2019a/Member/Kaguya/Mission3
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#!/usr/bin/env python3
from ev3dev.ev3 import *
from time import sleep
mR = LargeMotor('outC')
mL = LargeMotor('outA')
csR = ColorSensor('in1')
csL = ColorSensor('in2')
arm = LargeMotor('outD')
hand = MediumMotor('outB')
arm¤Ï¡~
hand¤Ï£~
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def migi(a):
sleep(1)
mR.run_timed(speed_sp=100, time_sp=a, stop_action='brake')
def hidari(b):
sleep(1)
mL.run_timed(speed_sp=100, time_sp=b, stop_action='brake')
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def bihidari(c):
mR.run_timed(time_sp=c, speed_sp=100, stop_action='brake')
mL.run_timed(time_sp=c, speed_sp=-100, stop_action='brake')
def bimigi(d):
mR.run_timed(time_sp=d, speed_sp=-100, stop_action='brake')
mL.run_timed(time_sp=d, speed_sp=100, stop_action='brake')
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def koutai(e):
mR.run_timed(speed_sp=-100, time_sp=e, stop_action='brake')
mL.run_timed(speed_sp=-100, time_sp=e, stop_action='brake')
def zensin(f):
mR.run_timed(speed_sp=100, time_sp=f, stop_action='brake')
mL.run_timed(speed_sp=100, time_sp=f, stop_action='brake')
sleep(1)
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def zensin_forever(g):
mR.run_forever(speed_sp=g, stop_action='brake')
mL.run_forever(speed_sp=g, stop_action='brake')
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def Trace_Method():
while True:
if csL.value() >= 15 and csR.value() >= 15:
zensin_forever(100)
sleep(0.1)
elif csL.value() <= 14 and csR.value() >= 15:
bihidari(100)
sleep(0.1)
elif csL.value() >= 15 and csR.value() <= 14:
bimigi(100)
elif csL.value() >= 15 and csR.value() <= 14:
bimigi(100)
sleep(0.1)
else:
mR.stop()
mL.stop()
sleep(0.1)
break
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def main():
Trace_Method()
sleep(0.1)
zensin_forever(100)
sleep(4)
mL.stop()
mR.stop()
bihidari(1900)
sleep(2.1)
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Trace_Method()
sleep(0.1)
zensin_forever(100)
sleep(0.3)
mL.stop()
mR.stop()
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arm.reset()
sleep(0.1)
arm.run_to_rel_pos(position_sp=160, speed_sp=250, stop_action='brake')
sleep(3)
arm.reset()
arm.run_to_rel_pos(position_sp=-160, speed_sp=250, stop_action='brake')
hand.reset()
sleep(2)
arm.reset()
arm.run_to_rel_pos(position_sp=160, speed_sp=250, stop_action='brake')
sleep(2)
hand.run_to_rel_pos(position_sp=80, speed_sp=300, stop_action='brake')#'1'
sleep(1)
arm.reset()
arm.run_to_rel_pos(position_sp=-160, speed_sp=100, stop_action='brake')
sleep(3)
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bihidari(2000)
sleep(3)
zensin_forever(100)
sleep(3)
mR.stop()
mL.stop()
sleep(1)
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Trace_Method()
sleep(1)
koutai(800)
sleep(1)
koutai(800)
sleep(1)
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arm.reset()
arm.run_to_rel_pos(position_sp=160, speed_sp=120, stop_action='brake')
sleep(2)
hand.reset()
hand.run_to_rel_pos(position_sp=-2000, speed_sp=1000, stop_action='brake')
sleep(5)
arm.reset()
arm.run_to_rel_pos(position_sp=-160, speed_sp=120, stop_action='brake')
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#!/usr/bin/env python3
from ev3dev.ev3 import *
from time import sleep
mR = LargeMotor('outC')
mL = LargeMotor('outA')
csR = ColorSensor('in1')
csL = ColorSensor('in2')
arm = LargeMotor('outD')
hand = MediumMotor('outB')
arm¤Ï¡~
hand¤Ï£~
**¤è¤¯»È¤¦Æ°ºî¤ÎÄêµÁ [#g139b102]
def migi(a):
sleep(1)
mR.run_timed(speed_sp=100, time_sp=a, stop_action='brake')
def hidari(b):
sleep(1)
mL.run_timed(speed_sp=100, time_sp=b, stop_action='brake')
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def bihidari(c):
mR.run_timed(time_sp=c, speed_sp=100, stop_action='brake')
mL.run_timed(time_sp=c, speed_sp=-100, stop_action='brake')
def bimigi(d):
mR.run_timed(time_sp=d, speed_sp=-100, stop_action='brake')
mL.run_timed(time_sp=d, speed_sp=100, stop_action='brake')
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def koutai(e):
mR.run_timed(speed_sp=-100, time_sp=e, stop_action='brake')
mL.run_timed(speed_sp=-100, time_sp=e, stop_action='brake')
def zensin(f):
mR.run_timed(speed_sp=100, time_sp=f, stop_action='brake')
mL.run_timed(speed_sp=100, time_sp=f, stop_action='brake')
sleep(1)
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def zensin_forever(g):
mR.run_forever(speed_sp=g, stop_action='brake')
mL.run_forever(speed_sp=g, stop_action='brake')
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def Trace_Method():
while True:
if csL.value() >= 15 and csR.value() >= 15:
zensin_forever(100)
sleep(0.1)
elif csL.value() <= 14 and csR.value() >= 15:
bihidari(100)
sleep(0.1)
elif csL.value() >= 15 and csR.value() <= 14:
bimigi(100)
elif csL.value() >= 15 and csR.value() <= 14:
bimigi(100)
sleep(0.1)
else:
mR.stop()
mL.stop()
sleep(0.1)
break
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def main():
Trace_Method()
sleep(0.1)
zensin_forever(100)
sleep(4)
mL.stop()
mR.stop()
bihidari(1900)
sleep(2.1)
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Trace_Method()
sleep(0.1)
zensin_forever(100)
sleep(0.3)
mL.stop()
mR.stop()
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arm.reset()
sleep(0.1)
arm.run_to_rel_pos(position_sp=160, speed_sp=250, stop_action='brake')
sleep(3)
arm.reset()
arm.run_to_rel_pos(position_sp=-160, speed_sp=250, stop_action='brake')
hand.reset()
sleep(2)
arm.reset()
arm.run_to_rel_pos(position_sp=160, speed_sp=250, stop_action='brake')
sleep(2)
hand.run_to_rel_pos(position_sp=80, speed_sp=300, stop_action='brake')#'1'
sleep(1)
arm.reset()
arm.run_to_rel_pos(position_sp=-160, speed_sp=100, stop_action='brake')
sleep(3)
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bihidari(2000)
sleep(3)
zensin_forever(100)
sleep(3)
mR.stop()
mL.stop()
sleep(1)
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Trace_Method()
sleep(1)
koutai(800)
sleep(1)
koutai(800)
sleep(1)
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arm.reset()
arm.run_to_rel_pos(position_sp=160, speed_sp=120, stop_action='brake')
sleep(2)
hand.reset()
hand.run_to_rel_pos(position_sp=-2000, speed_sp=1000, stop_action='brake')
sleep(5)
arm.reset()
arm.run_to_rel_pos(position_sp=-160, speed_sp=120, stop_action='brake')
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