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2017b/Member/Yoshi/Mission3

2017b/Member/takeshi/Mission3

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#define SPEED_SLOW 25

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const float diameter = 5.45;  //¥¿¥¤¥ä¤Îľ·Â(cm)
const float track = 10.91;   //¥¿¥¤¥ä¤Î¥È¥ì¥Ã¥ÉÉý(cm)
const float pi = 3.1415;    //±ß¼þΨ

void fwdDist(float d) //µ÷Î¥ d cm Á°¿Ê
{
    long angle = d/(diameter*pi)*360.0;   //ɬÍפʥ¿¥¤¥ä¤Î²óž³ÑÅÙ
    RotateMotorEx(OUT_AB,SPEED_SLOW, angle,0,true,true);
}

void baDist(float d) //µ÷Î¥ d cm ¸å¿Ê
{
    long angle = d/(diameter*pi)*360.0;   //ɬÍפʥ¿¥¤¥ä¤Î²óž³ÑÅÙ
    RotateMotorEx(OUT_AB,SPEED_SLOW, -angle,0,true,true);
}

void turnAng(long ang)  //³ÑÅÙangÅ٤λþ·×²ó¤ê¤ÎÀû²ó
{
    long angle = track/diameter * ang;   //ɬÍפʥ¿¥¤¥ä¤Î²óž³ÑÅÙ
    RotateMotorEx(OUT_AB,SPEED_SLOW, angle,100,true,true);
}

void nturnAng(long ang)  //³ÑÅÙangÅ٤λþ·×²ó¤ê¤ÎÀû²ó
{
    long angle = track/diameter * ang;   //ɬÍפʥ¿¥¤¥ä¤Î²óž³ÑÅÙ
    RotateMotorEx(OUT_AB,SPEED_SLOW, angle,0,true,true);
}

int searchDirection(long ang)  //¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤ËangÅÙ¤ÎÈϰϤÇõ¤·
                                   //¾ã³²Êª¤Þ¤Ç¤Îµ÷Î¥¤òÊÖ¤¹
{
    long tacho_min ;   //¤â¤Ã¤È¤â¶á¤¤µ÷Î¥¤ò¼Â¸½¤¹¤ë¥¿¥¤¥ä¤Î²óž¿ô
    int d_min = 300 ;  //¤â¤Ã¤È¤â¶á¤¤µ÷Î¥¤Î²¾¤ÎºÇ¾®ÃÍ

    long angle = (track/diameter)*ang;  //Àû²ó³ÑÅÙ¤«¤é¥¿¥¤¥ä¤Î²óž¤ò·×»»
    turnAng(ang/2);           //»ØÄꤵ¤ì¤¿³ÑÅÙ¤ÎȾʬ¤òÀû²ó
    ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È

    OnFwdSync(OUT_AB,SPEED_SLOW,-100);   //È¿»þ·×²ó¤ê¤ËÀû²ó
    while(MotorTachoCount(OUT_A)<=angle){
        if (SensorUS(S1)<d_min){         //¸½ºß¤Îµ÷Î¥¤¬²¾¤ÎºÇ¾®Ãͤè¤ê¾®¤µ¤¤¾ì¹ç
            d_min = SensorUS(S1);       //²¾¤ÎºÇ¾®Ãͤò¹¹¿·
            tacho_min = MotorTachoCount(OUT_A); //¤³¤Î»þ¤Î¥¿¥¤¥ä¤Î²óž¿ô¤òµ­Ï¿
        }
    }
    OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
    until(MotorTachoCount(OUT_A)<=tacho_min || SensorUS(S1)<=d_min);

    Wait(14);  //ÈùÄ´À°
    Off(OUT_AB);Wait(500);
    return d_min;
}

int d = searchDirection(30)¤Ç»æ¥³¥Ã¥×¤Î°ÌÃÖ¤ò¤½¤Î¾ì¤òÃæ¿´¤Ë15ÅÙ¤º¤Ä¹ç·×30ÅÙĶ²»ÇÈ¥»¥ó¥µ¡¼¤Çõ¤·¤Æ¤«¤éfwdDist(d - 10)¤Ç¤½¤Î¼êÁ°10cm¤Î¤È¤³¤í¤Þ¤Ç¹Ô¤¯¤³¤È¤¬¤Ç¤­¤ë¥×¥í¥°¥é¥à¡£

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sub c_up(float d)   //645¤ÇºÇÂç
{
    RotateMotor(OUT_C,-30,d);
    Off(OUT_C);
}

sub c_down(float d)
{
    RotateMotor(OUT_C,30,d);
    Off(OUT_C);
}

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task main()
{
    SetSensorLowspeed(S1);

    int d = searchDirection(30);  //»æ¥³¥Ã¥×¤ÎÊý¸þ¤òõ¤·¤¿¸å¡¢¶á¤Å¤¤¤Æ25cm¼êÁ°¤ÇÄä»ß
    if (d > 10){
        fwdDist(d-25.0);
    }

    turnAng(200);  //200ÅÙ»þ·×²ó¤ê¤Ë²óž¡Ê»æ¥³¥Ã¥×¤ò¼è¤ë³ÎΨ¤¬°ìÈֹ⤫¤Ã¤¿³ÑÅÙ¡Ë

    c_down(640);   //¥¢¡¼¥à¤ò²¼¤²¤ë

    OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
    Off(OUT_AB);//¤³¤Î2¤Ä¤òÆþ¤ì¤Ê¤¤¤È¼¡¤ÎbaDist()¤¬¤¦¤Þ¤¯Æ°¤«¤Ê¤«¤Ã¤¿¤Î¤Ç¤¤¤ì¤Þ¤·¤¿¡Ê°Ê²¼¡¢ÈùÄ´À°¡Ë
    baDist(12.0);   //12cm¸å¿Ê

    c_up(260);   //»æ¥³¥Ã¥×¤ò¤Ä¤«¤à

¥¹¥¿¡¼¥È°ÌÃÖ¤«¤é»æ¥³¥Ã¥×¤òõ¤·¡¢¼êÁ°¤Þ¤Ç¹Ô¤­È¿Å¾¤·¤Æ¤«¤é¸å¿Ê¤·¤Æ»æ¥³¥Ã¥×¤ò¼è¤ë¤Þ¤Ç¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£¡ÊºÇ½é¤Î¥µ¡¼¥Á¤Ç¡¢Ä¶²»ÇÈ¥»¥ó¥µ¡¼¤Î¼è¤êÉÕ¤±³ÑÅ٤ˤè¤Ã¤Æ¤¦¤Þ¤¯´¶ÃΤ·¤Ê¤¤¤³¤È¤¬¤¢¤ë¤Î¤ÇÄ´À°¤¬É¬Íפˤʤ롣¡Ë¤Þ¤¿¡¢º£²óÁ°¿Ê¡¢¸å¿Ê¤¹¤ë¤Î¤Ë³ÑÅÙ»ØÄê¤Î¥×¥í¥°¥é¥à¤ò»È¤Ã¤Æ¤ª¤ê¡¢ÅÅÃÓ¾ÃÈñ¤Ç¤â¤½¤³¤Þ¤Ç±Æ¶Á¤ò¼õ¤±¤Ê¤¤¤è¤¦¤Ë¤Ê¤Ê¤Ã¤Æ¤¤¤ë¡£

    ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
    turnAng(110);  //110ÅÙ»þ·×²ó¤ê¤Ë²óž

    OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
    Off(OUT_AB);     //ÈùÄ´À°
    baDist(11.0);   //11cm¸å¿Ê

    c_up(330);    //¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ï¤Ê¤¹

    ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
    turnAng(90);   //90ÅÙ»þ·×²ó¤ê¤Ë²óž

    OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
    Off(OUT_AB);        //ÈùÄ´À°
    fwdDist(17.0);        //17cmÁ°¿Ê

    ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
    turnAng(80);          //»þ·×²ó¤ê¤Ë80ÅÙ²óž

    ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
    int e = searchDirection(40);  //»æ¥³¥Ã¥×¤ÎÊý¸þ¤òõ¤·¡¢¤½¤ÎÊý¸þ¤ò¸þ¤¤¤ÆÄä»ß

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    int msg;  // ¼õ¤±¼è¤Ã¤¿Ãͤò³ÊǼ¤¹¤ëÊÑ¿ô
    while (true) {    //¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤ë¤Þ¤ÇÄä»ß¤·Â³¤±¤ë
        ReceiveRemoteNumber(MAILBOX1,true,msg);
        if (msg == 1){
            break;      //whileʸ¤òÈ´¤±½Ð¤¹
        } else {
        Off(OUT_AB);
        }
        Wait(100);
        }

    Off(OUT_AB);Wait(3000);      //3ÉÃÄä»ß¡ÊÆä˰ÕÌ£¤Ï¤Ê¤¤¡Ë

¿®¹æ¤¬Íè¤ë¤Þ¤Ç¤Î¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£whileʸ¤Ç¿®¹æ¤¬¤­¤Æ¤¤¤Ê¤¤´Ö¤ÏÄä»ß¤µ¤»¡¢¿®¹æ¤¬Í褿¤ébreakʸ¤ò»È¤Ã¤Æwhileʸ¤«¤éÈ´¤±½Ð¤¹¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£¤½¤Î¸å¤Î3ÉÃÄä»ß¤Ï¿®¹æ¤ò»È¤ï¤Ê¤¤¤È¤­¡Ê£±Âæ¤ÇÆ°¤«¤¹¤È¤­¡Ë¤Ë»È¤Ã¤Æ¤¤¤¿¤â¤Î¤Ç¤¢¤ë¡£

    ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
    turnAng(30);          //»þ·×²ó¤ê¤Ë30ÅÙ²óž

    OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
    Off(OUT_AB);          //ÈùÄ´À°
    fwdDist(15.0);          //15cmÁ°¿Ê

    ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
    int f = searchDirection(30);  //»æ¥³¥Ã¥×¤ÎÊý¸þ¤òõ¤·¤¿¸å¡¢¶á¤Å¤¤¤Æ25cm¼êÁ°¤ÇÄä»ß
    if (f > 10){
       fwdDist(f-25.0);
    }

    ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
    turnAng(156);      //»þ·×²ó¤ê¤Ë156ÅÙ²óž

    OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
    Off(OUT_AB);            //ÈùÄ´À°
    baDist(8.0);          //8cm¸å¿Ê

    c_down(100);       //»æ¥³¥Ã¥×¤òÊü¤¹

    OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
    Off(OUT_AB);        //ÈùÄ´À°
    baDist(2.0);            //2cm¸å¿Ê

    OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);  //ÈùÄ´À°
    Off(OUT_AB);
    fwdDist(12.0);        //12cmÁ°¿Ê

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    c_up(100);            //¥¢¡¼¥à¤òºÇÂç¤Þ¤Ç¾å¤²¤ë

    ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
    turnAng(230);        //»þ·×²ó¤ê¤Ë230ÅÙ²óž

    ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
    int g = searchDirection(20);  //»æ¥³¥Ã¥×¤ÎÊý¸þ¤òõ¤·¤¿¸å¡¢¶á¤Å¤¤¤Æ25cm¼êÁ°¤ÇÄä»ß
    if (g > 10){
        fwdDist(g-25.0);
    }

    turnAng(190);           //»þ·×²ó¤ê¤Ë190ÅÙ²óž

    c_down(630);           //¥¢¡¼¥à¤òºÇÂç¤Þ¤Ç²¼¤²¤ë

    OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
    Off(OUT_AB);        //ÈùÄ´À°
    baDist(16.0);          //16cm¸å¿Ê

    c_up(270);             //»æ¥³¥Ã¥×¤ò¾¯¤·»ý¤Á¾å¤²¤ë

    ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
    turnAng(140);     //»þ·×²ó¤ê¤Ë140ÅÙ²óž

    c_up(340);          //»æ¥³¥Ã¥×¤ò¤¢¤²¤Æ¥Ô¥ó¥Ý¥ó¶Ì¤òÊü¤¹

ºÇ½é¤Ë¡¢¥¢¡¼¥à¤òºÇÂç¤Þ¤Ç¤¢¤²¤Æ´ð½à¤È¤·¡¢¼¡¤Î»æ¥³¥Ã¥×¤ò¼è¤ë»þ¤ËºÇ½é¤ÈƱ¤¸Ãͤò»È¤¨¤ë¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡£2¤ÄÌܤλ楳¥Ã¥×¤â1¤ÄÌܤÈÊѤï¤é¤º¥µ¡¼¥Á¤·¤Æ¤Ä¤«¤ó¤Ç¡¢²ó¤·¤Æ¥Ô¥ó¥Ý¥ó¶Ì¤òÆþ¤ì¤ë¤È¤¤¤¦Î®¤ì¤Ç¤¢¤ë¡£2¤ÄÌܤÎÀû²ó¤Î¸å¤Ï¡¢ÆäËÁ°¸å¤Ë°ÜÆ°¤¹¤ëɬÍפ¬¤Ê¤«¤Ã¤¿¤Î¤Ç¤½¤Î¤Þ¤Þ¤Ë¤·¤Æ¤¤¤ë¡£

    ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
    turnAng(290);       //»þ·×²ó¤ê¤Ë290ÅÙ²óž

    OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
    Off(OUT_AB);         //ÈùÄ´À°
    baDist(12.0);           //12cm¸å¿Ê


    ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
    int h = searchDirection(20);   //»æ¥³¥Ã¥×¤ÎÊý¸þ¤òõ¤·¤¿¸å¡¢¶á¤Å¤¤¤Æ25cm¼êÁ°¤ÇÄä»ß
    if (h > 10){
        fwdDist(h-25.0);
    }
 
    ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
    turnAng(156);       //»þ·×²ó¤ê¤Ë156ÅÙ²óž

    OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
    Off(OUT_AB);         //ÈùÄ´À°
    baDist(8.0);             //8cm¸å¿Ê

    c_down(100);         //»æ¥³¥Ã¥×¤òÊü¤¹

    OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
    Off(OUT_AB);     //ÈùÄ´À°
    baDist(2.0);      //2cm¸å¿Ê

    OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
    Off(OUT_AB);     //ÈùÄ´À°
    fwdDist(12.0);     //12cmÁ°¿Ê

}

ºÇ½é¤Î290Å٤ϻþ·×²ó¤ê¤·¤«¤Ç¤­¤Ê¤«¤Ã¤¿¤¿¤á̵Â̤˲ó¤Ã¤Æ¤¤¤ë¡£È¿»þ·×²ó¤ê¤Î¥×¥í¥°¥é¥à¤òºî¤í¤¦¤È¤¤¤Æ¤ß¤¿¤¬¤¦¤Þ¤¯¤¤¤«¤º¡¢»þ´Ö¤â¤Ê¤«¤Ã¤¿¤·¡¢É¬¤ºÉ¬Íפʤ櫓¤Ç¤â¤Ê¤«¤Ã¤¿¤Î¤Ç¤¢¤­¤é¤á¤¿¡£²ó¤Ã¤¿¸å¾¯¤·Î¥¤ì¤Æ»æ¥³¥Ã¥×¤ò¥µ¡¼¥Á¤·¤ä¤¹¤¯¤Ê¤ë¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡£¤½¤Î¤¢¤È¤Ï¡¢Á°¤È°ì½ï¤Ç¶á¤Å¤¤¤Æȿž¤·¤Æ¡¢¸å¿Ê¤·»æ¥³¥Ã¥×¤òÊü¤·¡¢Íɤ餷¤Æ½ªÎ»¤Ç¤¢¤ë¡£

¥í¥Ü¥Ã¥È2¤Î¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ

¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ¤â¡¢ÊÌ¡¹¤Ëºî¤Ã¤¿¤Î¤Ç¾ÜºÙ¤Ï²¼¤Î¥Ú¡¼¥¸¤ò»²¹Í¤Ë¤·¤Æ¤¯¤À¤µ¤¤¡£¢­

2017b/Member/Yoshi/Mission3

2017b/Member/takeshi/Mission3

ÄêµÁ

#define Apower 37
#define Bpower 34  //ľ¿Ê¤¹¤ë¤Î¤ËɬÍפʽÐÎÏ
#define ttime 695  //90Åٶʤ¬¤ë¤Î¤ËɬÍפʻþ´Ö
#define SPEED 50
#define SPEED_SLOW 30

¥µ¥Ö´Ø¿ô

sub go_for()   //Á°¿Ê
{
    OnFwd(OUT_A,Apower);
    OnFwd(OUT_B,Bpower);
}
sub go_back()     //¸å¿Ê
{
    OnFwd(OUT_A,-Apower);
    OnFwd(OUT_B,-Bpower);
}
sub turnL(float c) 
{
    OnFwd(OUT_A,Apower);OnFwd(OUT_B,-Bpower);
    Wait(c*ttime);
    Float(OUT_AB);  //º¸¤Ë¶Ê¤¬¤ë¡Êc¡ß90¡ËÅÙ
}
sub turnR(float c)
{
    OnFwd(OUT_A,-Apower);OnFwd(OUT_B,Bpower);
    Wait(c*ttime);
    Float(OUT_AB);  //±¦¤Ë¶Ê¤¬¤ë¡Êc¡ß90¡ËÅÙ
}
int cyari(int lsw)
{
    ResetTachoCount(OUT_C);
    SetSensorLight(S1);
    SetSensorMode(S1,SENSOR_MODE_RAW);
    SetSensorTouch(S4);
    int i=1;
    int lsb=SENSOR_1;
    int lsb2=SENSOR_1-1;
    while (i==1){
        go_for();
        lsb2=SENSOR_1;
        NumOut(80,LCD_LINE4,lsb2);
        if (lsb>lsb2) {
            lsb=lsb2;
            }
        if (lsb+10<lsb2) {
            i=10;
            }
        if (lsb>lsw-150) {
            i=1;
            }    
        }
    Off(OUT_AB);
    NumOut(80,LCD_LINE1,lsw);
    NumOut(80,LCD_LINE2,lsb);
    return lsb;
}
const float diameter=5.45;
const float track=11.35;
const float pi=3.1415;
void fwdDist(float d)
{
    long angle=d/(diameter*pi)*360.0;
    RotateMotorEx(OUT_AB,SPEED_SLOW,angle,0,true,true);
}
void turnAng(long ang)
{
    long angle=track/diameter*ang;
    RotateMotorEx(OUT_AB,SPEED_SLOW,angle,100,true,true);
}
int SearchDirection(long ang) //¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤ËangÅÙ¤ÎÈϰϤÇõ¤·¾ã³²Êª¤Þ¤Ç¤Îµ÷Î¥¤òÊÖ¤¹

{
    SetSensorLowspeed(S3);
    long tacho_min; //ºÇ¤â¶á¤¤µ÷Î¥¤ò¼Â¸½¤¹¤ë¥¿¥¤¥ä¤Î²óž¿ô
    int d_min = 300; //ºÇ¤â¶á¤¤µ÷Î¥¤Î²¾¤ÎºÇ¾®ÃÍ    

    long angle = (track/diameter)*ang; //Àû²ó³ÑÅÙ¤«¤é¥¿¥¤¥ä¤Î²óž¤ò·×»»
    turnAng(ang/2); //»ØÄꤵ¤ì¤¿³ÑÅÙ¤ÎȾʬ¤òÀû²ó
    ResetTachoCount(OUT_AB); //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È

    OnFwdSync(OUT_AB,SPEED_SLOW,-100); // È¿»þ·×²ó¤ê¤ËÀû²ó
    while(MotorTachoCount(OUT_A)<angle){
    if(SensorUS(S3)<d_min){   //¸½ºß¤Îµ÷Î¥¤¬²¾¤ÎºÇ¾®Ãͤè¤ê¾®¤µ¤¤¾ì¹ç
    d_min = SensorUS(S3);  //²¾¤ÎºÇ¾®Ãͤò¹¹¿·
    tacho_min = MotorTachoCount(OUT_A);//¤³¤Î¤È¤­¤Î¥¿¥¤¥ä¤Î²óž¿ô¤òµ­Ï¿
     }
   }
    OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
    until(MotorTachoCount(OUT_A)<=tacho_min||SensorUS(S3)<=d_min);
    
    Wait(14); //ÈùÄ´À°
    Off(OUT_AB);Wait(500);
    return d_min;
}

Ķ²»ÇÈ¥»¥ó¥µ¡¼¤Ç»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤Æ¤½¤Î¼êÁ°¤Þ¤Ç¹Ô¤¯¥µ¥Ö´Ø¿ô

sub arm(int c)
{
        RotateMotor(OUT_C, 40,c);
    Off(OUT_C);
}

³ÑÅÙ»ØÄê¤Ç¥¢¡¼¥à¤ò¾å¤²¤ë

ËÜʸ

task main ()
{
    ResetTachoCount(OUT_C);
    SetSensorLight(S1);

    SetSensorMode(S1,SENSOR_MODE_RAW);
    SetSensorTouch(S4);
    SetSensorLowspeed(S3);
    int lsw=SENSOR_1;
    int lsb=cyari(lsw);
    while(SENSOR_4==0) {}
    fwdDist(15);
    Wait(15000);

¾¯¤·¿Ê¤ó¤Ç¤«¤é15ÉôÖÄä»ß

    turnL(1.1);//1
    PlaySound(SOUND_UP);
    Wait(1000);
    fwdDist(30);
    Wait(1000);
    turnAng(40);
    PlaySound(SOUND_UP);
    turnAng(180);
    Wait(1000);
    fwdDist(15);
    Wait(1000);
    arm(550);
    Wait(1000);
    go_back();
    Wait(2000);
    Off(OUT_AB);
    arm(-180);
    Wait(1000);
    arm(-45);
    Wait(1000);

1¤ÄÌܤλ楳¥Ã¥×¤Î¼êÁ°¤Þ¤Ç¹Ô¤­»æ¥³¥Ã¥×¤ò¤Ä¤«¤à

    turnL(1.05);//2
    Wait(1000);
    arm(-200);
    fwdDist(35);
    turnL(0.4);
    Wait(1000);
    arm(100);
    PlaySound(SOUND_UP);
    SendRemoteNumber(1,MAILBOX1,1);
    fwdDist(20);
    while(SENSOR_4==0) {}
}

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Last-modified: 2018-02-13 (²Ð) 22:07:15