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­¡int searchDirection(long ang)¤Ë¤è¤Ã¤Æ¤É¤ì¤¯¤é¤¤¤Î³ÑÅÙ¤ÎÈϰϤòÄ´¤Ù¤ë¤«¤ò»ØÄꤹ¤ë
­¢»ØÄꤷ¤¿³ÑÅÙ¤ò²ó¤ë¤¿¤á¤Ë¤Ï¤É¤Î¤¯¤é¤¤¥¿¥¤¥ä¤ò²ó¤»¤Ð¤è¤¤¤« void turnAng(long ang)¤Ç·×»»¤·¤Æ¥¿¥¤¥ä¤ò²ó¤¹
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const float diameter = 5.45;   //¥¿¥¤¥äľ·Â
const float track = 10.35;    //¥¿¥¤¥ä¥È¥ì¥Ã¥ÉÉý
const float pi = 3.1415;     //±ß¼þΨ

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

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

int searchDirection(long ang) //¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤ËangÅÙ¤ÎÈϰϤÇõ¤·
                                    //¾ã³²Êª¤Þ¤Ç¤Îµ÷Î¥¤òÊÖ¤¹
{
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®Ã͡ʽ½Ê¬Â礭¤¯¤È¤Ã¤Æ¤ª¤¯¡Ë

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

OnFwdSync(OUT_AC,SPEED_SLOW,-100);  //Ⱦ»þ·×²ó¤ê¤ËÀû²ó
while(MotorTachoCount(OUT_A)<=angle)
{
if (SensorUS(S1)<d_min)
 { //¸½ºß¤Îµ÷Î¥¤¬¼Ú¤ê¤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_AC,SPEED_SLOW,100,RESET_NONE);
until(MotorTachoCount(OUT_A)<=tacho_min || SensorUS(S1)<=d_min);
 
Wait(14); //ÈùÄ´À°
Off(OUT_AC);Wait(500);
return d_min;
}

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#define SPEED 100
#define SPEED_SLOW 60
#define turn_left1 OnFwd(OUT_A,80 * x); OnRev(OUT_C,35 * x);//kituku
#define turn_left2 OnFwd(OUT_A,100 * x); OnFwd(OUT_C,40 * x);//yuruku
#define turn_left3 OnFwd(OUT_A,80 * x); OnRev(OUT_C,90 * x);//sonoba
#define turn_left5 OnFwd(OUT_A,80 * x); OnRev(OUT_C,1 * x);//±¦¤Î¼ÖÎؤÀ¤±¤òÁ°¤Ë²ó¤·¤Æº¸¤Ë²ó¤ë
#define go_forward OnFwd(OUT_A,80 * x); OnFwd(OUT_C,87 * x);//Á°¤Ë¿Ê¤à
#define go_back OnRev(OUT_A,100 * x); OnRev(OUT_C,85 * x);//¸å¤í¤Ë¿Ê¤à
#define turn_right1 OnRev(OUT_A,35 * x); OnFwd(OUT_C,80 * x);//¤­¤Ä¤¯±¦¤Ë²ó¤ë
#define turn_right2 OnFwd(OUT_A,30 * x); OnFwd(OUT_C,100 * x);//¤æ¤ë¤¯±¦¤Ë²ó¤ë
#define turn_right3 OnRev(OUT_A,80 * x); OnFwd(OUT_C,80 * x);//¤½¤Î¾ì¤Ç±¦¤Ë²ó¤ë
#define AD SendRemoteNumber(1,MAILBOX1,01);//¥¢¡¼¥à¤òÊĤ¸¤ÆÄù¤á¤ë
#define AU SendRemoteNumber(1,MAILBOX1,02);//¥¢¡¼¥à¤ò¾å¤²¤ë
#define TD OnRev(OUT_B,45 * x); Wait(1000);//Ķ²»ÇÈ¥»¥ó¥µ¡¼¤ò²¼¤²¤ë
#define TU OnFwd(OUT_B,45 * x); Wait(1000);//Ķ²»ÇÈ¥»¥ó¥µ¡¼¤ò¾å¤²¤ë
#define CupOff SendRemoteNumber(1,MAILBOX1,03);   //¥³¥Ã¥×¤òÎ¥¤¹
#define turn_right4 OnRev(OUT_A,80 * x); OnFwd(OUT_C,60 * x);//¤½¤Î¾ì¤Ç±¦¤Ë²ó¤ë
#define turn_right5 OnRev(OUT_A,80 * x); OnFwd(OUT_C,1 * x);//±¦¤Î¼ÖÎؤÀ¤±¤ò¸å¤í¤Ë²ó¤·¤Æ±¦¤Ë²ó¤ë
#define turn_right6 OnRev(OUT_A,1 * x); OnFwd(OUT_C,80 * x);//º¸¤Î¼ÖÎؤÀ¤±¤ò²ó¤·¤Æ±¦¤Ë²ó¤ë
#define DO  523//²»¤Î¹â¤µ
#define x 0.65//¤«¤±¿ô
»Òµ¡
#define ArmDown OnRev(OUT_A,50); Wait(500);//»æ¥³¥Ã¥×¤ò²¼¤²¤ë
#define ArmUp   OnFwd(OUT_A,70); Wait(300);//»æ¥³¥Ã¥×¤ò¾å¤²¤ë
#define ArmClose OnRev(OUT_C,70); Wait(1000);//»æ¥³¥Ã¥×¤ò¤Ä¤«¤à
#define ArmOpen OnFwd(OUT_C,30); Wait(500);//»æ¥³¥Ã¥×¤òÎ¥¤¹
#define ArmStay OnRev(OUT_AC,1);//»æ¥³¥Ã¥×¤ò¶¯¤¯¤Ä¤«¤ß³¤±¤ë

¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¥×¥í¥°¥é¥à¤Ïsub¥ë¡¼¥Á¥ó¤Ë¤·¤¿¡£

sub IKK() //¥í¥Ü¥Ã¥È¤Îº¸¤Î¸÷¥»¥ó¥µ¡¼¤¬Àþ¤Î±¦Â¦¤Ë±è¤Ã¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹
{
int BP = 0;
while (BP < 125)
 {
if (SENSOR_2 < 45)
  {
turn_right1;
BP++;
  }
else
  {
if (SENSOR_2 < 49 )
   {
turn_right2;
   }
else if (SENSOR_2 < 56 )
   {
go_forward;
   }
else if (SENSOR_2 < 58)
   {
turn_left2;
   }
else
   {
turn_left1;
   }
BP = 0;
  }
Wait(1);
 }
Off(OUT_AC);
PlayTone(DO,100); Wait(100);
Wait(10);
BP = 0;
}
sub DKK()//¥í¥Ü¥Ã¥È¤Îº¸Â¦¤Î¸÷¥»¥ó¥µ¡¼¤¬Àþ¤Îº¸Â¦¤Ë±è¤Ã¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£
{
int BP = 0;
while (BP < 170)
 {
if (SENSOR_2 < 45)
  {
turn_left1;
BP++;
  }
else
  {
if (SENSOR_2 < 49 )
   {
turn_left2;
   }
else if (SENSOR_2 < 54 )
   {
go_forward;
   }
else if (SENSOR_2 < 55)
   {
turn_right3;
   } 
else
   {
turn_right4;
   }
BP = 0;
  }
Wait(1);
 }
Off(OUT_AC);
PlayTone(DO,100); Wait(100);
BP = 0;
}
sub DKK2()//¥í¥Ü¥Ã¥È¤Î±¦Â¦¤Î¸÷¥»¥ó¥µ¡¼¤¬Àþ¤Îº¸Â¦¤Ë±è¤Ã¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£
{
int BP = 0;
while (BP < 170)
 {
if (SENSOR_3 < 45)
  {
turn_left1;
BP++;
  }
else
  {
if (SENSOR_3 < 49 )
   {
turn_left2;
   }
else if (SENSOR_3 < 54 )
   {
go_forward;
   }
else if (SENSOR_3 < 55)
   {
turn_right3;
   }
else
   {
turn_right4;
   }
BP = 0;
  }
Wait(1);
 }
Off(OUT_AC);
PlayTone(DO,100); Wait(100);
BP = 0;
}

»Òµ¡¤Î¥×¥í¥°¥é¥ß¥ó¥°

 task main ()
{
int msg;
while(true)
 {
ReceiveRemoteNumber(MAILBOX1,true,msg);

if (msg == 01)
   {
Off(OUT_AC);
ArmDown;//»æ¥³¥Ã¥×¤ò²¼¤²¤ë
ArmClose;//»æ¥³¥Ã¥×¤ò¤Ä¤«¤à
msg = 04;
   }

if (msg == 02)
   {
ArmStay;//»æ¥³¥Ã¥×¤ò¤Ä¤«¤ß³¤±¤ë
ArmUp;//»æ¥³¥Ã¥×¤ò¾å¤²¤ë
msg = 04;
   }

if (msg == 03)
   {
Off(OUT_AC);
ArmUp;//»æ¥³¥Ã¥×¤ò¾å¤²¤ë
ArmOpen;//»æ¥³¥Ã¥×¤òÎ¥¤¹
   }
if (msg == 04)
   {
ArmStay;//»æ¥³¥Ã¥×¤ò¶¯¤¯¤Ä¤«¤ß³¤±¤ë
Off(OUT_A);
   }
  }
}

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2¡¡£ÆÃÏÅÀ¤Ç¸òº¹ÅÀ¤òǧ¼±¤·¤¿¸å¡¢Ä¶²»ÇÈ¥»¥ó¥µ¡¼¤¬ºîÆ°¤·¤Æ¦Á¤Î»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤ë¡£
3¡¡¦Á¤Î»æ¥³¥Ã¥×¤ò¤Ä¤«¤à
4¡¡£Ñ£Ó´Ö¤ÎÀþ¤òǧ¼±¤¹¤ë¤Þ¤Ç¸åÂà¡£
5¡¡£ØÃÏÅÀ¤Þ¤Ç»æ¥³¥Ã¥×¤ò±¿¤Ö
6¡¡¦Á¤Î»æ¥³¥Ã¥×¤ò¾å¤²¤Æ¥Ô¥ó¥Ý¥ó¶Ì¤òÏÈÆâ¤Ë¼ý¤á¤ë
7¡¡¥í¥Ü¥Ã¥È¤ò¦Â¤Î»æ¥³¥Ã¥×¤ÎÊý¸þ¤Ë¸þ¤±¤ë
8¡¡¥»¥ó¥µ¡¼¤ò²¼¤í¤·¤¿¤¢¤È¡¢Ä¶²»ÇÈ¥»¥ó¥µ¡¼¤¬ºîÆ°¤·¤Æ¦Â¤Î»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤ë
9¡¡¦Â¤Î»æ¥³¥Ã¥×¤ò¼è¤ë
10¡¡£Ñ£Ó´Ö¤ÎÀþ¤òǧ¼±¤¹¤ë¤Þ¤Ç¸åÂष¡¢XÃÏÅÀ¤Þ¤Ç±¿¤Ö¡£
11¡¡£ÙÃÏÅÀ¤Ë»æ¥³¥Ã¥×¤òÃÖ¤¯¡¡

1£ÃÃÏÅÀ¤Þ¤Çľ¿Ê¤·¤¿¸åº¸ÀÞ¤·¤Æ¡¢¤½¤³¤«¤é£ÆÃÏÅÀ¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£

SetSensorLowspeed(S1);
SetSensorLight(S2);
SetSensorLight(S3);
go_forward;
Wait(500);  //¾¯¤·Á°¿Ê
turn_left3;
Wait(200);
while (SENSOR_2 > 45)
{
turn_left3;
}
turn_right1;
Wait(100);
IKK(); //º¸¤Î¥»¥ó¥µ¡¼¤ò»È¤Ã¤ÆFÃÏÅÀ¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹
turn_left3;¤½¤Î¾ì¤Çº¸¤Ë²ó¤ë
> Wait(1000); //º¸¸þ¤¯

2 £ÆÃÏÅÀ¤Ç¸òº¹ÅÀ¤òǧ¼±¤·¤¿¸å¡¢Ä¶²»ÇÈ¥»¥ó¥µ¡¼¤¬ºîÆ°¤·¤Æ¦Á¤Î»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤ë

int d = searchDirection(70);//¥³¥Ã¥×õ¤¹
if (d > 10)
{
fwdDist(d-10.0);//¥³¥Ã¥×¤Ë¶á¤Å¤¯
}
TU; //Ķ²»ÇÈ¥»¥ó¥µ¡¼¤ò¤¢¤²¤ë
go_forward;
Wait(2900);

3 ¦Á¤Î»æ¥³¥Ã¥×¤ò¤Ä¤«¤à

AD; //¥³¥Ã¥×¤ò¼è¤ë
Off(OUT_AC);
Wait(3000);

4 £Ñ£Ó´Ö¤ÎÀþ¤òǧ¼±¤¹¤ë¤Þ¤Ç¸åÂà¡£

go_back;
Wait(500);

turn_left3;
Wait(700);

while (SENSOR_2 > 45)
{
go_back;
}
go_back;
Wait(250);
Off(OUT_AC);
Wait(200);

while (SENSOR_2 > 45)
{
go_back;
}

go_back;
Wait(450);

Off(OUT_AC);
Wait(450);

while (SENSOR_2 > 45)
{
go_back;
}

go_back;
Wait(250);

Off(OUT_AC);
Wait(200);

turn_right5;
Wait(700);

while (SENSOR_3 > 45)
{
turn_right5;
}

5 £ØÃÏÅÀ¤Þ¤Ç»æ¥³¥Ã¥×¤ò±¿¤Ö

DKK2(); //S¤òº¸ÀÞ
//Q¤ËÅþÃå
turn_right6;
Wait(1100);
while (SENSOR_2 > 45)
{
turn_right6;
}

turn_right6;
Wait(300);
Off(OUT_AC);
Wait(1000);

6 ¦Á¤Î»æ¥³¥Ã¥×¤ò¾å¤²¤Æ¥Ô¥ó¥Ý¥ó¶Ì¤òÏÈÆâ¤Ë¼ý¤á¤ë

go_forward;  //X¤ËÆþ¤ë
Wait(2500);
AU; //X¤Ç¥³¥Ã¥×¤ò¾å¤²¤ë
Off(OUT_AC);
Wait(3000);

7 ¥í¥Ü¥Ã¥È¤ò¦Â¤Î»æ¥³¥Ã¥×¤ÎÊý¸þ¤Ë¸þ¤±¤ë

go_back;
Wait(1200);
Off(OUT_AC);
Wait(2000);
while (SENSOR_2 > 45)
{
go_back;
}
go_back;
Wait(500);

while (SENSOR_2 > 45)
{
go_back;
}

Off(OUT_AC);
Wait(1000);
turn_right5;
Wait(500);

while (SENSOR_3 > 45)
{
turn_right5;
}
turn_right5;
Wait(600);

while (SENSOR_3 > 45)
{
turn_right5;
}

Off(OUT_AC);
Wait(1000);

go_forward;
Wait(1000);

while (SENSOR_2 > 45)
{
go_forward;
}
Off(OUT_AC);
Wait(1000);

while (SENSOR_3 > 45)
{
turn_left5;
}
turn_left5;
Wait(300);

go_forward;
Wait(500);

8 ¥»¥ó¥µ¡¼¤ò²¼¤í¤·¤¿¤¢¤È¡¢Ä¶²»ÇÈ¥»¥ó¥µ¡¼¤¬ºîÆ°¤·¤Æ¦Â¤Î»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤ë

TD; //Ķ²»ÇȲ¼¤²¤ë

Off(OUT_AC);
Wait(2000);
d = searchDirection(120);//¥³¥Ã¥×õ¤¹

9 ¦Â¤Î»æ¥³¥Ã¥×¤ò¼è¤ë

if (d > 10)
{
fwdDist(d-10.0);//¥³¥Ã¥×¤Ë¶á¤Å¤¯
}
TU; //Ķ²»ÇÈ¥»¥ó¥µ¡¼¤ò¤¢¤²¤ë
Off(OUT_AC);
Wait(1000);
go_forward;
Wait(1300);

Off(OUT_AC);
Wait(1000);

turn_left3;
Wait(1400);

Off(OUT_AC);
Wait(2000);
go_forward;
Wait(2300);
go_back;
Wait(100);
Off(OUT_AC);
Wait(500);
AD; //¥³¥Ã¥×¤ò¼è¤ë¡Ê½Å¤Í¤ë¡Ë
Off(OUT_AC);
Wait(3000);

10 £Ñ£Ó´Ö¤ÎÀþ¤òǧ¼±¤¹¤ë¤Þ¤Ç¸åÂषXÃÏÅÀ¤Þ¤Ç±¿¤Ö

go_back;     
Wait(1900);
turn_right3;
Wait(1400);
go_back;
Wait(1300);

while (SENSOR_2 > 45)
{
go_back;
}

turn_left5;
Wait(1200);
while (SENSOR_3 > 45)
{
turn_left5;
}

turn_right5;
Wait(300);
go_forward;
Wait(1000);
while (SENSOR_2 > 45)
{
go_forward;  //X¤Þ¤Çľ¿Ê
}

11 £ÙÃÏÅÀ¤Ë»æ¥³¥Ã¥×¤òÃÖ¤¯

AU; //X¤Ç¥³¥Ã¥×¤ò¾å¤²¤ë

turn_left3;//¾¯¤·Êý¸þ¤òÄ´À°¤¹¤ë
Wait(200);
go_back;
Wait(300);

CupOff;//»æ¥³¥Ã¥×¤òYÃÏÅÀ¤ËÃÖ¤¯

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Last-modified: 2018-02-14 (¿å) 00:14:12