¬¤¢¤ëÈϰϤΤßõ¤¹
angle(-40,180,2) #E¤Îº¸²¼¤«¤é±¦¾å¤Ë¼ÖÂΤò°Ü¤¹
linetrace_lin() #E¤«¤éD´Ö¤ÎÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
discover_r(60,250) #DÃÏÅÀ¤Ç´Ì¤ò¾è¤»¤ë¥×¥í¥°¥é¥à¤òºîÆ° ÈϰϤÏÃÏ¿Þ¤ÎÀÄ¿§¤ÎÉôʬ
angle(-150,-150,2) #¸å¤Ë¼ÖÂΤò180Åٲ󞤵¤»¤¿»þ¡¢¼ÖÂΤ¬´Ì3¤Ë¤Ö¤Ä¤«¤é¤Ê¤¤¤è¤¦¤Ë¾¯¤·²¼¤¬¤ë
kaiten_l(195,110) #195ÅÙº¸²óž¤ò¤¹¤ë
linetrace_rin() #D¤«¤éE¤Î´Ö¤òÀþ¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
angle(230,-40,2) #E¤Î±¦¾å¤«¤éº¸²¼¤Ë°ÜÆ°
if r==4: #´Ì4¤ËÃÖ¤¯»þ D¤Þ¤Ç¿Ê¤ó¤Ç´Ì4¤¬¤¢¤ëÈϰϤΤßõ¤¹
angle(-40,180,2) #E¤Îº¸²¼¤«¤é±¦¾å¤Ë¼ÖÂΤò°Ü¤¹
linetrace_lin() #E¤«¤éD´Ö¤ÎÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
discover_l(60,250) #DÃÏÅÀ¤Ç´Ì¤Ë¾è¤»¤ë¥×¥í¥°¥é¥à¤òºîÆ° ÈϰϤÏÃϿޤλ翧¤ÎÉôʬ
kaiten_l(195,110) #195ÅÙº¸²óž¤¹¤ë
linetrace_rin() #D¤«¤éE¤Î´Ö¤òÀþ¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
angle(230,-40,2) #E¤Î±¦¾å¤«¤éº¸²¼¤Ë°ÜÆ°
if 5<=r: #´Ì5´Ì6¤ËÃÖ¤¯»þ U¥¿¡¼¥ó¤Î¼êÁ°¤Þ¤Ç¿Ê¤ß¡¢´Ì¤¬¤¢¤ëÈϰϤòõ¤¹
angle(-40,180,2) #E¤Îº¸²¼¤«¤é±¦¾å¤Ë¼ÖÂΤò°Ü¤¹
linetrace_lin() #E¤«¤éD´Ö¤ÎÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
linetrace_lout() #D¤Î¸òº¹ÅÀ¤òǧ¼±¸å¡¢linetrace_lin()¤Î¤Þ¤Þ¤À¤È±¦¤Ë¶Ê¤¬¤ê¤¤ì¤Ê¤¤¤Î¤Ç¤³¤Á¤é¤ËÀÚ¤êÂؤ¨¤ë
linetrace_ltime(3) #D¤«¤éµÞ¥«¡¼¥ÖÁ°¤Î´Ö¤ÇÀþ¤Î¶³¦Àþ¾å¤òǧ¼±¸å¡¢3ÉäÀ¤±¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
discover_l(60,190) #´Ì¤Ë¾è¤»¤ë¥×¥í¥°¥é¥à¤òºîÆ° ÈϰϤÏÃÏ¿Þ¤ÎÎ理ÎÉôʬ
angle(-130,-130,3) #¸å¤Ë¼ÖÂΤò180Åٲ󞤹¤ë»þ¤Ë¡¢¼ÖÂΤ¬´Ì5¤Ë¤Ö¤Ä¤«¤é¤Ê¤¤¤è¤¦¤Ë¾¯¤·²¼¤¬¤ë
kaiten_l(180,110) #¼ÖÂΤòº¸¤Ë180Åٲ󞤹¤ë
linetrace_rin() #DÃÏÅÀ¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹
linetrace_rout() #DÃÏÅÀ¤òǧ¼±¸å¡¢³Ñ¤ò¶Ê¤¬¤êÀÚ¤ì¤ë¤è¤¦¤Ë¤³¤Á¤é¤ËÀÚ¤êÂؤ¨¤ë
linetrace_rin() #EÃÏÅÀ¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹
angle(230,-40,2) #E¤Î±¦¾å¤«¤éº¸²¼¤Ë°ÜÆ°
BlueZone()
discover2()
start() #µ¯Æ°
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*¥×¥í¥°¥é¥à [#gac64291]
**¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à [#v553580c]
def linetrace_rin():
c1=cs.value()
while c1>13:
c1=cs.value()
x=(abs(c1-10)/70)*100
if x>100:
x=100
l=(x/100)*210-30
r=150-l
ml.run_forever(speed_sp=l,stop_action='brake')
mr.run_forever(speed_sp=r,stop_action='brake')
stop()
def linetrace_lin():
c1=cs.value()
while c1>13:
c1=cs.value()
x=abs((c1-10)/70)*100
if x>100:
x=100
r=(x/100)*210-30
l=150-r
ml.run_forever(speed_sp=l,stop_action='brake')
mr.run_forever(speed_sp=r,stop_action='brake')
stop()
def linetrace_rout():
c1=cs.value()
while c1<40:
c1=cs.value()
x=(abs(c1-10)/70)*100
if x>100:
x=100
l=(x/100)*120-40
r=40-l
ml.run_forever(speed_sp=l,stop_action='brake')
mr.run_forever(speed_sp=r,stop_action='brake')
stop()
def linetrace_lout():
c1=cs.value()
while c1<40:
c1=cs.value()
x=(abs(c1-10)/70)*100
if x>100:
x=100
r=(x/100)*120-40
l=40-r
ml.run_forever(speed_sp=l,stop_action='brake')
mr.run_forever(speed_sp=r,stop_action='brake')
stop()
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def linetrace_ltime(j):
c1=cs.value()
t1=time.time() #¥×¥í¥°¥é¥à¤¬¥¹¥¿¡¼¥È¤·¤¿»þ¹ï¤òÄêµÁ
t2=time.time() #¥×¥í¥°¥é¥à¤Î·Ð²á»þ´Ö¤òÄêµÁ
while t2-t1<j: #jÉ÷Фä¿»þ¤Ë»ß¤Þ¤ë¡£
c1=cs.value()
t2=time.time()
x=abs((c1-10)/70)*100
if x>100:
x=100
r=(x/100)*210-30
l=150-r
ml.run_forever(speed_sp=l,stop_action='brake')
mr.run_forever(speed_sp=r,stop_action='brake')
stop()
**¥Ù¥ë¥È¥³¥ó¥Ù¥¢¤Î¥×¥í¥°¥é¥à [#u3042d27]
def roll(s):
ma.run_to_rel_pos(position_sp=s,speed_sp=80,stop_action='hold')
time.sleep(3)
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**¥Ü¡¼¥ë¤ò¼Í½Ð¤¹¤ë¥×¥í¥°¥é¥à [#lf5f9b4f]
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def discover_l(s,t): #º¸²ó¤ê¤Î¾ì¹ç
u1=us.value() #Ķ²»ÇÈ¥»¥ó¥µ¡¼¤ÎÃͤòÀè¤ËÄêµÁ¤¹¤ë
g1=gs.value() #¥×¥í¥°¥é¥à¥¹¥¿¡¼¥È»þ¤Î³ÑÅÙ¤òÄêµÁ
g2=gs.value() #¥×¥í¥°¥é¥à¤ÎÅÓÃæ·Ð²á¤Î³ÑÅÙ¤ò¤¢¤é¤«¤¸¤áÄêµÁ
while g1-g2<s: #g1-g2¤Ï²ó¤Ã¤¿³ÑÅÙ¤òɽ¤·¤Æ¤¤¤Æ¡¢¤½¤ì¤¬sÅÙ¤Ë㤷¤¿»þ¥×¥í¥°¥é¥à¤¬½ªÎ»¤¹¤ë ¤Á¤Ê¤ß¤Ë¥¸¥ã¥¤¥í¥»¥ó¥µ¡¼¤Ï±¦²óž¤¹¤ë¤È¤½¤ÎÃͤ¬Áý²Ã¤¹¤ë¤¿¤á¡¢º¸²óž¤·¤Æ¤¤¤¿¾ì¹ç¡¢g1>g2¤È¤Ê¤ë¤Î¤Ç°ú¤¯½çÈ֤˵¤¤ò¤Ä¤±¤ë
u2=us.value() #¥×¥í¥°¥é¥à¤Î¿Ê¹ÔÃæ¤ËÃ༡Ķ²»ÇÈ¥»¥ó¥µ¡¼¤ÎÃͤòÊݸ¤¹¤ë
ml.run_forever(speed_sp=-70,stop_action='hold')
mr.run_forever(speed_sp=70,stop_action='hold') #¼ÖÂΤòº¸²óž¤µ¤»¤ë
g2=gs.value() #¥¸¥ã¥¤¥í¥»¥ó¥µ¡¼¤ÎÃͤòÃ༡¹¹¿·¤¹¤ë
if u2<u1: #Ķ²»ÇÈ¥»¥ó¥µ¡¼¤ò¹¹¿·¤·¤¿»þ¡¢¤½¤ÎÃͤ¬ºÇ¾®ÃͤÀ¤Ã¤¿¾ì¹ç¤Ï¤½¤ÎÃͤòu1¤ËÊݸ¤·¤Æ¤ª¤¯
u1=u2
g3=gs.value() #¤½¤Î»þ¤Î³ÑÅÙ¤âg3¤ËÊݸ¤·¤Æ¤ª¤¯
g4=gs.value() #´Ìȯ¸«¸å¤Ë±¦²óž¤¹¤ë»þ¤Î¥¹¥¿¡¼¥ÈÃÏÅÀ¤Î³ÑÅÙ¤òÄêµÁ
g5=gs.value() #±¦²óž¤·¤Æ¤¤¤ë»þ¤Î³ÑÅÙ¤òÄêµÁ
if u1<=t: #»ØÄꤷ¤¿ÈÏ°ÏÆâ¤Ë´Ì¤¬Â¸ºß¤·¤Æ¤¤¤¿¾ì¹ç
while g5-g4<g3-g2-6: #´Ì¤Î°ÌÃÖ¤ËÅþ㤹¤ë¤Þ¤Ç±¦²ó¤ê¤¹¤ë -6¤¬¤Ä¤¤¤Æ¤¤¤ë¤Î¤Ï¡¢¥¸¥ã¥¤¥í¥»¥ó¥µ¡¼¤Î¸íº¹Ê¬¤òËä¤á¤ë¤¿¤á¤Ë¤¢¤ë¡£
mr.run_forever(speed_sp=-70,stop_action='hold')
ml.run_forever(speed_sp=70,stop_action='hold')
g5=gs.value()
stop()
u3=us.value() #Ķ²»ÇÈ¥»¥ó¥µ¡¼¤ÎÃͤò¤¢¤é¤«¤¸¤áÄêµÁ
t1=time.time() #¤³¤Î»þ¤Î»þ´Ö¤òÊݸ
while u3<2550: #¢¨1
ml.run_forever(speed_sp=100,stop_action='hold')
mr.run_forever(speed_sp=100,stop_action='hold') #´Ì¤Ë¶á¤Å¤¯¤¿¤á¤Ë¿Ê¤à
u3=us.value() #Ķ²»ÇÈ¥»¥ó¥µ¡¼¤ÎÃͤò¹¹¿·¤·¤Æ¤¤¤¯
t2=time.time() #¿Ê¤ó¤À·Ð²á»þ´Ö¤ò¬Äꤹ¤ë
stop()
roll(220) #¥Ù¥ë¥È¥³¥ó¥Ù¥¢¤ò²ó¤·¤Æ¥Ü¡¼¥ë¤ò¼Í½Ð¤¹¤ë
ml.run_timed(speed_sp=-100,time_sp=(t2-t1)*1000,stop_action='hold')
mr.run_timed(speed_sp=-100,time_sp=(t2-t1)*1000,stop_action='hold') #´Ì¤Ë¶á¤Å¤¯¤¿¤á¤Ë¿Ê¤ó¤Àʬ¤À¤±¸åÂह¤ë
time.sleep(t2-t1) #¸åÂष¤Æ¤¤¤ë´Ö¥×¥í¥°¥é¥à¤ò°ì»þÄä»ß¤¹¤ë
g6=gs.value() #½é´ü°ÌÃÖ¤ËÌá¤ë¤¿¤á¤Î¥¹¥¿¡¼¥È¤Î»þ´Ö¤òÄêµÁ
g7=gs.value() #½é´ü°ÌÃÖ¤ËÌá¤ë»þ¤Î·Ð²á»þ´Ö¤ò¤¢¤é¤«¤¸¤áÄêµÁ
while g7-g6<=g1-g3-6: #½é´ü°ÌÃÖ¤ËÌá¤ë¤Þ¤Ç¥ë¡¼¥×¤¹¤ë
mr.run_forever(speed_sp=-70,stop_action='hold')
ml.run_forever(speed_sp=70,stop_action='hold') #±¦²óž
g7=gs.value()
stop()
else: #¬Äꤷ¤¿ÈÏ°ÏÆâ¤Ç´Ì¤¬¸«¤Ä¤«¤é¤Ê¤«¤Ã¤¿¾ì¹ç
while g5-g4<g1-g2: #¬¤ê»Ï¤á¤¿°ÌÃÖ¤Þ¤ÇÌá¤ë
mr.run_forever(speed_sp=-70,stop_action='hold')
ml.run_forever(speed_sp=70,stop_action='hold')
g5=gs.value()
stop()
def discover_r(s,t): #±¦²óž¤Î¾ì¹ç ´ðËÜŪ¤Ëº¸²óž¤Î»þ¤ÈÊѤï¤é¤Ê¤¤¤Î¤ÇƱ¤¸½ê¤Ï¾Êά
u1=us.value()
g1=gs.value()
g2=gs.value()
while g2-g1<s: #º£²ó¤Ï±¦²óž¤È¤Ê¤ë¤¿¤ág2>g1¤È¤Ê¤ë
u2=us.value()
ml.run_forever(speed_sp=70,stop_action='hold')
mr.run_forever(speed_sp=-70,stop_action='hold')
g2=gs.value()
if u2<u1:
u1=u2
g3=gs.value()
g4=gs.value()
g5=gs.value()
if u1<=t:
while g4-g5<g2-g3-6:
mr.run_forever(speed_sp=70,stop_action='hold')
ml.run_forever(speed_sp=-70,stop_action='hold')
g5=gs.value()
stop()
u3=us.value()
t1=time.time()
while u3<2550:
ml.run_forever(speed_sp=100,stop_action='hold')
mr.run_forever(speed_sp=100,stop_action='hold')
u3=us.value()
t2=time.time()
stop()
roll(220)
ml.run_timed(speed_sp=-100,time_sp=(t2-t1)*1000,stop_action='hold')
mr.run_timed(speed_sp=-100,time_sp=(t2-t1)*1000,stop_action='hold')
time.sleep(t2-t1)
g6=gs.value()
g7=gs.value()
while g6-g7<=g3-g1-6:
mr.run_forever(speed_sp=70,stop_action='hold')
ml.run_forever(speed_sp=-70,stop_action='hold')
g7=gs.value()
stop()
else:
while g4-g5<90:
mr.run_forever(speed_sp=70,stop_action='hold')
ml.run_forever(speed_sp=-70,stop_action='hold')
g5=gs.value()
stop()
**¥×¥í¥°¥é¥à¤ÎÁ´ÂÎ [#n62ff5fd]
#!/usr/bin/env python3
from ev3dev.ev3 import *
import time
ml=LargeMotor('outA')
mr=LargeMotor('outD')
ma=LargeMotor('outB')
cs=ColorSensor('in3')
us=UltrasonicSensor('in4')
gs=GyroSensor('in1')
def stop(): ¼ÖÎؤò»ß¤á¤ë
ml.stop()
mr.stop()
def linetrace_rin(): #ÀâÌÀºÑ¤ß¤Î¤¿¤á¾Êά
c1=cs.value()
while c1>13:
c1=cs.value()
x=(abs(c1-10)/70)*100
if x>100:
x=100
l=(x/100)*210-30
r=150-l
ml.run_forever(speed_sp=l,stop_action='brake')
mr.run_forever(speed_sp=r,stop_action='brake')
stop()
def linetrace_lin():
c1=cs.value()
while c1>13:
c1=cs.value()
x=abs((c1-10)/70)*100
if x>100:
x=100
r=(x/100)*210-30
l=150-r
ml.run_forever(speed_sp=l,stop_action='brake')
mr.run_forever(speed_sp=r,stop_action='brake')
stop()
def linetrace_rout():
c1=cs.value()
while c1<40:
c1=cs.value()
x=(abs(c1-10)/70)*100
if x>100:
x=100
l=(x/100)*120-40
r=40-l
ml.run_forever(speed_sp=l,stop_action='brake')
mr.run_forever(speed_sp=r,stop_action='brake')
stop()
def linetrace_lout():
c1=cs.value()
while c1<40:
c1=cs.value()
x=(abs(c1-10)/70)*100
if x>100:
x=100
r=(x/100)*120-40
l=40-r
ml.run_forever(speed_sp=l,stop_action='brake')
mr.run_forever(speed_sp=r,stop_action='brake')
stop()
def linetrace_ltime(j): #ÀâÌÀºÑ¤ß¤Î¤¿¤á¾Êά
c1=cs.value()
t1=time.time()
t2=time.time()
while t2-t1<j:
c1=cs.value()
t2=time.time()
x=abs((c1-10)/70)*100
if x>100:
x=100
r=(x/100)*210-30
l=150-r
ml.run_forever(speed_sp=l,stop_action='brake')
mr.run_forever(speed_sp=r,stop_action='brake')
stop()
def runtime(l,r): #»ØÄꤷ¤¿»þ´Öʬ¥¿¥¤¥ä¤òÆ°¤«¤¹
ml.run_timed(time_sp=l*1000,speed_sp=70,stop_action='brake')
mr.run_timed(time_sp=r*1000,speed_sp=70,stop_action='brake')
time.sleep((l+r)/2)
def angle(l,r,t): #»ØÄꤷ¤¿³ÑÅÙʬ¥¿¥¤¥ä¤òÆ°¤«¤¹ l¤Ïº¸¥¿¥¤¥ä¤Î³ÑÅÙ¡¢r¤Ï±¦¥¿¥¤¥ä¤Î³ÑÅÙ¡¢t¤Ï¥¹¥ê¡¼¥×¤¹¤ë»þ´Ö
ml.run_to_rel_pos(position_sp=l,speed_sp=115,stop_action='hold')
mr.run_to_rel_pos(position_sp=r,speed_sp=115,stop_action='hold')
time.sleep(t)
def kaiten_r(s,t): ±¦²ó¤ê¤Ë²óž
g1=gs.value() #¥¸¥ã¥¤¥í¥»¥ó¥µ¡¼¤ÎÃͤò¤¢¤é¤«¤¸¤áÄêµÁ
g2=gs.value() #¥¸¥ã¥¤¥í¥»¥ó¥µ¡¼¤ÎÃͤò¤¢¤é¤«¤¸¤áÊ̤ÎÊÑ¿ô¤ËÄêµÁ
while g2-g1<s: #g2¤Èg1¤òÈæ³Ó¤·¤Æg2-g1¤¬»ØÄꤷ¤¿³ÑÅ٤ˤʤ俤é»ß¤Þ¤ë
ml.run_forever(speed_sp=t,stop_action='hold')
mr.run_forever(speed_sp=-t,stop_action='hold') #»ØÄꤷ¤¿Â®Å٤DZ¦²óž¤¹¤ë
g2=gs.value() #¥ë¡¼¥×¤¹¤ëÅÙ¤Ëg2¤ÎÃͤò¹¹¿·¤·¤Æ¤¤¤¯
stop() #»ß¤Þ¤ë
def kaiten_l(s,t): º¸²ó¤ê¤Ë²óž
g1=gs.value()
g2=gs.value()
while g1-g2<s: #¥¸¥ã¥¤¥í¥»¥ó¥µ¡¼¤Ï»þ·×²ó¤ê¤À¤ÈÃͤ¬Áý²Ã¤·¤Æ¤¤¤¯¤¿¤á¡¢º¸²ó¤ê¤Î¾ì¹çg1-g2¤Ë¤·¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤
ml.run_forever(speed_sp=-t,stop_action='hold')
mr.run_forever(speed_sp=t,stop_action='hold') #»ØÄꤷ¤¿Â®Å٤Ǻ¸²óž¤¹¤ë
g2=gs.value() #¥ë¡¼¥×¤¹¤ëÅÙ¤Ëg2¤ÎÃͤò¹¹¿·¤·¤Æ¤¤¤¯
stop() #»ß¤Þ¤ë
def roll(s): ¥Ù¥ë¥È¥³¥ó¥Ù¥¢¤òÆ°¤«¤¹¥×¥í¥°¥é¥à
ma.run_to_rel_pos(position_sp=s,speed_sp=80,stop_action='hold')
time.sleep(3)
def discover_l(s,t): #¾å¤ÇÀâÌÀºÑ¤ß¤Î¤¿¤á¾Êά
u1=us.value()
g1=gs.value()
g2=gs.value()
while g1-g2<s:
u2=us.value()
ml.run_forever(speed_sp=-70,stop_action='hold')
mr.run_forever(speed_sp=70,stop_action='hold')
g2=gs.value()
if u2<u1:
u1=u2
g3=gs.value()
g4=gs.value()
g5=gs.value()
if u1<=t:
while g5-g4<g3-g2-6:
mr.run_forever(speed_sp=-70,stop_action='hold')
ml.run_forever(speed_sp=70,stop_action='hold')
g5=gs.value()
stop()
u3=us.value()
t1=time.time()
while u3<2550:
ml.run_forever(speed_sp=100,stop_action='hold')
mr.run_forever(speed_sp=100,stop_action='hold')
u3=us.value()
t2=time.time()
stop()
roll(220)
ml.run_timed(speed_sp=-100,time_sp=(t2-t1)*1000,stop_action='hold')
mr.run_timed(speed_sp=-100,time_sp=(t2-t1)*1000,stop_action='hold')
time.sleep(t2-t1)
g6=gs.value()
g7=gs.value()
while g7-g6<=g1-g3-6:
mr.run_forever(speed_sp=-70,stop_action='hold')
ml.run_forever(speed_sp=70,stop_action='hold')
g7=gs.value()
stop()
else:
while g5-g4<90:
mr.run_forever(speed_sp=-70,stop_action='hold')
ml.run_forever(speed_sp=70,stop_action='hold')
g5=gs.value()
stop()
def discover_r(s,t):
u1=us.value()
g1=gs.value()
g2=gs.value()
while g2-g1<s:
u2=us.value()
ml.run_forever(speed_sp=70,stop_action='hold')
mr.run_forever(speed_sp=-70,stop_action='hold')
g2=gs.value()
if u2<u1:
u1=u2
g3=gs.value()
g4=gs.value()
g5=gs.value()
if u1<=t:
while g4-g5<g2-g3-6:
mr.run_forever(speed_sp=70,stop_action='hold')
ml.run_forever(speed_sp=-70,stop_action='hold')
g5=gs.value()
stop()
u3=us.value()
t1=time.time()
while u3<2550:
ml.run_forever(speed_sp=100,stop_action='hold')
mr.run_forever(speed_sp=100,stop_action='hold')
u3=us.value()
t2=time.time()
stop()
roll(220)
ml.run_timed(speed_sp=-100,time_sp=(t2-t1)*1000,stop_action='hold')
mr.run_timed(speed_sp=-100,time_sp=(t2-t1)*1000,stop_action='hold')
time.sleep(t2-t1)
g6=gs.value()
g7=gs.value()
while g6-g7<=g3-g1-6:
mr.run_forever(speed_sp=70,stop_action='hold')
ml.run_forever(speed_sp=-70,stop_action='hold')
g7=gs.value()
stop()
else:
while g4-g5<90:
mr.run_forever(speed_sp=70,stop_action='hold')
ml.run_forever(speed_sp=-70,stop_action='hold')
g5=gs.value()
def Redball(): #¥¹¥¿¡¼¥È¤«¤éÀ֥ܡ¼¥ë¤ò¼è¤ê¤Ë¹Ô¤¯¥×¥í¥°¥é¥à
angle(250,250,3) #À֥ܡ¼¥ë¤Î°ÌÃ֤ޤǿʤà
kaiten_r(180,110) #¥Ü¡¼¥ë¤òµÅ¤¦Éôʬ¤Ï¼ÖÂΤθå¤í¤Ë¤¢¤ë¤Î¤Ç180Åٲ󞤹¤ë
roll(220) #¥Ü¡¼¥ë¤òµÅ¤¦
kaiten_r(195,110) #¼ÖÂΤθþ¤¤òÌ᤹ ¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ò·ï¤Ë°ú¤Ã¤«¤«¤é¤Ê¤¤¤è¤¦¤Ë¤¹¤³¤·Í¾Ê¬¤Ë²ó¤Ã¤Æ¤ª¤¯
linetrace_lin() #GÃÏÅÀ¤Þ¤ÇÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
def Blueball(): Àĥܡ¼¥ë¤ò¼è¤ê¤Ë¹Ô¤¯¤Þ¤Ç¤Î¥×¥í¥°¥é¥à
angle(-20,160,2) #G¤Î¸òº¹ÅÀ¤ò¤Þ¤¿¤°¤¿¤á¤Ë°ÌÃÖ¤òÄ´À°¤¹¤ë
linetrace_lin() #G¤«¤éH¤Þ¤ÇÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
angle(-35,-35,1.5) #H¤Î¸òº¹ÅÀ¤òǧ¼±¤·¤¿¤é¼ÖÂΤò²óž¤·¤¿ºÝ¡¢¥Ü¡¼¥ë¤È¤Ö¤Ä¤«¤é¤Ê¤¤¤è¤¦¤Ë¾¯¤·²¼¤¬¤ë
kaiten_r(175,110) #¼ÖÂΤò180Åٲ󞤵¤»¤ë
roll(220) #¥Ü¡¼¥ë¤òµÅ¤¦
def move(): Àĥܡ¼¥ë¤ò½¦¤Ã¤¿¸å¡¢E¤Î¸òº¹ÅÀ¤Ë¹Ô¤¯¤Þ¤Ç¤Î¥×¥í¥°¥é¥à
kaiten_r(190,110) #¼ÖÂΤθþ¤¤ò¸µ¤ËÌ᤹
angle(-50,-50,1) #¥é¥¤¥ó¥È¥ì¡¼¥¹¤¬°ÂÄꤹ¤ë¤è¤¦¤Ë¾¯¤·²¼¤¬¤ë
linetrace_lin() #H¤Þ¤ÇÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
linetrace_lout() #H¤òǧ¼±¸å¡¢linetrace_lin()¤Ç¤Ï±¦¤Ë¶Ê¤¬¤ê¤¤ì¤Ê¤¤¤¿¤á¡¢¤è¤ê¤æ¤Ã¤¯¤ê¿Ê¤à¤³¤Á¤é¤ËÀÚ¤êÂؤ¨¤ë
linetrace_lin() #H¤«¤éI´Ö¤ÎÀþ¤Î¶³¦Àþ¾å¤Þ¤ÇÍ褿¤é¡¢¤³¤Á¤é¤ËÀÚ¤êÂؤ¨
linetrace_lout() #I¤òǧ¼±¸å¡¢¤³¤Á¤é¤ËÀè¤Û¤É¤ÈƱ¤¸Íýͳ¤Ç¤³¤Á¤é¤ËÀÚ¤êÂؤ¨
linetrace_lin() #E¤òǧ¼±¤¹¤ë¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹
def BlueZone(): #À֥ܡ¼¥ë¤ò´Ì¤Ë¾è¤»¤Æʬ´ô¤«¤éµ¢¤Ã¤Æ¤¤¿¸å¡¢Àĥܡ¼¥ë¤ò¾è¤»¤Ë¹Ô¤¯¥×¥í¥°¥é¥à
linetrace_rin() #E¤«¤éI´Ö¤ÎÀþ¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
linetrace_rout() #I¤òǧ¼±¸å¡¢linetrace_rin()¤Ç¤Ïº¸¤Ë¶Ê¤¬¤ê¤¤ì¤Ê¤¤¤¿¤á¡¢¤è¤ê¤æ¤Ã¤¯¤ê¿Ê¤à¤³¤Á¤é¤ËÀÚ¤êÂؤ¨¤ë
linetrace_rin() #I¤«¤éH´Ö¤ÎÀþ¤Î¶³¦Àþ¾å¤Þ¤ÇÍ褿¤é¡¢¤³¤Á¤é¤ËÀÚ¤êÂؤ¨¡¢¤³¤Î¤Þ¤ÞH¤Þ¤Ç¿Ê¤à
angle(70,0,1) #¸òº¹ÅÀ¤ò¸Ù¤°
linetrace_rin() #H¤«¤éK¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
def discover2(): #Àĥܡ¼¥ë¤ò¼Í½Ð¤¹¤ë¥×¥í¥°¥é¥à
kaiten_l(60,100) #³ÑÅÙ¤òÄ´À°¤·¤Æ¤ª¤¯
discover_r(90,500) #´Ì¤Ë¾è¤»¤ë¥×¥í¥°¥é¥à ¾å¤ÇÀâÌÀºÑ¤ß¤Ê¤Î¤Ç¾Êά
def start():
r=int(input("insert numbera")) #ÀÖ¤ÏÈÖ¹æ¤Î¾ì¹çʬ¤±¤¬ÍưפÀ¤Ã¤¿¤¿¤á¡¢À֤ΤߥÀ¥ß¡¼¤òÈò¤±¤ë¤¿¤á¤Ëʬ´ô¤òÀߤ±¤¿¡£¤½¤ÎºÝ¤Ë´Ì¤ËÈÖ¹æ¤òÆþÎϤ¹¤ë¡£
Redball()
Blueball()
move()
if r<=2: #´Ì1´Ì2¤ËÃÖ¤¯»þ E¤Î°ÌÃ֤Ǵ̤òõ¤·»Ï¤á¤ë
kaiten_l(90,110) #EÃÏÅÀ¤Ç¾å¤ÎÊý¸þ¤ò¸þ¤¯
discover_l(90,250) #´Ì¤ò¾è¤»¤ë¥×¥í¥°¥é¥à¤òºîÆ° ÈϰϤÏÃϿޤΥԥ󥯿§¤ÎÉôʬ
kaiten_l(95,100) #EÃÏÅÀ¤Çº¸Â¦¤ò¸þ¤¯
if r==3: #´Ì3¤ËÃÖ¤¯»þ D¤Þ¤Ç¿Ê¤ó¤Ç´Ì3¤¬¤¢¤ëÈϰϤΤßõ¤¹
angle(-40,180,2) #E¤Îº¸²¼¤«¤é±¦¾å¤Ë¼ÖÂΤò°Ü¤¹
linetrace_lin() #E¤«¤éD´Ö¤ÎÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
discover_r(60,250) #DÃÏÅÀ¤Ç´Ì¤ò¾è¤»¤ë¥×¥í¥°¥é¥à¤òºîÆ° ÈϰϤÏÃÏ¿Þ¤ÎÀÄ¿§¤ÎÉôʬ
angle(-150,-150,2) #¸å¤Ë¼ÖÂΤò180Åٲ󞤵¤»¤¿»þ¡¢¼ÖÂΤ¬´Ì3¤Ë¤Ö¤Ä¤«¤é¤Ê¤¤¤è¤¦¤Ë¾¯¤·²¼¤¬¤ë
kaiten_l(195,110) #195ÅÙº¸²óž¤ò¤¹¤ë
linetrace_rin() #D¤«¤éE¤Î´Ö¤òÀþ¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
angle(230,-40,2) #E¤Î±¦¾å¤«¤éº¸²¼¤Ë°ÜÆ°
if r==4: #´Ì4¤ËÃÖ¤¯»þ D¤Þ¤Ç¿Ê¤ó¤Ç´Ì4¤¬¤¢¤ëÈϰϤΤßõ¤¹
angle(-40,180,2) #E¤Îº¸²¼¤«¤é±¦¾å¤Ë¼ÖÂΤò°Ü¤¹
linetrace_lin() #E¤«¤éD´Ö¤ÎÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
discover_l(60,250) #DÃÏÅÀ¤Ç´Ì¤Ë¾è¤»¤ë¥×¥í¥°¥é¥à¤òºîÆ° ÈϰϤÏÃϿޤλ翧¤ÎÉôʬ
kaiten_l(195,110) #195ÅÙº¸²óž¤¹¤ë
linetrace_rin() #D¤«¤éE¤Î´Ö¤òÀþ¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
angle(230,-40,2) #E¤Î±¦¾å¤«¤éº¸²¼¤Ë°ÜÆ°
if 5<=r: #´Ì5´Ì6¤ËÃÖ¤¯»þ U¥¿¡¼¥ó¤Î¼êÁ°¤Þ¤Ç¿Ê¤ß¡¢´Ì¤¬¤¢¤ëÈϰϤòõ¤¹
angle(-40,180,2) #E¤Îº¸²¼¤«¤é±¦¾å¤Ë¼ÖÂΤò°Ü¤¹
linetrace_lin() #E¤«¤éD´Ö¤ÎÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
linetrace_lout() #D¤Î¸òº¹ÅÀ¤òǧ¼±¸å¡¢linetrace_lin()¤Î¤Þ¤Þ¤À¤È±¦¤Ë¶Ê¤¬¤ê¤¤ì¤Ê¤¤¤Î¤Ç¤³¤Á¤é¤ËÀÚ¤êÂؤ¨¤ë
linetrace_ltime(3) #D¤«¤éµÞ¥«¡¼¥ÖÁ°¤Î´Ö¤ÇÀþ¤Î¶³¦Àþ¾å¤òǧ¼±¸å¡¢3ÉäÀ¤±¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë
discover_l(60,190) #´Ì¤Ë¾è¤»¤ë¥×¥í¥°¥é¥à¤òºîÆ° ÈϰϤÏÃÏ¿Þ¤ÎÎ理ÎÉôʬ
angle(-130,-130,3) #¸å¤Ë¼ÖÂΤò180Åٲ󞤹¤ë»þ¤Ë¡¢¼ÖÂΤ¬´Ì5¤Ë¤Ö¤Ä¤«¤é¤Ê¤¤¤è¤¦¤Ë¾¯¤·²¼¤¬¤ë
kaiten_l(180,110) #¼ÖÂΤòº¸¤Ë180Åٲ󞤹¤ë
linetrace_rin() #DÃÏÅÀ¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹
linetrace_rout() #DÃÏÅÀ¤òǧ¼±¸å¡¢³Ñ¤ò¶Ê¤¬¤êÀÚ¤ì¤ë¤è¤¦¤Ë¤³¤Á¤é¤ËÀÚ¤êÂؤ¨¤ë
linetrace_rin() #EÃÏÅÀ¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹
angle(230,-40,2) #E¤Î±¦¾å¤«¤éº¸²¼¤Ë°ÜÆ°
BlueZone()
discover2()
start() #µ¯Æ°
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