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#define SPEED 100¡¡¡¡¡¡¡¡¡¡
#define SPEED_SLOW 60
#define turn_left1 OnFwd(OUT_A,80 * x); OnRev(OUT_C,35 * x);¡¡º¸¤Ë²ó¤ë
#define turn_left2 OnFwd(OUT_A,100 * x); OnFwd(OUT_C,40 * x);
#define turn_left3 OnFwd(OUT_A,80 * x); OnRev(OUT_C,90 * x);
#define turn_left5 OnFwd(OUT_A,80 * x); OnRev(OUT_C,1 * x);
#define go_forward OnFwd(OUT_A,80 * x); OnFwd(OUT_C,87 * x);
#define go_back OnRev(OUT_A,100 * x); OnRev(OUT_C,85 * x);
#define turn_right1 OnRev(OUT_A,35 * x); OnFwd(OUT_C,80 * x);
#define turn_right2 OnFwd(OUT_A,30 * x); OnFwd(OUT_C,100 * x);
#define turn_right3 OnRev(OUT_A,80 * x); OnFwd(OUT_C,80 * x);
#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);
#define TU OnFwd(OUT_B,45 * x); Wait(1000);
#define CupOff SendRemoteNumber(1,MAILBOX1,03);   //¥³¥Ã¥×¤òÎ¥¤¹
#define turn_right4 OnRev(OUT_A,80 * x); OnFwd(OUT_C,60 * x);
#define turn_right5 OnRev(OUT_A,80 * x); OnFwd(OUT_C,1 * x);
#define turn_right6 OnRev(OUT_A,1 * x); OnFwd(OUT_C,80 * x);
#define DO  523
#define x 0.65             //¤«¤±¿ô
#define z 1.0

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±¦¤Ë±è¤Ã¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó
sub IKK()¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¸÷¥»¥ó¥µ¡½
{
 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;
}

º¸¤Ë±è¤Ã¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó

sub DKK()
{
 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;
}

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sub DKK2()
{
 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;
}

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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;
}
task main()
{
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(); //F¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹
turn_left3;  
Wait(1000); //º¸¸þ¤¯ 
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);
AD; //¥³¥Ã¥×¤ò¼è¤ë
Off(OUT_AC);
Wait(3000);
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;  
}
DKK2(); //S¤òº¸ÀÞ
//Q¤ËÅþÃå
turn_right6;
Wait(1100);
while (SENSOR_2 > 45)
{
turn_right6;  
}
turn_right3;
Wait(300);
Off(OUT_AC);
Wait(1000);
go_forward;  //X¤ËÆþ¤ë
Wait(2500);
AU; //X¤Ç¥³¥Ã¥×¤ò¾å¤²¤ë
Off(OUT_AC);
Wait(3000);
go_back;
Wait(1200);
Off(OUT_AC);
Wait(2000);
while (SENSOR_2 > 45)
{
go_back;  
}
go_back;
Wait(500);
while (SENOSR_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);
TD; //Ķ²»ÇȲ¼¤²¤ë
Off(OUT_AC);
Wait(2000);
d = searchDirection(120);//¥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
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);
go_back;     //kaiki
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
}
AU; //X¤Ç¥³¥Ã¥×¤ò¾å¤²¤ë
turn_left3;
Wait(200);
go_back;
Wait(300);
CupOff;
while (SENSOR_2 > 45)
{
go_back;  
}               //¹õ¤¤Àþ¤Þ¤Ç¥Ð¥Ã¥¯¤¹¤ë
turn_right3;
Wait(1000); //±¦ÀÞ¤¹¤ë
go_forward;
Wait(1000); //¾¯¤·Ä¾¿Ê¤¹¤ë
d = searchDirection(120); //¥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(1000);
AD; //¥³¥Ã¥×¤ò¼è¤ë
go_back;
Wait(1000);  //¥Ð¥Ã¥¯¤·¤Æ¥³¡¼¥¹¤Ë¤â¤É¤ë   
DKK();  //B¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë
turn_left3; //º¸ÀÞ¤¹¤ë
Wait(1000);
DKK(); //P¤ËÅþÃå
turn_right3;
Wait(200);
go_forward;
Wait(1000); //X¤Ë¤Ï¤¤¤ë
AU; //¥³¥Ã¥×¤ò¾å¤²¤ë
go_back; 
Wait(1000); //X¤«¤é½Ð¤ë
turn_left3;   //º¸¤ò¸þ¤¯
Wait(1000);
DKK(); //P¤«¤éQ¤Þ¤Ç±ß¼þ¾å¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹
turn_left3;
Wait(1000);
DKK(); //S¤ËÅþÃå
turn_right3;
Wait(200);
go_forward; //Y¤ËÆþ¤ë
Wait(1000);
AD; //¥³¥Ã¥×¤òÃÖ¤¯
CupOff; //¥³¥Ã¥×Î¥¤¹
}
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URL:http://yakushi.shinshu-u.ac.jp/robotics/?2017b%2FMember%2Fwaitu%2FMission3

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Last-modified: 2018-02-13 (²Ð) 21:09:12