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#define master 0 #define slave 1 #define mail MAILBOX1
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sub intertify_right() //¸òº¹ÅÀ¼±Ê̥饤¥ó¥È¥ì¡¼¥¹(±¦Â¦) { long t = CurrentTick(); while(CurrentTick()-t<100){ // ¸òº¹ÅÀ¼±ÊÌ»þ´Ö¤Ï100Éà if(sensor_light>white-5){ // 55¤è¤ê¾å¡ÊÇò¤¤¡Ë¤Î¾ì¹ç¢ª»þ´Ö¥ê¥»¥Ã¥È linetrase_right(1.5); t = CurrentTick(); }else if(sensor_light>black+5){ // 35¤è¤ê¾å¡Ê¤ª¤è¤½´ð½àÀþ¡Ë¤Î¾ì¹ç¢ª»þ´Ö¥ê¥»¥Ã¥È linetrase_right(1.5); t = CurrentTick(); }else{ // ¤½¤ì°Ê³°¤Î¾ì¹ç¡Ê¹õÀþ¡Ë¤Î¾ì¹ç linetrase_right(1.5); } } adjust; } sub intertify_left() //¸òº¹ÅÀ¼±Ê̥饤¥ó¥È¥ì¡¼¥¹(¿Ê¹ÔÊý¸þº¸Â¦) { long t = CurrentTick(); while(CurrentTick()-t<100){ // ¸òº¹ÅÀ¼±ÊÌ»þ´Ö¤Ï100Éà if(sensor_light>white-5){ // 55¤è¤ê¾å¡ÊÇò¤¤¡Ë¤Î¾ì¹ç¢ª»þ´Ö¥ê¥»¥Ã¥È linetrase_left(1.5); t = CurrentTick(); }else if(sensor_light>black+5){ // 35¤è¤ê¾å¡Ê¤ª¤è¤½´ð½àÀþ¡Ë¤Î¾ì¹ç¢ª»þ´Ö¥ê¥»¥Ã¥È linetrase_left(1.5); t = CurrentTick(); }else{ // ¤½¤ì°Ê³°¤Î¾ì¹ç¡Ê¹õÀþ¡Ë¤Î¾ì¹ç linetrase_left(1.5); } } adjust; }
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void approach(float d) //µ÷Î¥dÁ°¿Ê { long angle = d/(diameter*pi)*360.0; //ɬÍפʎÀŽ²ŽÔ¤Î²óž¿ô RotateMotorEx(OUT_AB,50,angle,0,true,true); adjust; } void back(float d) //µ÷Î¥d¸åÂà¡ÊÄÉ²Ã¥×¥í¥°¥é¥à¡Ë { long angle = d/(diameter*pi)*360.0; //ɬÍפʎÀŽ²ŽÔ¤Î²óž¿ô RotateMotorEx(OUT_AB,-50,angle,0,true,true); adjust; } void spinAng(long ang) //³ÑÅÙangÅÙ¤ÎÀû²ó(»þ·×²ó¤ê) { long angle = track/diameter*ang; //ɬÍפʎÀŽ²ŽÔ¤Î²óž¿ô RotateMotorEx(OUT_AB,50,angle,100,true,true); adjust; } void spinAng_opposite(long ang) //³ÑÅÙangÅÙ¤ÎÀû²ó(È¿»þ·×²ó¤ê) { long angle = track/diameter*ang; //ɬÍפʎÀŽ²ŽÔ¤Î²óž¿ô RotateMotorEx(OUT_AB,-50,angle,100,true,true); adjust; }
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¡¡¤Þ¤¿¡¢int search_distance(long ¡)¤È¤·¤¿¤È¤¡¢¡¤Ïõºº³ÑÅÙ¤òɽ¤¹¡£
¡¡Îã¡Ë120ÅÙ¤ÎÈϰϤǥ³¥Ã¥×¤òõ¤¹¡£¡Ê±¦¤Ë60ÅÙÀû²ó¡¢º¸¤Ë60ÅÙÀû²ó¡Ë¢ª¡¡search_distance(120);
int search_distance(long ang) // »æ¥³¥Ã¥×¤Îõº÷¡Êõºº³ÑÅÙ¡Ë { long tacho_min; //ºÇ¤â¶á¤¤µ÷Î¥¤ò¼Â¸½¤¹¤ëŽÀŽ²ŽÔ¤Î²óž¿ô int d_min = 300; //ºÇ¤â¶á¤¤µ÷Î¥¤Î²¾¤ÎºÇ¾®ÃÍ long angle = (track/diameter)*ang; //Àû²ó³ÑÅÙ¤«¤éŽÀŽ²ŽÔ¤Î²óž³Ñ¤ò·×»» spinAng(ang/2); //»ØÄê³ÑÅÙ¤ÎȾʬÀû²ó(»þ·×²ó¤ê) ResetTachoCount(OUT_AB); //³ÑÅÙ·×»»¤ò¥ê¥»¥Ã¥È OnFwdSync(OUT_AB,50,-100); while(MotorTachoCount(OUT_A)<=angle){ if(ultrasonic<d_min){ d_min = ultrasonic; tacho_min = MotorTachoCount(OUT_A); } } OnFwdSyncEx(OUT_AB,50,100,RESET_NONE); //»þ·×²ó¤ê¤ËÀû²ó until(MotorTachoCount(OUT_A)<=tacho_min || ultrasonic<=d_min); adjust; Wait(500); return d_min; }
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sub search_light_center(long ang) //¡¡¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤ËangÅÙ¤ÎÈϰϤǹõÀþ¤ÎÃæ¿´¤ò¸þ¤¯ { long tacho_min; //ºÇ¤â¶á¤¤µ÷Î¥¤ò¼Â¸½¤¹¤ëŽÀŽ²ŽÔ¤Î²óž¿ô int light_min = 300; //ºÇ¤â°Å¤¤ÌÀ¤ë¤µ¤Î²¾¤ÎºÇ¾®ÃÍ long angle = (track/diameter)*ang; //Àû²ó³ÑÅÙ¤«¤éŽÀŽ²ŽÔ¤Î²óž³Ñ¤ò·×»» spinAng(ang/2); //»ØÄê³ÑÅÙ¤ÎȾʬÀû²ó(»þ·×²ó¤ê) ResetTachoCount(OUT_AB); //³ÑÅÙ·×»»¤ò¥ê¥»¥Ã¥È OnFwdSync(OUT_AB,50,-100); while(MotorTachoCount(OUT_A)<=angle){ if(sensor_light<light_min){ light_min = sensor_light; tacho_min = MotorTachoCount(OUT_A); } } OnFwdSyncEx(OUT_AB,50,100,RESET_NONE); //»þ·×²ó¤ê¤ËÀû²ó until(MotorTachoCount(OUT_A)<=tacho_min || sensor_light<=light_min); adjust; Wait(500); }
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sub tukamu() //ÄϤà { RotateMotor(OUT_A,50,440); adjust; //¤â¤È¤ÏOff(OUT_A);Wait(300); } sub hanasu() //Î¥¤¹ { RotateMotor(OUT_A,50,-440); adjust; } sub up_little() //¾¯¤·¾å¤²¤ë { RotateMotor(OUT_B,60,-180); adjust; } sub ageru() //¾å¤²¤ë { RotateMotor(OUT_B,60,-720); adjust; } sub down_little() //¤¹¤³¤·²¼¤²¤ë { RotateMotor(OUT_B,60,180); adjust; } sub sageru() //²¼¤²¤ë { RotateMotor(OUT_B,60,720); adjust; }
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sub escape_A() // A¤«¤é¤Îæ½Ð { while(sensor_light<white-5){ OnFwd(OUT_B,50); OnFwd(OUT_A,30); } adjust; }
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intertify_right(); // B¢ªP¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹ spinAng(10); // P¤Ë¤Æ¿ÊÏ©Ä´À° approach(30); // P¢ªQ while(sensor_light>black+5){ // Q¡ÁS´Ö¤Ë¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤ËÉüµ¢¡ OnFwd(OUT_A,50); } adjust; while(sensor_light<white-5){ // Q¡ÁS´Ö¤Ë¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤ËÉüµ¢¢ OnFwd(OUT_B,50); } adjust; intertify_right(); // S¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¡Ê¸òº¹ÅÀ¼±ÊÌ¡Ë
¡¡¤Þ¤¿¤³¤Î»þ¡¢ approach(30);¤È¤·¤Æ¤¤¤ë¤¬¤³¤ì¤Ï¿ô²ó»î¤·¤¿·ë²Ì¤³¤Î¿ôÃͤ¬ºÇ¤âŬ¤·¤Æ¤¤¤ë¤ÈȽÃǤ·¤¿¤¿¤á¤Ç¤¢¤ë¡£
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¡¡²¼¤Î¿Þ¤Ï¡Ö up_little() // ¥³¥Ã¥×¤ò¾¯¤·¾å¤²¤ë¡×¤ò¤·¤¿¸å¤Î¥³¥Ã¥×¡¢¥í¥Ü¥Ã¥È¤Î¾õÂ֤Ǥ¢¤ë¡£
task main() { int msg1; // »æ¥³¥Ã¥×¤ò¾¯¤·¾å¤²¤ë until(msg1==cup_age_little) ReceiveRemoteNumber(mail,true,msg1); while(msg1==cup_age_little){ sageru(); tukamu(); up_little(); SendResponseNumber(mail,fin); Wait(500); msg1 = ""; } int msg2; // »æ¥³¥Ã¥×¤ò»ý¤Áľ¤¹ until(msg2==cup_re) ReceiveRemoteNumber(mail,true,msg2); while(msg2==cup_re){ down_little(); hanasu(); tukamu(); up_little(); SendResponseNumber(mail,fin); Wait(500); msg2 = ""; } ¡¡ int msg3; // »æ¥³¥Ã¥×¤ò¾å¤²¤ë until(msg3==cup_age) ReceiveRemoteNumber(mail,true,msg3); while(msg3==cup_age){ down_little(); ageru(); SendResponseNumber(mail,fin); Wait(500); msg3 = ""; } int msg4; // »æ¥³¥Ã¥×¤òÃÖ¤¯ until(msg4==cup_sage) ReceiveRemoteNumber(mail,true,msg4); while(msg4==cup_sage){ sageru(); hanasu(); ageru(); SendResponseNumber(mail,fin); Wait(500); msg4 = ""; } int msg5; // 2È֤λ楳¥Ã¥×¤ò¾¯¤·¾å¤²¤ë until(msg5==cup_age_little) ReceiveRemoteNumber(mail,true,msg1); while(msg5==cup_age_little){ sageru(); tukamu(); up_little(); SendResponseNumber(mail,fin); Wait(500); msg5 = ""; } int msg6; // »æ¥³¥Ã¥×¤ò¾å¤²¤ë until(msg6==cup_age) ReceiveRemoteNumber(mail,true,msg6); while(msg6==cup_age){ down_little(); ageru(); SendResponseNumber(mail,fin); Wait(500); msg6 = ""; } int msg7; // »æ¥³¥Ã¥×¤òÃÖ¤¯ until(msg7==cup_sage) ReceiveRemoteNumber(mail,true,msg7); while(msg7==cup_sage){ sageru(); hanasu(); ageru(); SendResponseNumber(mail,fin); Wait(500); msg7 = ""; } int msg8; // 3È֤λ楳¥Ã¥×¾¯¤·¾å¤²¤ë until(msg8==cup_age_little) ReceiveRemoteNumber(mail,true,msg1); while(msg8==cup_age_little){ sageru(); tukamu(); up_little(); SendResponseNumber(mail,fin); Wait(500); msg8 = ""; } int msg9; // »æ¥³¥Ã¥×¤ò¾å¤²¤ë until(msg9==cup_age) ReceiveRemoteNumber(mail,true,msg9); while(msg9==cup_age){ down_little(); ageru(); SendResponseNumber(mail,fin); Wait(500); msg9 = ""; } int msg10; // »æ¥³¥Ã¥×¤òÃÖ¤¯ until(msg10==cup_sage) ReceiveRemoteNumber(mail,true,msg10); while(msg10==cup_sage){ sageru(); hanasu(); ageru(); SendResponseNumber(mail,fin); Wait(500); msg10 = ""; } }
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task main() { SetSensorLowspeed(S1); SetSensorLight(S2); escape_A(); // A¤«¤éÈ´¤±½Ð¤¹ intertify_right(); // BÃÏÅÀ¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¸òº¹ÅÀ¼±Ê̥⡼¥É int d1 = search_distance(90); // BÃÏÅÀ¤Ë¤Æ90ÅÙ¤ÎÈϰϤǥ³¥Ã¥×õº÷ if(d1>10){ approach(d1-5); // ¥³¥Ã¥×¤Î5cmÁ°¤Þ¤ÇÁ°¿Ê } int msg1; // ÄÌ¿®(£±È֤λ楳¥Ã¥×¤ò¾¯¤·¾å¤²¤ë) while(msg1!=fin){ ReceiveRemoteNumber(mail,true,msg1); SendRemoteNumber(slave,mail,cup_age_little); } back(d1-5); // Á°¿Êʬ¤À¤±¸åÂà¡ÊBÃÏÅÀ¤Þ¤ÇÌá¤ë¡Ë spinAng(80); // B¤Ë¤ÆPÊýÌ̤ر¦Àû²ó while(sensor_light>black+5){ // BP¶è´Ö¥é¥¤¥ó¥È¥ì¡¼¥¹Éüµ¢½àÈ÷¡ OnFwdSync(OUT_AB,50,0); } adjust; while(sensor_light<white-5){ // BP¶è´Ö¥é¥¤¥ó¥È¥ì¡¼¥¹Éüµ¢½àÈ÷¢ OnFwd(OUT_B,50); } adjust; intertify_right(); // B¢ªP¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¡Ê¸òº¹ÅÀ¼±ÊÌ¡Ë spinAng(10); // P¤Ë¤Æ¿ÊÏ©Ä´À° approach(30); // P¢ªQ¤Þ¤ÇÁ°¿Ê¡ÊX¤ÎÏȤò¾è¤ê±Û¤¨¤ë¡Ë while(sensor_light>black+5){ // QS¶è´Ö¥é¥¤¥ó¥È¥ì¡¼¥¹Éüµ¢½àÈ÷¡ OnFwd(OUT_A,50); } adjust; while(sensor_light<white-5){ // QS¶è´Ö¥é¥¤¥ó¥È¥ì¡¼¥¹Éüµ¢½àÈ÷¢ OnFwd(OUT_B,50); } adjust; intertify_right(); // Q¢ªS¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¡Ê¸òº¹ÅÀ¼±ÊÌ¡Ë spinAng(90); // S¤Ë¤Æ±¦Àû²ó¡ÊX¤Ø¸þ¤¯¡¡Ë int msg2; // ÄÌ¿®(»æ¥³¥Ã¥×»ý¤Áľ¤¹) while(msg2!=fin){ ReceiveRemoteNumber(mail,true,msg2); SendRemoteNumber(slave,mail,cup_re); } while(sensor_light>black+5){ // S¤Ë¤Æ±¦Àû²ó¡ÊX¤Ø¸þ¤¯¢¡Ë OnFwdSync(OUT_AB,50,100); } adjust; while(sensor_light<white-5){ OnFwd(OUT_A,50); } adjust; intertify_left(); // S¢ªQÊý¸þ¤Ø¥é¥¤¥ó¥È¥ì¡¼¥¹¡Ê¥Ô¥ó¥Ý¥ó¶Ì¤òXÏÈÆâ¤Ø¡Ë int msg3; // ÄÌ¿®(»æ¥³¥Ã¥×¤ò¾å¤²¤ë) while(msg3!=fin){ ReceiveRemoteNumber(mail,true,msg3); SendRemoteNumber(slave,mail,cup_age); } adjust; spinAng(320); // Y¤ÎÊý¸þ¤Ë¸þ¤¯
¡¡// ËÜÈ֤Ϥ³¤³¤Ç½ªÎ» //
while(sensor_light>black+5){ OnFwdSync(OUT_AB,50,0); } adjust; int msg4; // ÄÌ¿®(»æ¥³¥Ã¥×¤òÃÖ¤¯) while(msg4!=fin){ ReceiveRemoteNumber(mail,true,msg4); SendRemoteNumber(slave,mail,cup_sage); } adjust;
¡¡// Îý½¬¤Ç¤Ï¤³¤³¤Ç½ªÎ» //
spinAng(90); // 2È֤λ楳¥Ã¥×¤ÎÊý¸þ¤Ë¸þ¤¯ int d2 = search_distance(90); // 90ÅÙ¤ÎÈϰϤǥ³¥Ã¥×õº÷ if(d2>10){ approach(d2-5); // ¥³¥Ã¥×¤Î5cmÁ°¤Þ¤ÇÁ°¿Ê } int msg5; // ÄÌ¿®(2È֤λ楳¥Ã¥×¤ò¾¯¤·¾å¤²¤ë) while(msg5!=fin){ ReceiveRemoteNumber(mail,true,msg5); SendRemoteNumber(slave,mail,cup_age_little); back(d2-5); // Á°¿Êʬ¤À¤±¸åÂà¡Ê¸µ¤Î°ÌÃÖ¤ØÌá¤ë¡Ë while(sensor_light>black+5){ // X¤ÎÊý¸þ¤Ø¸þ¤¯ OnFwdSync(OUT_AB,50,100); } adjust; while(sensor_light<white-5){ OnFwd(OUT_A,50); } adjust; intertify_left(); // S¢ªQÊý¸þ¤Ø¥é¥¤¥ó¥È¥ì¡¼¥¹¡Ê¥Ô¥ó¥Ý¥ó¶Ì¤òXÏÈÆâ¤Ø¡Ë int msg6; // ÄÌ¿®(»æ¥³¥Ã¥×¤ò¾å¤²¤ë) while(msg6!=fin){ ReceiveRemoteNumber(mail,true,msg6); SendRemoteNumber(slave,mail,cup_age); } adjust; spinAng(320); // Y¤ÎÊý¤Ë¸þ¤¯ while(sensor_light>black+5){ OnFwdSync(OUT_AB,50,0); } adjust; int msg7; // ÄÌ¿®(»æ¥³¥Ã¥×¤òÃÖ¤¯) while(msg7!=fin){ ReceiveRemoteNumber(mail,true,msg7); SendRemoteNumber(slave,mail,cup_sage); } spinAng_opposite(90); // 3È֤λ楳¥Ã¥×¤ÎÊý¤Ë¸þ¤¯ int d3 = search_distance(90); // 90ÅÙ¤ÎÈϰϤǥ³¥Ã¥×õº÷ if(d3>10){ approach(d3-5); // ¥³¥Ã¥×¤Î5cmÁ°¤Þ¤ÇÁ°¿Ê } int msg8; // ÄÌ¿®(3È֤λ楳¥Ã¥×¤ò¾¯¤·¾å¤²¤ë) while(msg8!=fin){ ReceiveRemoteNumber(mail,true,msg8); SendRemoteNumber(slave,mail,cup_age_little); } back(d3-5); // Á°¿Êʬ¤À¤±¸åÂà¡Ê¸µ¤Î°ÌÃÖ¤ØÌá¤ë¡Ë while(sensor_light>black+5){ // X¤ÎÊý¤Ë¸þ¤¯ OnFwdSync(OUT_AB,-50,100); } adjust; intertify_right(); // S¢ªQÊý¸þ¤Ø¥é¥¤¥ó¥È¥ì¡¼¥¹¡Ê¥Ô¥ó¥Ý¥ó¶Ì¤òXÏÈÆâ¤Ø¡Ë int msg9; // ÄÌ¿®(»æ¥³¥Ã¥×¤ò¾å¤²¤ë) while(msg9!=fin){ ReceiveRemoteNumber(mail,true,msg9); SendRemoteNumber(slave,mail,cup_age); } adjust; spinAng(320); // Y¤ÎÊý¸þ¤Ë¸þ¤¯ while(sensor_light>black+5){ OnFwdSync(OUT_AB,50,0); } adjust; int msg10; // ÄÌ¿®(»æ¥³¥Ã¥×¤òÃÖ¤¯) while(msg10!=fin){ ReceiveRemoteNumber(mail,true,msg10); SendRemoteNumber(slave,mail,cup_sage); } }
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