Ìܼ¡

²ÝÂê¤ÎÀâÌÀ

2014a-mission2.png

¿Þ¤Î²«¿§¤¤¤È¤³¤í¤ËÃÖ¤¤¤Æ¤¢¤ë¿ô»ú¤¬½ñ¤¤¤Æ¤¢¤ë»æ¥³¥Ã¥×¤ò¡¢A,B,C¤È½ñ¤«¤ì¤¿¾ì½ê¤ËÃÖ¤¤¤Æ¤¢¤ëƱ¤¸¿ô»ú¤¬½ñ¤¤¤Æ¤¢¤ë»æ¥³¥Ã¥×¤Ë½Å¤Í¤ë¡£
¿Þ¤Î²«¿§¤¤¾ì½ê¤Ë¤Ï¡¢¤½¤Î¿ô»ú¤ÈƱ¤¸¿ô»ú¤¬½ñ¤«¤ì¤¿»æ¥³¥Ã¥×¤¬ÃÖ¤«¤ì¤ë¡£ ¤Þ¤¿A,B,C½ñ¤«¤ì¤¿¾ì½ê¤Ë¤â1¤«¤é3¤Þ¤Ç¤Î¿ô»ú¤¬½ñ¤«¤ì¤Æ¤¤¤ë»æ¥³¥Ã¥×¤¬ÃÖ¤«¤ì¤ë¡¢ ¤É¤Î¥³¥Ã¥×¤ò¤É¤³¤ËÃÖ¤¯¤«¤Ï¶¥µ»¤ò»Ï¤á¤ëľÁ°¤Ë¥µ¥¤¥³¥í¤ò¿¶¤Ã¤Æ·è¤á¤ë¡£
¤Þ¤¿A,B,C½ñ¤«¤ì¤¿¾ì½ê¤Ë¤â1¤«¤é3¤Þ¤Ç¤Î¿ô»ú¤¬½ñ¤«¤ì¤Æ¤¤¤ë»æ¥³¥Ã¥×¤¬ÃÖ¤«¤ì¤ë¡¢ ¤É¤Î¥³¥Ã¥×¤ò¤É¤³¤ËÃÖ¤¯¤«¤Ï¶¥µ»¤ò»Ï¤á¤ëľÁ°¤Ë¥µ¥¤¥³¥í¤ò¿¶¤Ã¤Æ·è¤á¤ë¡£

¥ë¡¼¥ë¡¢ÆÀÅÀ¤Î»»½ÐÊýË¡¤Ï2014a/Mission2¤ò»²¾È¤·¤Æ¤¯¤À¤µ¤¤¡£

¥á¥ó¥Ð¡¼

Æ£²¬Ë§Ìï¡¡½©»³ÏÂºÈ ´äº´¶Ç»Ë

¡¡¥í¥Ü¥Ã¥ÈËÜÂÎ

Á´ÂÎÁü¡¡new_17.jpg

¥³¥Ã¥×¤ò¤Ä¤«¤àµ¡¹½¤¬Â礭¤µ¤ò¼è¤ê¤¹¤®¤Æ¤·¤Þ¤Ã¤¿¤¿¤áRCX¤ò¹â¤¤¤È¤³¤í¤ËÃÖ¤¯¤·¤«¤Ê¤¯¥¢¥ó¥Ð¥é¥ó¥¹¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£

¥³¥Ã¥×¤ò¤Ä¤«¤àµ¡¹½¡¡

new_14.jpg

¥³¥Ã¥×¤Î¾å¤«¤é¤«¤Ö¤»¤ë¤³¤È¤Ë¤è¤ê¥³¥Ã¥×¤ò¤Ä¤«¤à¡£

¥³¥Ã¥×¤ò¤Ä¤«¤ó¤À»þ¤Î¼Ì¿¿

new_20.jpg

¥¿¥¤¥ä¤Î¥´¥à¤ò¾å²¼±¿Æ°¤µ¤»¤ëµ¡¹½

new_55.jpg ↙¼Ì¿¿¤Ç¤ÏÀÚ¤ì¤Æ¤¤¤Þ¤¹¤¬¤³¤³¤Ë¥¿¥¤¥ä¤Î¥´¥à¤¬ÉÕ¤¤¤Æ¤¤¤Þ¤¹¡£

­£¤Î¥®¥¢¤È¥â¡¼¥¿¡¼¤Î¥®¥¢¤¬¤«¤ß¹ç¤Ã¤Æ¤¤¤ë¤Î¤Ç¡Ê²¼¤Î¼Ì¿¿¤ò»²¾È¡Ë¡¢­¢¤Î¥â¡¼¥¿¡¼¤¬²óž¤¹¤ë¤³¤È¤Ë¤è¤ê¥¿¥¤¥ä¤Î¥´¥à¤¬Àèü¤Ë¤Ä¤¤¤¿­¡¤¬¾å²¼±¿Æ°¤·¤Æ¡¢¥³¥Ã¥×¤ò¤Ä¤«¤ó¤À¤ê»ý¤Á¾å¤²¤¿¤ê¤·¤Þ¤¹¡£ new_23.jpg

¥³¥Ã¥×¤ò³°¤¹µ¡¹½

24.jpg

¥¿¥¤¥ä¤Î¥´¥à¤Ë¶´¤Þ¤Ã¤¿¥³¥Ã¥×¤ò¤Ë¾å¤²¤Æ¤¤¤¯¤È¡¢ÀÖ¤¤Æ͵¯¤¬¤Ä¤¤¤¿½ê¤Ë¥³¥Ã¥×¤¬¤¢¤¿¤ê¥³Íî¤Á¤ë¡£

¥»¥ó¥µ¡¼

25.jpg

ÀµÌ̤ò¸þ¤¤¤Æ¤¤¤ë¡¢ÀÖ¤¤£Ì£Å£Ä¤¬¸«¤Æ¼è¤ì¤ëÀĤ¤¥Ö¥í¥Ã¥¯¤¬¥³¥Ã¥×¤Î¿§¤ò´¶ÃΤ¹¤ë¤¿¤á¤Î¥»¥ó¥µ¡¼
¡Ê²¿È֤Υ³¥Ã¥×¤«¤ò¼±Ê̤¹¤ë¤¿¤á¤Ë¡¢¥³¥Ã¥×¤Ë¤ÏÈֹ椴¤È¤Ë¿§¤òÉÕ¤±¤Æ¤¢¤ë¡£¡Ë

²¼¤ò¸þ¤¤¤Æ¤¤¤ëÀĤ¤¥Ö¥í¥Ã¥¯¤¬¥é¥¤¥ó¥È¥ì¥¤¥¹¤¹¤ë¤¿¤á¤Î¥»¥ó¥µ¡¼
(¥é¥¤¥ó¤Î¾å¤òÁö¤Ã¤Æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤ë¤¿¤á)

¥×¥í¥°¥é¥à

ÄêµÁ

#define HIPOWER 1¡¡¡¡¡¡//ľÀþÍѤΥѥ
#define LOWPOWER 3    //¥«¡¼¥ÖÍѤΥѥ
#define set_power_H SetPower(OUT_AC,HIPOWER);
#define set_power_L SetPower(OUT_AC,LOWPOWER);
#define go_forward set_power_H; OnFwd(OUT_AC); //ľ¿Ê
#define turn_left1 set_power_L;\
OnFwd(OUT_C); OnRev(OUT_A);           //turn_left1¤òº¸¤Ë¶ËÃÏÀû²ó¤ÈÄêµÁ
#define turn_left0 set_power_L;\  
OnFwd(OUT_C); Off(OUT_A);      ¡¡¡¡¡¡// turn_left0º¸¤Ë¿®ÃÏÀû²ó¤ÈÄêµÁ
#define turn_right0 set_power_L;\
OnFwd(OUT_A); Off(OUT_C);   ¡¡¡¡¡¡ ¡¡//turn_right0¤ò±¦¤Ë¶ËÃÏÀû²ó¤ÈÄêµÁ
#define turn_right1 set_power_L;\
OnFwd(OUT_A); OnRev(OUT_C);  //±¦ÀÞ¡¡//turn_right1¤ò±¦¤Ë¿®ÃÏÀû²ó¤ÈÄêµÁ
#define SIGNALON 13 
#define cross set_power_H; OnFwd(OUT_AC);Wait(20); //¸òº¹ÅÀ¤òÅϤë
#define c1 if (SENSOR_3 < 37) {Off(OUT_AC); SendMessage(SIGNALON);Wait(80);} //¹õ¤¤»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤¿¤é£²ÈÖ¤ÎRCX¤Ë¥á¥Ã¥»¡¼¥¸¤òÁ÷¤ë¡£

¥á¥¤¥ó¥¿¥¹¥¯

task main() {

SetSensor(SENSOR_2,SENSOR_LIGHT);¡¡//¸÷¥»¥ó¥µ¡¼¥»¥Ã¥È
SetSensor(SENSOR_3,SENSOR_LIGHT);
int nl=0;//¸òº¹ÅÀ¤òȽÃǤ¹¤ë¤¿¤á¤Ë¡¢²¿²óϢ³¤Ç¹õÀþ¤ò´¶ÃΤ·¤¿¤«¥«¥¦¥ó¥È¤¹¤ëÊÑ¿ônl¤òÄêµÁ¡Ê¸òº¹ÅÀ¤Ç¤ÏÄ̾ï¤Î¥é¥¤¥ó¤è¤ê¤â¹õϢ³¤Ç´¶ÃΤ¹¤ë²ó¿ô¤¬Â¿¤¯¤Ê¤ë¡£¡Ë
int cc=0;//¸òº¹ÅÀ¤Î¿ô¤ò¿ô¤¨¤ë¤¿¤á¤ÎÊÑ¿ôcc¤òÄêµÁ¡¡

**AÃÏÅÀ¤Þ¤Ç¹Ô¤¯¤¿¤á¤Î¥×¥í¥°¥é¥à
go_forward;
Wait(460);
turn_left1;
Wait(140);
go_forward;
Wait(280);

¤³¤³¤Þ¤Ç¤Î¥×¥í¥°¥é¥à¤Ë¤è¤ê¿Þ¤ÎAÃÏÅÀ¤Þ¤ÇÍè¤Þ¤¹¡£

 
ClearTimer(0);//¥¿¥¤¥Þ¡¼¥¼¥í¤ò¥»¥Ã¥È¡Ê¸òº¹ÅÀ¤Ç¤Ê¤¤¤È¤³¤í¤Ç¹õÀþ¤òϢ³¤Ç¿ô¤¨¤¹¤®¤Æ¸òº¹ÅÀ¤ò¸í¤Ã¤ÆǧÃΤ·¤Ê¤¤¤¿¤á¤Ë¥¿¥¤¥Þ¡¼¤òÍѤ¤¤ë¡Ë
while (true) {
while ((nl < 5) ||(FastTimer(0)<500)){//¡¡¹õÀþ¤ò£µ²ó¤òϢ³¤Ç´¶ÃΤ·¤¿²ó¿ô¤¬5°Ê²¼¡¢¤â¤·¤¯¤Ï¥¹¥¿¡¼¥È¤«¤é500ÉðÊÆâ¤Ê¤é¤Ð°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤¹¤ë
  if (SENSOR_2 < 37) {¡¡//¹õÀþ¤òȽÃÇ
    turn_left1;         //º¸¤Ë¶ÉÃÏÀû²ó
  nl++;
  } else if (SENSOR_2 < 41) { //¹õÀþ¤ÈÇòÀþ¤ÎÃæ´Ö¡Ê¹õÀþ¤è¤ê¡Ë¤òȽÃÇ
    turn_left0;
  nl=0;//nl¤ò¥ê¥»¥Ã¥È
  } else if (SENSOR_2 < 45) {¡¡//¹õÀþ¤ÈÇòÀþ¤Î¤Á¤ç¤¦¤ÉÃæ´Ö¤òȽÃÇ
   go_forward;
   nl=0;
  } else if (SENSOR_2 < 50) {¡¡//¹õÀþ¤ÈÇòÀþ¤ÎÃæ´Ö¡ÊÇòÀþ¤è¤ê¡Ë¤òȽÃÇ
    turn_right0;  ¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡
  } else {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥í¥Ü¥Ã¥È¤¬ÇòÀþ¤Î¾å¤Ë¤¤¤ë¾õÂÖ
     turn_right1; 
  nl=0;
  }
    
  Wait(1);
}

turn_right1; Wait(35);
cross;
cc++;
if (cc == 1) { //°ì¤ÄÌܤθòº¹ÅÀ¤Ë½Ð²ñ¤Ã¤¿¤ÈȽÃÇ
go_forward;
Wait(50);
c1;
OnRev(OUT_AC);
Wait(150);
turn_left1;
Wait(40);
go_forward;
Wait(280);
c1;
OnRev(OUT_AC);
Wait(500);
turn_left1;
Wait(100);
go_forward;
Wait(200);
c1;
OnRev(OUT_AC);
Wait(100);
turn_left1;
Wait(330);
go_forward;
Wait(1000);
} } }

»²¹Íʸ¸¥:http://yakushi.shinshu-u.ac.jp/robotics/?2014a%2FMember%2Fkanzaki%2FMission2&aname(sc853718,super,full,nouserselect){†};


źÉÕ¥Õ¥¡¥¤¥ë: file26.jpg 127·ï [¾ÜºÙ] file25.jpg 320·ï [¾ÜºÙ] file24.jpg 267·ï [¾ÜºÙ] filenew_23.jpg 256·ï [¾ÜºÙ] file23.jpg 128·ï [¾ÜºÙ] filenew_55.jpg 328·ï [¾ÜºÙ] filenew_22.jpg 129·ï [¾ÜºÙ] filenew_20.jpg 297·ï [¾ÜºÙ] filenew_19.jpg 135·ï [¾ÜºÙ] filenew_18.jpg 125·ï [¾ÜºÙ] filenew_17.jpg 322·ï [¾ÜºÙ] filenew_16.jpg 141·ï [¾ÜºÙ] filenew_15.jpg 115·ï [¾ÜºÙ] filenew_14.jpg 310·ï [¾ÜºÙ] filenew_12.jpg 111·ï [¾ÜºÙ] filenew_11 .jpg 109·ï [¾ÜºÙ] filenew_10.jpg 154·ï [¾ÜºÙ] file5a7TaSGpTVXfZ4d7FkbEK6BUu7KOUfOLgEsqLBzYoXk.jpg 82·ï [¾ÜºÙ] file2ydBLp9gf-mkDoRFdqjxFI-4lVNhzEDlzDM28tZyL08.jpg 97·ï [¾ÜºÙ] file2o58Dy3A_ZWBDRPkEf-eYw4uSyJlVeQ8_9vfafPzKRU.jpg 97·ï [¾ÜºÙ] file1vHYWSIEJuFNOz2_y-y8g3_YLPsT5pxJ7gYLqIIYnfU.jpg 92·ï [¾ÜºÙ] file2014a-mission2.png 262·ï [¾ÜºÙ]

¥È¥Ã¥×   ÊÔ½¸ Åà·ë º¹Ê¬ ÍúÎò źÉÕ Ê£À½ ̾Á°Êѹ¹ ¥ê¥í¡¼¥É   ¿·µ¬ °ìÍ÷ ¸¡º÷ ºÇ½ª¹¹¿·   ¥Ø¥ë¥×   ºÇ½ª¹¹¿·¤ÎRSS
Last-modified: 2014-08-12 (²Ð) 00:13:29