2017a/Member

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#define LINE_BLACK 	35					//¹õÀþÈ¿±þ»þ¤Î¸÷¥»¥ó¥µ¡Ê¥é¥¤¥óȽÄêÍѡˤÎÃÍ
#define CAN_SHORT 	46					//´Ì¤ËÀܶᤷ¤¿¤È¤­¤Î¡¡¸÷¥»¥ó¥µ¡Ê´ÌÍѡˤÎÃÍ
#define TURN_TIME	145					//£±£¸£°¡ëȿž¤Þ¤Ç¤Î»þ´Ö
#define APP_TIME	75					//´ÌÀܶá¤Þ¤Ç¤Î»þ´Ö
#define ARM_TIME	200					//¥¢¡¼¥à¤¬¿¿²£¤ò¸þ¤¯¤Þ¤Ç¤Î»þ´Ö
#define FOWORD 		OnFwd(OUT_AC);				//ľ¿Ê 
#define BACK 		OnRev(OUT_AC);				//¸åÂà
#define STOP 		Off(OUT_AC);				//Ää»ß
#define TURN_LEFT 	OnFwd(OUT_C); OnRev(OUT_A);		//º¸Àû²ó
#define TURN_RIGHT 	OnFwd(OUT_A); OnRev(OUT_C);		//±¦Àû²ó
#define ARM_OPEN	OnFwd(OUT_B);				//¥¢¡¼¥à³«
#define ARM_CLOSE	OnRev(OUT_B);				//¥¢¡¼¥àÊÄ
#define ARM_STOP	Off(OUT_B);				//¥¢¡¼¥àÄä»ß
#define ROGER 		1					//¡ã¼õ¿®¡¦Á÷¿®¡ä¡¡¡Úλ²ò¡Û
#define GO_AHEAD	10					//¡ãÁ÷¿®¡ä¡¡¡Ú¹ÔÆ°³«»Ï¡Û
#define MOTION_END	20					//¡ã¼õ¿®¡ä¡¡¡ÚÆ°ºî´°Î»¡Û

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int trans_sign = 0;						//¡ãÄÌ¿®¡ä¡¡Á÷¿®¿®¹æ¡¡³ÊǼÍÑ 
int can_cnt = 0;						//´Ì¡¡ÀѤ߾夲ËÜ¿ô¥«¥¦¥ó¥ÈÍÑ

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sub Reception()
{
	ClearMessage();						//¡ãÄÌ¿®¡ä¡¡½é´ü²½¡ÊºÇ¸å¤Ë¼õ¿®¤·¤¿ÃÍ¡¡¢ª¡¡£°¡Ë
	until(Message() == MOTION_END);				//¡ãÄÌ¿®¡ä¡¡¡Ø£²£°¡ÚÆ°ºî´°Î»¡Û¡Ù¤ò¼õ¿®¤¹¤ë¤Þ¤ÇÂÔµ¡
	SendMessage(ROGER);					//¡ãÄÌ¿®¡ä¡¡¡Ø£±¡Úλ²ò¡Û¡Ù¤òÁ÷¿®
}
sub Transmission()
{
	ClearMessage();						//¡ãÄÌ¿®¡ä¡¡½é´ü²½¡ÊºÇ¸å¤Ë¼õ¿®¤·¤¿ÃÍ¡¡¢ª¡¡£°¡Ë
	SendMessage(trans_sign);				//¡ãÄÌ¿®¡ä¡¡¡Ø"trans_sign"¤ÎÃÍ¡Ù¤òÁ÷¿®
	until(Message() == ROGER);				//¡ãÄÌ¿®¡ä¡¡¡Ø£±¡Úλ²ò¡Û¡Ù¤ò¼õ¿®¤¹¤ë¤Þ¤ÇÁ÷¿®¤·Â³¤±¤ë
}

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task main()
{
	/*---------- ¥â¡¼¥¿¥Ñ¥ï¡¼¡¦¥»¥ó¥µ¡¡ÀßÄê ----------*/
	SetPower(OUT_AC , 3);
	SetSensor(SENSOR_3 , SENSOR_LIGHT);			//¹õÀþ¡¡Ç§¼±ÍÑ
	SetSensor(SENSOR_1 , SENSOR_LIGHT);			//´Ì¡¡¡¡Ç§¼±ÍÑ
	/*---------- ¥¢¡¼¥à¤òÁ´³« ----------*/
	ARM_CLOSE;						//¥¢¡¼¥àÊÄ
	Wait(ARM_TIME);						//¥¢¡¼¥à¤¬¿¿²£¤ò¸þ¤¯¤Þ¤ÇÊĤ¸¤ë
	ARM_STOP;
	Wait(100);
	/*---------- ´Ì¡¡²ó¼ý ----------*/
	FOWORD;							//¡¡¥¢¡¼¥à¦¤òÁ°Êý¸þ¤È¤·¤Æ
	until(SENSOR_3 < LINE_BLACK);				//¡¡£²¤ÄÌܤιõÀþ¤Þ¤ÇÁ°¿Ê
	until(SENSOR_3 > LINE_BLACK);				//
	until(SENSOR_3 < LINE_BLACK);				//
	STOP;							//Ää»ß
	Wait(100);
	ARM_CLOSE;						//¥¢¡¼¥àÊÄ
	Wait(ARM_TIME + 50);					//¥¢¡¼¥à¤¬Ê¿¹Ô¤Ë¤Ê¤ë¤Þ¤ÇÊĤ¸¤ë
	ARM_STOP;
	Wait(100);
	BACK;							//¡¡¡¡´Ì¤ò·¤¨¤ë¤¿¤á¤Ë
	Wait(50);						//¡¡¡¡¾¯¤·²¼¤¬¤ë
	STOP;
	ARM_CLOSE;						//¡¡¥¢¡¼¥àÊÄ
	Wait(30);						//¡¡´Ì¤ò°ìÎó¤Ë¤¹¤ë¤¿¤á¤Ë¤µ¤é¤Ë¾¯¤·ÊĤ¸¤ë
	ARM_STOP;
	ARM_OPEN;						//¡¡¡¡¥¢¡¼¥à¤ò³«¤­¡¢
	Wait(ARM_TIME*2 + 80);					//¡¡¡¡¥¹¥¿¡¼¥È»þ¤Ë¤¢¤Ã¤¿¾ì½ê¤Þ¤ÇÌ᤹
	ARM_STOP;
	/*---------- ´ÌÀѤ߾夲¤Î¤¿¤á¤Î½àÈ÷ ----------*/
        BACK;							//¡¡¸åÂष¤Æ¡¢
	until(SENSOR_3 > LINE_BLACK);				//¡¡£²¤ÄÌܤιõÀþ¤Þ¤ÇÁ°¿Ê
	until(SENSOR_3 < LINE_BLACK);				//
	STOP;
       SetPower(OUT_AC , 7);
	TURN_LEFT;						//¡¡±¦Êý¸þ¤Ø
	Wait(TURN_TIME);					//¡¡£±£¸£°¡ëÀû²ó
	STOP;
	SetPower(OUT_AC , 3);
	BACK;							//¡¡¥Ï¥ó¥É¦¤òÁ°Êý¸þ¤È¤·¤Æ
	until(SENSOR_1 > CAN_SHORT);				//¡¡´Ì¤Î¼êÁ°¤Þ¤ÇÁ°¿Ê
	Wait(20);						//¡¡¡Ê¤³¤³¤«¤é²¼¤Ï¡¢¥Ï¥ó¥ÉÊý¸þ¤òÁ°Êý¸þ¤È¤¹¤ë¡Ë
	STOP;
	/*---------- ´Ì¤òÀѤ߾夲³«»Ï (£³²ó·«¤êÊÖ¤·¡¢£´Ãʤˤ¹¤ë) ----------*/ 
	while(pile_up_cnt < 3){
		trans_sign = GO_AHEAD;				//¡ãÄÌ¿®¡ä¡¡¡Ø£±£°¡Ú¹ÔÆ°³«»Ï¡Û¡Ù
		Transmission();					//¡¡&#8627;Á÷¿®
		/* - - - - - - - - - - - - - - - - -*/
		/*   ¥Ï¥ó¥É¦¤¬´Ì¤Î»ý¤Á¾å¤²¤ò¼Â¹Ô   */
		/* - - - - - - - - - - - - - - - - -*/
		Reception();					//¡ãÄÌ¿®¡ä¡¡¡Ø£²£°¡ÚÆ°ºî´°Î»¡Û¡Ù¤¬Á÷¤é¤ì¤Æ¤¯¤ë¤Þ¤ÇÂÔµ¡
		BACK;						//¡¡¡¡´Ì°ì¤Äʬ¤À¤±¡Ê¼¡¤Î´Ì¤Î¼êÁ°¤Þ¤Ç¡Ë
		until(SENSOR_1 > CAN_SHORT);			//¡¡¡¡Á°¿Ê¤¹¤ë
		Wait(20);
		STOP;
		trans_sign = GO_AHEAD;				//¡ãÄÌ¿®¡ä¡¡¡Ø£±£°¡Ú¹ÔÆ°³«»Ï¡Û¡Ù
		Transmission();					//¡¡
		 /*  ¥Ï¥ó¥É¤¬´Ì¤òÃÖ¤­¡¢½é´ü°ÌÃÖ¤ËÌá¤ë  */
               Reception();					//¡ãÄÌ¿®¡ä¡¡¡Ø£²£°¡ÚÆ°ºî´°Î»¡Û¡Ù¤¬Á÷¤é¤ì¤Æ¤¯¤ë¤Þ¤ÇÂÔµ¡
               can_cnt++;					//´Ì¤ÎËÜ¿ô¡¡¡Ü£±
	                      }
}

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#define HAND_TIME		50			//¥Ï¥ó¥É³«ÊÄ¡¡»þ´Ö
#define ELEVATE_UP		OnFwd(OUT_C);		//¡ã¥Ï¥ó¥É¾º¹ß¡ä¾å¾º
#define ELEVATE_DOWN		OnRev(OUT_C);		//¡ã¥Ï¥ó¥É¾º¹ß¡ä¹ß²¼
#define ELEVATE_STOP		Off(OUT_C);		//¡ã¥Ï¥ó¥É¾º¹ß¡äÄä»ß
#define HAND_OPEN		OnRev(OUT_B);		//¡ã¥Ï¥ó¥É³«Êġ䳫
#define HAND_CLOSE		OnFwd(OUT_B);		//¡ã¥Ï¥ó¥É³«ÊÄ¡äÊÄ
#define HAND_STOP		Off(OUT_B);		//¡ã¥Ï¥ó¥É³«ÊÄ¡äÄä»ß
#define ROGER 			1			//¡ã¼õ¿®¡¦Á÷¿®¡ä¡¡¡Úλ²ò¡Û
#define GO_AHEAD		10			//¡ã¼õ¿®¡ä¡¡¡Ú¹ÔÆ°³«»Ï¡Û
#define MOTION_END		20			//¡ãÁ÷¿®¡ä¡¡¡ÚÆ°ºî´°Î»¡Û

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int can_cnt = 0;					//ÀѤ߾夲¤¿´Ì¤ÎËÜ¿ô
int trans_sign = 0;					//Á÷¿®ÍÑ¡¡¿®¹æ¡¡³ÊǼÊÑ¿ô
int hand_flag = 0;					//¡ã¥Ï¥ó¥É¡ä³«ÊÄ¡¡È½ÃÇÍÑ
int elevate_flag = 0;					//¡ã¥Ï¥ó¥É¡ä¾º¹ß¡¡È½ÃÇÍÑ

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sub Hand_Elevate()
{
	if(elevate_flag == 0){				//¥Ï¥ó¥É¾å¾º
		ELEVATE_UP;
		until(SENSOR_1 > 385);
		ELEVATE_STOP;
		elevate_flag = 1;			//¥Ï¥ó¥É¾å¾º½ªÎ»¡¡¼¡¡§¹ß²¼¤ò¼Â¹Ô
	}
	else if(elevate_flag == 1){			//¥Ï¥ó¥É¹ß²¼¡Ê´Ì¤ò¤Î¤»¤ë¡Ë
		ELEVATE_DOWN;
		until(SENSOR_1 < 360);
		ELEVATE_STOP;
		elevate_flag = 2;			//¥Ï¥ó¥É¹ß²¼½ªÎ»¡¡¼¡¡§²¼¹ß¤ò¼Â¹Ô
	}
	else if(elevate_flag == 2){			//¥Ï¥ó¥É½é´ü°ÌÃÖ¡Ê°ìÈÖ²¼¡Ë¤Ø°ÜÆ°
		ELEVATE_DOWN;
		until(SENSOR_1 < 3);
		ELEVATE_STOP;
		elevate_flag = 0;			//¥Ï¥ó¥É²¼¹ß½ªÎ»¡¡¼¡¡§¾å¾º¤ò¼Â¹Ô
	}
}

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sub Hand_OC()
{
	if(hand_flag == 0){
		SetPower(OUT_C , 3);
		HAND_CLOSE;
		Wait(100);
		SetPower(OUT_C , 6);		
		hand_flag = 1;				//¥Ï¥ó¥ÉÊÄ¡¡¼¡¡§¥Ï¥ó¥É¤ò³«¤¯
	}
	else{
		HAND_OPEN;
		Wait(HAND_TIME);
		HAND_STOP;
		hand_flag = 0;				//¥Ï¥ó¥É³«¡¡¼¡¡§¥Ï¥ó¥É¤òÊĤ¸¤ë
	}
}

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sub Reception()
{
	ClearMessage();					//¡ãÄÌ¿®¡ä¡¡½é´ü²½¡ÊºÇ¸å¤Ë¼õ¿®¤·¤¿ÃÍ¡¡¢ª¡¡£°¡Ë
	until(Message() == GO_AHEAD);			//¡ãÄÌ¿®¡ä¡¡¡Ø£±£°¡Ú¹ÔÆ°³«»Ï¡Û¡Ù¤ò¼õ¿®¤¹¤ë¤Þ¤ÇÂÔµ¡
	SendMessage(ROGER);				//¡ãÄÌ¿®¡ä¡¡¡Ø£±¡Úλ²ò¡Û¡Ù¤òÁ÷¿®
}
sub Transmission()
{
	ClearMessage();					//¡ãÄÌ¿®¡ä¡¡½é´ü²½¡¡¡ÊºÇ¸å¤Ë¼õ¿®¤·¤¿ÃÍ ¢ª £°¡Ë
	SendMessage(trans_sign);			//¡ãÄÌ¿®¡ä¡¡¡Ø"trans_sign"¤ÎÃÍ¡Ù¤òÁ÷¿®
	until(Message() == ROGER);			//¡ãÄÌ¿®¡ä¡¡¡Ø£±¡Úλ²ò¡Û¡Ù¤ò¼õ¿®¤¹¤ë¤Þ¤ÇÁ÷¿®¤·Â³¤±¤ë
}

¥á¥¤¥ó¥¿¥¹¥¯

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task main()
{
	/*---------- ¥â¡¼¥¿¥Ñ¥ï¡¼¡¦¥»¥ó¥µ¡¡ÀßÄê ----------*/
	SetSensor(SENSOR_1 , SENSOR_ROTATION);		//²óž¥»¥ó¥µÀßÄê
	ClearSensor(SENSOR_1);				//²óž¥»¥ó¥µ½é´ü²½
	/*---------- ´Ì¡¡ÀѤ߾夲¡Ê£³²ó·«¤êÊÖ¤·¡¢£´Ãʤˤ¹¤ë¡Ë----------*/
	while(can_cnt < 3){
		Reception();				//¡ãÄÌ¿®¡ä¡¡¡Ø£±£°¡Ú¹ÔÆ°³«»Ï¡Û¡Ù¤ò¼õ¿®¤¹¤ë¤Þ¤ÇÂÔµ¡
		Hand_OC();				//´Ì¤ò¤Ä¤«¤à
		Hand_Elevate();				//¥Ï¥ó¥É¾å¾º
		trans_sign = MOTION_END;		//¡ãÄÌ¿®¡ä¡¡¡Ø£²£°¡ÚÆ°ºî´°Î»¡Û¡Ù
		Transmission();				//Á÷¿®
		/* - - - - - - - - - - - - - - - - - - -*/
		/*	¶îư¦¤¬´Ì¤Î¼êÁ°¤Þ¤Ç°ÜÆ°	*/
		/* - - - - - - - - - - - - - - - - - - -*/
		Reception();				//¡ãÄÌ¿®¡ä¡¡¡Ø£±£°¡Ú¹ÔÆ°³«»Ï¡Û¡Ù¤ò¼õ¿®¤¹¤ë¤Þ¤ÇÂÔµ¡
		Hand_Elevate();				//¥Ï¥ó¥É²¼¹ß
		Hand_OC();				//´Ì¤òÊü¤¹
		Hand_Elevate();				//°ìÈÖ²¼¤Þ¤Ç¥Ï¥ó¥É¤ò²¼¤í¤¹
		trans_sign = MOTION_END;		//¡ã¿®¹æ¡ä¡Ø£²£°¡ÚÆ°ºî´°Î»¡Û¡Ù
		Transmission();				//¡¡&#8627;Á÷¿®
		can_cnt++;				//´Ì¤ÎËÜ¿ô¡¡¡Ü£±
	}
	Reception();
}

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Last-modified: 2017-08-13 (Æü) 21:28:55