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³Æ¥â¡¼¥¿¡¼¡¦¥»¥ó¥µ¡¼¤ÎÄêµÁ¡Ê̿̾¡Ë¡¡¡Érobot.h¡É¡¡

#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);
}

³ÆÆ°ºî¤ÎÄêµÁ ¡Édrivebase.h¡É [#p39e563b]

#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);
    }
}

¼ÖÂΤθþ¤­¡Ê¼«¿È¤¬¥Õ¥£¡¼¥ë¥É¾å¤Ë¤ª¤¤¤Æ¤É¤Î¸þ¤­¤Ë¸þ¤¤¤Æ¤¤¤ë¤«¡Ë¤ò·×¤ë ¡Édirection.h¡É

#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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¥«¥Ã¥×¤òõ¤¹ ¡Ésearch.h¡É

#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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¥¢¡¼¥à¤Î¥×¥í¥°¥é¥à ¡Éarm.h¡É

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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

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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();
}

Bluetooth¡Ê£²¤Ä¤ÎËÜÂδ֤ǤÎÄÌ¿®¡Ë ¡Ébluetooth.h¡É

#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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#include "debug.h"
#include "bluetooth.h"
#include "robot.h"
#include "arm.h"

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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);
}

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#include "debug.h"
#include "bluetooth.h"
#include "robot.h"
#include "direction.h"
#include "drivebase.h"
#include "search.h"
#include "arm.h"

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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());
} 

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task main(){
   GoForward(4);
   StayWait();
   BTStart("slave.rxe");
   InitSensor();
   for(int i = 1; i <= 3; i++){
       Cup(i);
   }
   BTStop();
}

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Last-modified: 2014-09-09 (²Ð) 02:12:40