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#define SPEED 50¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¡¡Â®ÅÙ¡¡Â®£µ£°¤ÎÄêµÁ #define SPEED_SLOW 30 //¡¡Â®ÅÙ¡¡ÃÙ£³£°¤ÎÄêµÁ
const float diameter = 5.45;¡¡¡¡//¡¡¥¿¥¤¥ä¤Îľ·Â¡ÊÑ¡Ë const float track = 10.35; //¡¡¥¿¥¤¥ä¤Î¥È¥ì¥Ã¥ÉÉý¡ÊÑ¡Ë const float pi = 3.1415; //¡¡±ß¼þΨ
void fwdDist (float d){ // d¥»¥ó¥ÁÁ°¿Ê long angle; angle = d / (diameter * pi) * 360.0; RotateMotorEx(OUT_AC,SPEED_SLOW,angle,0,true,true); }
void turnAng(long ang){ // ³ÑÅÙangÅ٤λþ·×²ó¤ê¤ÎÀû²ó long angle ; angle = track/diameter*ang; RotateMotorEx(OUT_AC,SPEED_SLOW,angle,100,true,true); }
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int searchDirection(long ang){ // ¥Ü¡¼¥ë¤òõ¤·¤Æ¤½¤ÎÊý¸þ¤ò¸þ¤¡¢¥Ü¡¼¥ë¤Þ¤Ç¤Îµ÷Î¥¤òÊÖ¤¹ long angle, tacho_min; int d_min; d_min = 300; //¡¡¡¡¡¡¡¡²¾¤ÎºÇ¾®ÃÍ tacho_min = 0;
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angle = (track / diameter) * ang; //¡¡¡¡¡¡¡¡³ÑÅÙ¤«¤é¥¿¥¤¥ä¤Î²óž¤ò·×»» turnAng(ang / 2); //¡¡¡¡¡¡¡¡»ØÄꤵ¤ì¤¿³ÑÅÙ¤ÎȾʬ¤òÀû²ó ResetTachoCount(OUT_A); //¡¡¡¡¡¡¡¡³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
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OnFwdSync(OUT_AC,SPEED_SLOW,-100); //¡¡¡¡¡¡¡¡È¿»þ·×²ó¤ê¤ËÀû²ó while(MotorTachoCount(OUT_A) <= angle){ if(SensorUS(S3) < d_min){ d_min = SensorUS(S3);¡¡ // ²¾¤ÎºÇ¾®Ãͤò¹¹¿· tacho_min = MotorTachoCount(OUT_A); } }
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OnFwdSyncEx(OUT_AC,SPEED_SLOW,100,RESET_NONE); until(MotorTachoCount(OUT_A) <= tacho_min || SensorUS(S3) <= d_min); Wait(15); //ÈùÄ´À° Off(OUT_AC); Wait(500); return d_min; }
void searchDirection2(long ang){ // ´Ì¤òõ¤·¤Æ¤½¤ÎÊý¸þ¤ò¸þ¤¯(°Ê²¼¡¡void search Direction(long ang)¡¡¤ÈÀâÌÀƱ¤¸) long angle, tacho_min;¡¡¡¡¡¡¡¡ int d_min; d_min = 300; tacho_min = 0; angle = (track / diameter) * ang; turnAng(ang/2); ResetTachoCount(OUT_C); OnFwdSync(OUT_AC,SPEED_SLOW,-100); while(MotorTachoCount(OUT_C) >= angle*-1){ if(SensorUS(S3) < d_min){ d_min = SensorUS(S3); tacho_min = MotorTachoCount(OUT_C); } } OnFwdSyncEx(OUT_AC,SPEED_SLOW,100,RESET_NONE); until(MotorTachoCount(OUT_C) >= tacho_min || SensorUS(S3) <= d_min); Wait(15); Off(OUT_AC); Wait(500); }
void line () { // ¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥à float d; int S = 0; //¡¡¡¡¡¡¸òº¹ÅÀ¤Î²ó¿ô¤ò·×¤ë¤¿¤á¤ÎÈ¢ SetSensorLight(S2); long t_L = CurrentTick(); while(S<3){ while(CurrentTick() - t_L <= 170) { //±¦Àû²ó¤Î»þ´Ö¤¬£°¡¥£±£·°Ê²¼¤Î»þ¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò·«¤êÊÖ¤¹¡£ //£°¡¥£±£·ÉäòĶ¤¨¤¿¾ì¹ç¸òº¹ÅÀ¤ÈȽÃǤ·¡¢¥ë¡¼¥×¤«¤éæ½Ð¤¹¤ë¡£ if (SENSOR_2 < 30) { OnFwd(OUT_C,30); OnRev(OUT_A,25); } else if (SENSOR_2 < 38) { OnFwd(OUT_C,30); Off(OUT_A); } else if (SENSOR_2 < 52) { OnFwd(OUT_AC,30); t_L = CurrentTick(); } else if (SENSOR_2 < 60) { OnFwd(OUT_A,30); Off(OUT_C); t_L = CurrentTick(); } else { OnFwd(OUT_A,30); OnRev(OUT_C,25); t_L = CurrentTick(); } Wait(1); } S++; if(S==1){ // ¸òº¹ÅÀ£±²óÌÜ¡ÊÅÀ£Ð¡Ë¤òº¸ÀÞ Off(OUT_AC); // £ÑÅÀ¤Î¥Ü¡¼¥ë¤òÁÀ¤¦ Wait(1000); RotateMotor(OUT_A,SPEED,210); OnFwdSync(OUT_AC,SPEED_SLOW,0); Wait(1000); d = searchDirection(120); // QÅÀ£²¤ÄÌܤΥܡ¼¥ë¤òÁÀ¤¦ fwdDist(d - 8.0); // £¸£ã£í¼êÁ°¤Ç»ß¤Þ¤ë RotateMotor(OUT_C,SPEED_SLOW,150); // ½¦¤¦Á°ÈùÄ´À°() RotateMotor(OUT_B,33,80); // ¥¢¡¼¥à¤ò¾¯¤·ÊĤ¸¤ë OnFwdSync(OUT_AC,SPEED,0); // ¥Ü¡¼¥ë½¦¤¤ Wait(450); RotateMotor(OUT_B,33,80); Off(OUT_AC); t_L = CurrentTick(); } else if(S==2){ // ¸òº¹ÅÀ£²²óÌܤǥ饤¥ó¥È¥ì¡¼¥¹¤Î½èÍý¤ò½ªÎ»¤µ¤»¤ë break; } } }
task main(){ SetSensorLowspeed(S3); ¡¡// Ķ²»ÇÈ¥»¥ó¥µ¡¼¡Ê¥Ý¡¼¥È£³¡Ë SetSensorLight(S2); // ¸÷¥»¥ó¥µ¡¼¡Ê¥Ý¡¼¥È£²¡Ë¡¡¡¡ int mail = 0; int d = searchDirection(120); ¡¡¡¡// ¥Ü¡¼¥ëõ¤· fwdDist(d - 8.0); RotateMotor(OUT_C,SPEED_SLOW,125); // ½¦¤¦Á°ÈùÄ´À° OnFwdSync(OUT_AC,SPEED,0); // ¥Ü¡¼¥ë½¦¤¤ Wait(450); RotateMotor(OUT_B,33,80); // ¥Ü¡¼¥ë¤Ä¤«¤à Off(OUT_AC); fwdDist(-5); //¤Ä¤«¤ó¤À¸å£µ£ã£í¸å¤í¤Ø¿Ê¤à RotateMotor(OUT_C,SPEED_SLOW,-300); // ´ÌÉÕ¶á¤Ë°ÜÆ°¡Ê£³£°£°ÅÙº¸Àû²ó¤·£±¡¥£¸ÉÃÁ°¿Ê¡Ë OnFwdSync(OUT_AC,SPEED,0); Wait(1800); searchDirection2(90); // ³ÑÅÙ¹ç¤ï¤» RotateMotor(OUT_C,SPEED_SLOW,90); // ȯ¼ÍÁ°ÈùÄ´À°¡ÊĶ²»ÇÈ¥»¥ó¥µ¡¼¤¬Ãæ¿´¤Ç¤Ê¤¯±¦¤Ë¤Ä¤¤¤Æ¤¤¤ë¤¿¤á¡Ë
¥Ö¥ë¡¼¥È¥¥¡¼¥¹¤Ç¼õ¤±¼è¤ê¦¥í¥Ü¥Ã¥È¤Ë¥á¥Ã¥»¡¼¥¸¤òÁ÷¤ë¡£¡Ê¾Ü¤·¤¤ÀâÌÀ¤Ï¡É¥Ö¥ë¡¼¥È¥¥¡¼¥¹¤ÎÀâÌÀ¡É¤Ç¤¹¤ë¡Ë
SendRemoteNumber(1,MAILBOX1,10); // ¥¥ã¥Ã¥Á¦¤ò°ÜÆ°¤µ¤»¤ë while(mail != 20){ // ¥¥ã¥Ã¥Á½àÈ÷´°Î»ÂÔ¤Á Off(OUT_ABC); Wait(1); ReceiveRemoteNumber(MAILBOX1,false,mail); }
OnFwd(OUT_B,-70); // ¥Ü¡¼¥ëȯ¼Í Wait(800); Off(OUT_B); turnAng(210); // 210ÅÙÀû²ó¤·¥é¥¤¥ó¥È¥ì¡¼¥¹½àÈ÷¤Î¤¿¤á¤Î°ÜÆ° OnFwd(OUT_AC,1); Wait(1); OnFwd(OUT_A,SPEED_SLOW); OnFwd(OUT_C,SPEED_SLOW - 3); until(SENSOR_2 < 40); Off(OUT_A); line(); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ¥é¥¤¥ó¥È¥ì¡¼¥¹ Off(OUT_ABC);
}
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SendRemoteNumber(1,MAILBOX1,10); // ¥¥ã¥Ã¥Á¦¤ò°ÜÆ°¤µ¤»¤ë while(mail != 20){ // ¥¥ã¥Ã¥Á½àÈ÷´°Î»ÂÔ¤Á Off(OUT_ABC); Wait(1);
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ReceiveRemoteNumber(MAILBOX1,false,mail);
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