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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;
}

ËÜʸ¤Î°ìÈÖ½é¤á¤Î¥×¥í¥°¥é¥à¤òÎã¤Ë¤¹¤ë¤È¡¢int d = searchDirection(30)¤Ç¸½ºß¸þ¤¤¤Æ¤¤¤ëÊý¸þ¤òÃæ¿´¤Ë15ÅÙ¤º¤Ä¤Î·×30ÅÙ¤ÎÈϰϤǻ楳¥Ã¥×¤òĶ²»ÇÈ¥»¥ó¥µ¡¼¤Ë¤è¤Ã¤Æõ¤·¡¢fwdDist(d-25.0)¤Ç»æ¥³¥Ã¥×¤Î¼êÁ°25cm¤Þ¤Ç¹Ô¤¯¤È¤¤¤¦¤è¤¦¤Ê¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£

»æ¥³¥Ã¥×¤òÄϤó¤Ç»ý¤Á¾å¤²¤ë¡¦¥¢¡¼¥à¤ò³«¤¤¤Æ²¼¤²¤ë¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£³ÑÅÙ»ØÄê¤Ç£äÅ٥⡼¥¿¡¼¤ò²ó¤·¤ÆÆ°¤«¤·¤Æ¤¤¤ë¡£¥¢¡¼¥à¤òÊĤ¸¤Æ¾å¤²¤ë°ìÏ¢¤ÎÆ°¤­¤¬¥â¡¼¥¿¡¼¤Î²óž³Ñ¤¬¤ª¤è¤½645ÅÙ¤À¤Ã¤¿¤Î¤Ç¤³¤ì¤òºÇÂç¤È¤·¤Æ¿Ê¤á¤¿¡£

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);
    }

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    turnAng(200);¡¡¡¡//200Å٤λþ·×²ó¤ê¤ÎÀû²ó

    c_down(640);¡¡¡¡//¥¢¡¼¥à¤ò³«¤¤¤Æ²¼¤²¤ë

    OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
    Off(OUT_AB);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤³¤Î2¤Ä¤òÆþ¤ì¤Ê¤¤¤È¼¡¤Î¹ÔÆ°¤¬¤¦¤Þ¤¯Æ°¤«¤Ê¤«¤Ã¤¿¡Ê°Ê¹ß¡¢ÈùÄ´À°¤È¤·¤Æµ­¤·¤Æ¤¤¤¯¡Ë
    baDist(12.0);¡¡¡¡//12cm¸åÂà

    c_up(260);   //»æ¥³¥Ã¥×£±¤ò¤Ä¤«¤ó¤Ç¾¯¤·¾å¤²¤ë

    ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
    turnAng(110);¡¡¡¡//110Å٤λþ·×²ó¤ê¤ÎÀû²ó

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

    c_up(330);    //»æ¥³¥Ã¥×£±¤ò¾å¤²¡¢¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ï¤Ê¤¹

    ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
    turnAng(90);¡¡¡¡//90Å٤λþ·×²ó¤ê¤ÎÀû²ó

    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);¡¡¡¡//80Å٤λþ·×²ó¤ê¤ÎÀû²ó

    ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
    int e = searchDirection(40);¡¡¡¡//¾ã³²¤Î»æ¥³¥Ã¥×¤ÎÊý¸þ¤òõ¤·¤¿¸å¡¢¤½¤ÎÊý¸þ¤ò¸þ¤¤¤ÆÄä»ß

    int msg;  // ¼õ¤±¼è¤Ã¤¿Ãͤò³ÊǼ¤¹¤ëÊÑ¿ô
    while (true) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤ë¤Þ¤ÇÄä»ß¤·¤ÆÂÔµ¡
        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

whileʸ¤Çµ¡ÂΣ¤«¤é¤Î¿®¹æ¤¬Íè¤ë¤Þ¤ÇÄä»ß¤µ¤»¡¢¿®¹æ¤¬Í褿¤ébreakʸ¤Çwhileʸ¤«¤éÈ´¤±½Ð¤¹¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡££³ÉäÎÄä»ß¤Ï¿®¹æ¤ò»È¤Ã¤Æ¤¤¤Ê¤¤¤È¤­¤Ë¾¯¤·´Ö¤ò¼è¤ë¤¿¤á¤Ë»È¤Ã¤Æ¤¤¤¿¤â¤Î¤Ç¤¢¤ë¡£

    ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
    turnAng(30);¡¡¡¡//30Å٤λþ·×²ó¤ê¤ÎÀû²ó

    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¥×£²¤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);¡¡¡¡//156Å٤λþ·×²ó¤ê¤ÎÀû²ó

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

    c_down(100);¡¡¡¡//¥¢¡¼¥à¤ò³«¤­¡¢»æ¥³¥Ã¥×£±¤ò¤Ï¤Ê¤¹

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

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

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

¥¢¡¼¥à¤òºÇÂç¤Þ¤Ç¾å¤²¤ë¤³¤È¤Ç¡¢»æ¥³¥Ã¥×£³¤â£±¤Î»þ¤ÈƱÍͤοôÃͤÈή¤ì¤ÇÆ°¤«¤»¤ë¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡£

    ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
    turnAng(230);¡¡¡¡//230Å٤λþ·×²ó¤ê¤ÎÀû²ó

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

    turnAng(190);¡¡¡¡//190Å٤λþ·×²ó¤ê¤ÎÀû²ó

    c_down(630);¡¡¡¡//¥¢¡¼¥à¤ò³«¤¤¤Æ²¼¤²¤ë

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

    c_up(270);¡¡¡¡//»æ¥³¥Ã¥×£³¤ò¤Ä¤«¤ó¤Ç¾¯¤·¾å¤²¤ë

    ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
    turnAng(140);¡¡¡¡//140Å٤λþ·×²ó¤ê¤ÎÀû²ó

    c_up(340);¡¡¡¡//»æ¥³¥Ã¥×£³¤ò¾å¤²¡¢¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ï¤Ê¤¹

    ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
    turnAng(290);¡¡¡¡//290Å٤λþ·×²ó¤ê¤ÎÀû²ó

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


    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);¡¡¡¡//156Å٤λþ·×²ó¤ê¤ÎÀû²ó

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

    c_down(100);¡¡¡¡//¥¢¡¼¥à¤ò³«¤­¡¢»æ¥³¥Ã¥×£³¤ò¤Ï¤Ê¤¹

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

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

}

»æ¥³¥Ã¥×£³¤â£±¤ÈƱÍͤˤ¦¤Þ¤¯Æþ¤ë¤è¤¦¤Ë¾¯¤·Íɤ餹ư¤­¤òÆþ¤ì¤Æ¤¤¤ë¡£

µ¡ÂΣÂ

¥¹¥Ô¡¼¥É¤ä»þ´Ö¤Ê¤É¤òÄêµÁ¤·¤Æ¤¤¤ë¡£

#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¥ë¡¼¥Á¥ó¡£

sub go_for()¡¡¡¡//Á°¿Ê

{

    OnFwd(OUT_A,Apower);

    OnFwd(OUT_B,Bpower);

}

sub go_back() ¡¡¡¡//¸åÂà

{

    OnFwd(OUT_A,-Apower);

    OnFwd(OUT_B,-Bpower);

}

sub turnL(float c)¡¡¡¡//º¸¤Ë¶Ê¤¬¤ë

{

    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)¡¡¡¡//±¦¤Ë¶Ê¤¬¤ë

{

    OnFwd(OUT_A,-Apower);OnFwd(OUT_B,Bpower);

    Wait(c*ttime);

    Float(OUT_AB);  //±¦¤Ë¶Ê¤¬¤ë¡Êc¡ß90¡ËÅÙ

}

int cyari(int lsw)¡¡¡¡//¥¹¥¿¡¼¥È»þ¤Î°ÌÃÖÄ´À°

{

    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;¡¡¡¡//¥¿¥¤¥ä¤Îľ·Â

const float track=11.35;¡¡¡¡//¥¿¥¤¥ä¤Î¥È¥ì¥Ã¥ÉÉý

const float pi=3.1415;¡¡¡¡//±ß¼þΨ

void fwdDist(float d)¡¡¡¡//µ÷Î¥£äcmÁ°¿Ê

{

    long angle=d/(diameter*pi)*360.0;

    RotateMotorEx(OUT_AB,SPEED_SLOW,angle,0,true,true);

}

void turnAng(long ang)¡¡¡¡//³ÑÅÙangÅ٤λþ·×²ó¤ê¤ÎÀû²ó

{

    long angle=track/diameter*ang;

    RotateMotorEx(OUT_AB,SPEED_SLOW,angle,100,true,true);

}
 sub arm(int c)¡¡¡¡//¥¢¡¼¥à¤òÆ°¤«¤¹

{

        RotateMotor(OUT_C, 40,c);

    Off(OUT_C);

}

¥×¥í¥°¥é¥à¤ÎËÜʸ¤Ç¤¢¤ë¡£

 task main ()

{

    ResetTachoCount(OUT_C);

    SetSensorLight(S1);

    SetSensorMode(S1,SENSOR_MODE_RAW);

    SetSensorTouch(S4);

    int lsw=SENSOR_1;

    int lsb=cyari(lsw);

    while(SENSOR_4==0) {}

    fwdDist(15);

    Wait(15000);

    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);

    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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