2011b/A2/ロボコン

メンバー
課題
ロボット
プログラム

メンバー†

・ブラン　繊維学部応用生物学系

・セレン　繊維学部応用生物学系

・AU　工学部電気電子工学科

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課題†

詳しくはこちら

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ロボット†

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プログラム†

タイヤを管理するRCX

#define BORDER1 40
#define BORDER2 37
#define left_time 13
#define right_time 45


int SIGNAL = 1;
int Count = 0;


sub go()
   {
   OnFwd(OUT_A+OUT_C);
   Wait(20);
   Off(OUT_A+OUT_C);
   Wait(50);
   }


sub back()
   {
   OnRev(OUT_A+OUT_C);
   Wait(20);
   Off(OUT_A+OUT_C);
   Wait(50);
   }


sub turn_right()
   {
   OnRev(OUT_A); OnFwd(OUT_C);
   Wait(15);
   Off(OUT_A+OUT_C);
   Wait(50);
   }


sub turn_left()
   {
   OnFwd(OUT_A); OnRev(OUT_C);
   Wait(15);
   Off(OUT_A+OUT_C);
   Wait(50);
   }


void tushin()
  {ClearTimer(0);
   while (FastTimer(0) <= 100)
   {
   SendMessage(SIGNAL);
   }
   PlaySound(SOUND_UP);
   SIGNAL++;
   }
   
   
task main()
{
   SetSensor(SENSOR_1,SENSOR_LIGHT);
   SetSensor(SENSOR_2,SENSOR_LIGHT);
   SetSensor(SENSOR_3,SENSOR_TOUCH);
   
   
   while(SENSOR_3 == 0)
   {
    back();
   }
   
   while(SENSOR_1 > BORDER1)
   {
    go();
   }
   
   Count = 0;
   while(Count < 1)
   {back(); Count++; PlaySound(SOUND_CLICK);}
   
   Count = 0;
   while(Count < 16)
   {turn_left(); Count++; PlaySound(SOUND_CLICK);}
   
   Count = 0;
   while(Count < 36)
   {
    back();Count++; PlaySound(SOUND_CLICK);
   }
   
   
   Count = 0;
   
   
   while(Count < 2)
   {turn_left(); Count++; PlaySound(SOUND_CLICK);}
   while(Count < 20)
   {go(); Count++; PlaySound(SOUND_CLICK);}
   
   
   Count = 0;
   while(Count < 42)
   {turn_left(); Count++; PlaySound(SOUND_CLICK);}
   
       
   ClearMessage();
   
   tushin();
   
   Off(OUT_A+OUT_C); PlaySound(SOUND_CLICK);
   until (Message() == 11);
   
   turn_left();
   
   Count = 0;
   while(Count < 8)
    {
   
   if(SENSOR_2 > BORDER2)
   {go(); Count++; PlaySound(SOUND_CLICK);}
   
   else
   {
   back();
   turn_right();
   go();
   turn_left();
   Count = 0;
   }
   }
   
   
   tushin();
   
   ClearMessage();
   
   Off(OUT_A+OUT_C);PlaySound(SOUND_CLICK);
   until (Message() == 12);
   
   
   while(SENSOR_3 == 0)
   {
   back();
   }
   
   
   Count = 0;
   while(Count < 3)
   {go(); Count++; PlaySound(SOUND_CLICK);}
   
   Count = 0;
   while(Count < 42)
   {turn_left(); Count++; PlaySound(SOUND_CLICK);}
   
   
   while(SENSOR_3 == 0)
   {
    back();
   }
   
   
   Count = 0;
   while(Count < 12)
   {go(); Count++; PlaySound(SOUND_CLICK);}


    Count = 0;
   while(Count < 16)
   {turn_left(); Count++; PlaySound(SOUND_CLICK);}


    while(SENSOR_1 > BORDER1)
   {
    go();
   }


    while(SENSOR_1 > BORDER1)
   {
    go();
   }

   tushin();
   
    until (Message() == 13);
   
   
       while(SENSOR_3 == 0)
   {
    back();
   }
   
   Off(OUT_A+OUT_C);
}

アームを管理するRCX

int SIGNAL=11;

sub arm_down()     //つかむ
{OnFwd(OUT_A); Wait(1100); Off(OUT_C); Wait(50);}

sub arm_up_fast()     //アームを大きく上げる
{OnRev(OUT_A); Wait(2000); Off(OUT_A); Wait(50);}

sub arm_up()     //アームを上げる
{OnRev(OUT_A); Wait(1100); Off(OUT_A); Wait(50);}

sub yoko()     //アームを横に倒す
{OnRev(OUT_C); Wait(5000); Off(OUT_C); Wait(50);}

sub tate()     //アームを立てる
{OnFwd(OUT_C); Wait(5300); Off(OUT_C); Wait(50);}

void communicate()
{
    ClearTimer(0);

    while(FastTimer(0) <= 300) 
    {SendMessage(SIGNAL);}

    PlaySound(SOUND_UP); 
    SIGNAL++;
    ClearMessage();     
}

task main()
{
    ClearMessage();
   
    Off(OUT_A+OUT_C);

    until(Message()==1);     
    yoko(); 
    arm_up_fast();
    communicate();

    until(Message()==2);
    arm_down();
    Off(OUT_A);
    tate();
    communicate();

    until(Message()==3);
    arm_up();
    communicate();
}

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