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#define LEFT_WHEEL OUT_C //º¸¤Î¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¼ #define RIGHT_WHEEL OUT_A //±¦¤Î¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¼ #define BOTH_WHEEL OUT_AC //ξ¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¼ #define ARM_BASE OUT_A //ËÜÂΦ¤Î¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼ #define ARM_HAND OUT_B //¥¢¡¼¥àÀè¤Î¥â¡¼¥¿¡¼ #define DIST_SENSOR S2 //µ÷Υ¬ÄêÍÑĶ²»ÇÈ¥»¥ó¥µ¡¼ #define TYPE_SENSOR S3 //»æ¥³¥Ã¥×ȽÊÌÍѸ÷¥»¥ó¥µ¡¼ void InitSensor(){ SetSensorLowspeed(DIST_SENSOR); SetSensorLight(TYPE_SENSOR); }
#define SPEED_STRAIGHT 50 #define SPEED_SPIN 40 #define SPEED_STRAIGHT_LOW 20 #define SPEED_SPIN_LOW 30 #define STAY_WAIT 50 #define WHEEL_STRAIGHT (80 / 1715) void DebugDriveType(string type, int speed){ DebugNumber(DEBUG_DRIVETYPE, type, speed); } void Stay(){ Off(BOTH_WHEEL); DebugDriveType("Stay", 0); } void StayWait(){ Stay(); Wait(STAY_WAIT); } void Drive(int speed, int rate, string type){ if(speed){ if(speed > 0){ OnFwdSync(BOTH_WHEEL, speed, rate); }else{ OnRevSync(BOTH_WHEEL, -speed, rate); } DebugDriveType(type, speed); }else{ } } void DriveStraight(int speed){ Drive(speed, 0, "Straight"); } void DriveLeft(int speed){ Drive(speed, -100, "Left"); } void DriveRight(int speed){ Drive(speed, 100, "Right"); } void Forward(){ DriveStraight(SPEED_STRAIGHT); } void ForwardLow(){ DriveStraight(SPEED_STRAIGHT_LOW); } void Back(){ DriveStraight(-SPEED_STRAIGHT); } void BackLow(){ DriveStraight(-SPEED_STRAIGHT_LOW); } void SpinLeft(){ DriveLeft(SPEED_SPIN); } void SpinLeftLow(){ DriveLeft(SPEED_SPIN_LOW); } void SpinRight(){ DriveRight(SPEED_SPIN); } void SpinRightLow(){ DriveRight(SPEED_SPIN_LOW); } void Spin(int degree){ if(degree > 0){ StartDirectionTimer(); SpinLeft(); until(StopDirectionTimer() >= degree); }else{ StartDirectionTimer(); SpinRight(); until(StopDirectionTimer() <= degree); } } void SpinLow(int degree){ if(degree > 0){ StartDirectionTimer(); SpinLeftLow(); until(StopDirectionTimer() >= degree); }else{ StartDirectionTimer(); SpinRightLow(); until(StopDirectionTimer() <= degree); } } void GoForward(int x){ int d; float p = MotorRotationCount(LEFT_WHEEL); Forward(); until((d = x - (MotorRotationCount(LEFT_WHEEL) - p) * WHEEL_STRAIGHT) < 0){ DebugDriveType("Forward", d); } Stay(); } void GoForwardLow(int x){ int d; float p = MotorRotationCount(LEFT_WHEEL); ForwardLow(); until((d = x - (MotorRotationCount(LEFT_WHEEL) - p) * WHEEL_STRAIGHT) < 0){ DebugDriveType("ForwardLow", d); } Stay(); } void GoBack(int x){ int d; float p = MotorRotationCount(LEFT_WHEEL); Back(); until((d = x + (MotorRotationCount(LEFT_WHEEL) - p) * WHEEL_STRAIGHT) < 0){ DebugDriveType("Back", d); } Stay(); } void GoBackLow(int x){ int d; float p = MotorRotationCount(LEFT_WHEEL); BackLow(); until((d = x + (MotorRotationCount(LEFT_WHEEL) - p) * WHEEL_STRAIGHT) < 0){ DebugDriveType("BackLow", d); } Stay(); } void GoStraight(int x){ if(x > 0){ GoForward(x); }else{ GoBack(-x); } } void GoStraightLow(int x){ if(x > 0){ GoForwardLow(x); }else{ GoBackLow(-x); } }
#define BODY_WIDTH 12.6 #define DIRECTION_COE (0.044 / BODY_WIDTH * 360 / 2 / PI) float direction = 0; float leftMoterCount = 0; float rightMoterCount = 0; float directionTimer = 0; float GetDirection(){ float out = MotorRotationCount(RIGHT_WHEEL); float in = MotorRotationCount(LEFT_WHEEL); direction += (out - leftMoterCount - in + rightMoterCount) * DIRECTION_COE; leftMoterCount = out; rightMoterCount = in; DebugNumber(DIRECTION_DEBUG, "Direction", direction); return direction; } void StartDirectionTimer(){ directionTimer = GetDirection(); } float StopDirectionTimer(){ return GetDirection() - directionTimer; }
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#define DIST_CATCH 12 #define DIST_STACK 11 #define DIST_SEARCH 6 #define SEARCH_DIRECTION1 90 #define SEARCH_DIRECTION2 120 #define DistSensor SensorUS(DIST_SENSOR) void TowardCup(int degree){ int min = DistSensor; float dir = GetDirection(); SpinLow(-degree * 0.5); StartDirectionTimer(); SpinLeftLow(); while(StopDirectionTimer() < degree){ if(DistSensor < min){ min = DistSensor; dir = GetDirection(); } } SpinRightLow(); until(GetDirection() <= dir); Stay(); } int PrepareCup(int dist){ int x, y; TowardCup(SEARCH_DIRECTION1); x = DistSensor - DIST_SEARCH; GoForwardLow(x); StayWait(); TowardCup(SEARCH_DIRECTION2); y = dist - DistSensor; GoBackLow(y); StayWait(); return x - y; } int PrepareCatch(){ return PrepareCup(DIST_CATCH); } int PrepareStack(){ return PrepareCup(DIST_STACK); }
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#define DOWN_POWER 30 #define HOLD_DOWN_POWER 50 #define UP_POWER 90 #define HOLD_UP_POWER 50 #define HOLD_POWER 20 #define RELEASE_POWER 80 #define ARM1_DEGREE 90 #define ARM2_DEGREE 210 #define CUP1 55 #define CUP2 37 #define CUP3 23 #define TypeSensor SENSOR_3
void DownArm(){ Off(ARM_BASE); Wait(100); RotateMotor(ARM_BASE, DOWN_POWER, ARM1_DEGREE); OnFwd(ARM_BASE, HOLD_DOWN_POWER); Wait(1000); } void UpArm(){ Off(ARM_BASE); Wait(100); RotateMotor(ARM_BASE, UP_POWER, -ARM1_DEGREE); OnRev(ARM_BASE, HOLD_UP_POWER); Wait(2000); } void HoldCup(){ OnFwd(ARM_HAND, HOLD_POWER); while(MotorRotationCount(ARM_HAND) < ARM2_DEGREE); } void ReleaseCup(){ RotateMotor(ARM_HAND, RELEASE_POWER, -ARM2_DEGREE); } void CatchCup(){ HoldCup(); Wait(500); UpArm(); Wait(500); ReleaseCup(); HoldCup(); } void StackCup(){ DownArm(); Wait(500); ReleaseCup(); Wait(500); } int GetCupType(){ int n = 0; if(TypeSensor > (CUP1 + CUP2) * 0.5){ n = 1; }else if(TypeSensor > (CUP2 + CUP3) * 0.5){ n = 2; }else{ n = 3; } DebugNumber(DEBUG_CUPTYPE, "CupNumber", n); DebugNumber(DEBUG_CUPSENSOR, "CupSensor", TypeSensor); return n; } void MasterCatchCup(){ BTSendMessage(BT_CATCH, true); BTReceiveMessage(); } void MasterStackCup(){ BTSendMessage(BT_STACK, true); BTReceiveMessage(); }
#define BT_CONN 1 #define BT_MAILBOX MAILBOX3 #define BT_NULL 0 #define BT_CATCH 1 #define BT_STACK 2 #define BT_FINISH 3 void BTStart(string file){ until(BluetoothStatus(BT_CONN) == NO_ERR); RemoteStartProgram(BT_CONN, file); } int BTReceiveMessage(){ int msg = BT_NULL; while(msg == BT_NULL){ ReceiveRemoteNumber(BT_MAILBOX, true, msg); DebugNumber(5, "debug", msg); } return msg; } void BTSendMessage(int msg, bool isMaster){ if(isMaster){ SendRemoteNumber(BT_CONN, BT_MAILBOX, msg); }else{ SendResponseNumber(BT_MAILBOX, msg); } } void BTStop(){ BTSendMessage(BT_FINISH, true); }
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task main(){ int msg; while(msg != BT_FINISH){ msg = BTReceiveMessage(); switch(msg){ case BT_CATCH: Debug(1, "Catch"); DownArm(); CatchCup(); BTSendMessage(1, false); break; case BT_STACK: Debug(1, "Stack"); StackCup(); UpArm(); BTSendMessage(1, false); break; } Debug(1, "Wait"); } Debug(1, "Finish"); Wait(5000); }
#include "debug.h" #include "bluetooth.h" #include "robot.h" #include "direction.h" #include "drivebase.h" #include "search.h" #include "arm.h"
void GotoCatchCup(){ GoForward(2); StayWait(); Spin(-90); StayWait(); GoForward(60); StayWait(); Spin(90); StayWait(); } void GotoStackCup(){ GoForward(2); StayWait(); Spin(-90); StayWait(); GoBack(55); StayWait(); Spin(90); StayWait(); } void BeginCupA(){ Spin(45); StayWait(); GoForward(15); StayWait(); } void BeginCupB(){ Spin(-60); StayWait(); } void BeginCupC(){ GoForward(30); StayWait(); } void EndCupA(){ Spin(45 - GetDirection()); StayWait(); GoBack(10); StayWait(); } void EndCupB(){ Spin(-60 - GetDirection()); StayWait(); } void EndCupC(){ Spin(-GetDirection()); StayWait(); GoBack(25); StayWait(); } void BeginCup(int n){ switch(n){ case 1: DebugSound(TONE_C4); BeginCupA(); break; case 2: DebugSound(TONE_C4); BeginCupB(); break; case 3: DebugSound(TONE_E4); BeginCupC(); break; } } void EndCup(int n){ switch(n){ case 1: EndCupA(); break; case 2: EndCupB(); break; case 3: EndCupC(); break; } } void Cup(int phase){ int x, n; GotoCatchCup(); BeginCup(phase); x = PrepareCatch(); MasterCatchCup(); GoStraight(-x); EndCup(phase); Spin(-GetDirection()); GotoStackCup(); n = GetCupType(); BeginCup(n); x = PrepareStack(); MasterStackCup(); GoStraight(-x); EndCup(n); Spin(-GetDirection()); }
task main(){ GoForward(4); StayWait(); BTStart("slave.rxe"); InitSensor(); for(int i = 1; i <= 3; i++){ Cup(i); } BTStop(); }
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