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  • ¥¢¡¼¥à¤ò¾å¤²¤ë(¥×¥í¥°¥é¥à̾[arm_up])
   task main(){
        RotateMotor(OUT_BC,-40,90);  //¥Ü¡¼¥ë¤ò»ý¤Á¾å¤²¤ë
   }
  • ¥¢¡¼¥à¤ò²¼¤²¤ë(¥×¥í¥°¥é¥à̾[arm_down])
   task main(){
        RotateMotor(OUT_BC,10,90);
        Wait(300);
        Off(OUT_BC);
        ResetTachoCount(OUT_BC);
   }
  • ¥Ï¥ó¥É¤òÊĤ¸¤ë(¥×¥í¥°¥é¥à̾[hand_close])
   task main(){
        RotateMotor(OUT_A,-30,320);  //¥Ü¡¼¥ë¤òÄϤà
        Wait(300);
        RotateMotor(OUT_BC,-40,15);
        Off(OUT_ABC);
   }

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   task main(){
        RotateMotor(OUT_A,30,320);  //¥Ü¡¼¥ë¤òÊü¤¹
   }

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       #define fw Off(OUT_BC);OnFwd(OUT_BC,30); // ľ¿Ê
       #define lt Off(OUT_BC);OnFwd(OUT_B,35);  // º¸²ó
       #define rt Off(OUT_BC);OnFwd(OUT_C,35);  // ±¦²ó
       #define rrt Off(OUT_BC);OnFwd(OUT_C,20);OnFwd(OUT_B,-60); // ±¦Àû²ó
       #define llt Off(OUT_BC);OnFwd(OUT_B,20);OnFwd(OUT_C,-60); // º¸Àû²ó
       #define wait_sec Off(OUT_BC);Wait(1000);                  //°ì»þÄä»ß
       #define mini_go Off(OUT_BC);OnFwd(OUT_BC,30);Wait(1500);Off(OUT_BC); //¾¯¤·Ä¾¿Ê
       #define def_arm_up until(BluetoothStatus(conn)==NO_ERR);   //¥¢¡¼¥à¤ò¾å¤²¤ë
                          RemoteStartProgram(conn,"arm_up.rxe");
                          Wait(4000);
       #define def_arm_down until(BluetoothStatus(conn)==NO_ERR);   //¥¢¡¼¥à¤ò²¼¤²¤ë
                            RemoteStartProgram(conn,"arm_down.rxe");
                            Wait(4000);
       #define def_hand_close until(BluetoothStatus(conn)==NO_ERR);   //¥Ü¡¼¥ë¤òÄϤà
                              RemoteStartProgram(conn,"hand_close.rxe");
                              Wait(4000);
       #define def_hand_open until(BluetoothStatus(conn)==NO_ERR);   //¥Ü¡¼¥ë¤òÊü¤¹
                             RemoteStartProgram(conn,"hand_open.rxe");
                             Wait(4000);
  • ÄêµÁ´Ø¿ô
       const float tire_diameter = 5.75;    //¥¿¥¤¥ä¤Îľ·Â
       const float tire_axis = 17.7;        //¥¿¥¤¥ä´Ö¤Îµ÷Î¥
       const int gear_ratio = 6;            //¥®¥¢Èæ
       const float pi = 3.14159;            //±ß¼þΨ
       const int en = 360;                  //±ß 360ÅÙ

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   until(BluetoothStatus(CONN)==NO_ERR);   //¥¹¥ì¡¼¥Ö¦¤Î¥¢¡¼¥à¤ò¾å¤²¤ë¥×¥í¥°¥é¥à¤òµ¯Æ°
       RemoteStartProgram(CONN,"arm_up.rxe");
       Wait(4000);
   until(BluetoothStatus(CONN)==NO_ERR);   //¥¹¥ì¡¼¥Ö¦¤Î¥¢¡¼¥à¤ò²¼¤²¤ë¥×¥í¥°¥é¥à¤òµ¯Æ°
       RemoteStartProgram(CONN,"arm_down.rxe");
       Wait(4000);
   until(BluetoothStatus(CONN)==NO_ERR);   //¥¹¥ì¡¼¥Ö¦¤Î¥Ï¥ó¥É¤òÊĤ¸¤ë¥×¥í¥°¥é¥à¤òµ¯Æ°
       RemoteStartProgram(CONN,"hand_close.rxe");
       Wait(4000);
   until(BluetoothStatus(CONN)==NO_ERR);   //¥¹¥ì¡¼¥Ö¦¤Î¥Ï¥ó¥É¤ò³«¤±¤ë¥×¥í¥°¥é¥à¤òµ¯Æ°
       RemoteStartProgram(CONN,"hand_open.rxe");¡¡
       Wait(4000);

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  • ¸òº¹ÅÀ¤ÎÄ̲á
       void blk_selection(int blk_select){
           if(blk_select!=1){¡¡¡¡//blk_select¤¬1¤Ê¤é
               wait_sec;         //Ää»ß¤¹¤ë
           }
           if(blk_select!=0){    //blk_select¤¬0¤Ê¤é
               mini_go;          //Ä̲᤹¤ë
           }
       }
   void follow_line(int bw_time,long min_t,int blk_cnt,string invert_info,string sensor_switch){
       SetSensorLight(S1);    //¸÷¥»¥ó¥µÄêµÁ
       int right_var;         //¸÷¥»¥ó¥µÃÍÍÑÊÑ¿ô
       SetSensorLowspeed(S3); //Ͳ»ÇÈ¥»¥ó¥µÄêµÁ
       long t0,t1,start_t; // t0,t1,start_t »þ´ÖÊÑ¿ô¤ÎÄêµÁ
       t1=CurrentTick(); //¡¡º£¤½¤Î»þ¤Î»þ¹ï
       t0=CurrentTick(); //¡¡Ä¾¿Ê½ªÎ»¡¦±¦º¸ÀÞ³«»Ï»þ¹ï
       start_t=CurrentTick(); // ¥é¥¤¥ó¥È¥ì¡¼¥¹³«»Ï»þ¹ï
       while(t1-start_t<min_t || min_t<0){¡¡//¥é¥¤¥ó¥È¥ì¡¼¥¹³«»Ï¤«¤é»ØÄꤷ¤¿»þ´Ö[min_t]°ÊÆâ¤Ç·«¤êÊÖ¤¹
           if(sensor_switch=="on"){   //sensor_switch¤Ëon¤ò»ØÄꤷ¤Æ¤¤¤¿¤é
                if(SensorUS(S3)<16){  //S3¤¬16­Ñ°ÊÆâ¤Ë¾ã³²Êª¤òõÃΤ·¤¿¤é
                     break;¡¡¡¡¡¡¡¡¡¡ //whileʸ¤«¤éÈ´¤±½Ð¤¹ ¡¡¡¡¡¡
                }
           }
           right_var = SENSOR_1; // ¸÷¥»¥ó¥µÃÍÂåÆþ
           if(invert_info=="on"){  //invert_info¤Ëoff¤ò»ØÄꤷ¤¿¤éº¸¤Î¶­Ìܤò¥È¥ì¡¼¥¹¤¹¤ë¡¡
                right_var = right_var*(-1)+91;} //on¤ò»ØÄꤷ¤¿¤é¸÷¥»¥ó¥µ¤ÎÃͤòȿž¤µ¤»¤Æ±¦¤Î¶­Ìܤò¥È¥ì¡¼¥¹
           if (right_var>50){
               if (t1-t0>bw_time){ //¡¡±¦²ó¤Ç»ØÄꤷ¤¿»þ´Ö[bw_time]°Ê¾å¤Î¤È¤­±¦Àû²ó
                     if (blk_cnt>=0 && blk_cnt<=2 && invert_info=="on"){¡¡//¸òº¹ÅÀ¤ÎÄ̲᤬Ää»ß¤«Ä̲á¤Ç¤¢¤ê¡¢±¦¤Î¶­Ìܤò¥È¥ì¡¼¥¹¤·¤Æ¤¤¤¿¤Ê¤é
                            blk_selection(blk_cnt); //blk_cnt¤Ë»ØÄꤵ¤ì¤¿¿ô»ú¤ËŬ¤·¤¿Æ°ºî¤ò¹Ô¤¤
                            break;  //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ªÎ»¤¹¤ë
                      }else{
                          rrt;}
               }else{        //¡¡±¦²ó
                     rt;}
           }else if (right_var>40){
               fw;
               t0=CurrentTick(); //ľ¿Ê½ªÎ»¡¦±¦º¸ÀÞ³«»Ï»þ¹ï¡¡
           }else{
               if (t1-t0>bw_time){   //¡¡º¸²ó¤Ç bw_time[ms]  °Ê¾å¤Î¤È¤­º¸Àû²ó
                     if (blk_cnt>=0 && blk_cnt<=2 && invert_info!="on") {
                            blk_selection(blk_cnt);
                            break;
                      }else{
                          llt;}
               }else{            //¡¡º¸²ó
                     lt;}}
       t1=CurrentTick();    //º£¤½¤Î»þ¤Î»þ¹ï
       }Off(OUT_BC);
   }

´Ì¤Îº÷Ũ

   void search_throw(string side_select,float rotate_angle){ 
       SetSensorLowspeed(S2);   //Ͳ»ÇÈ¥»¥ó¥µÄêµÁ
       int d_min=1000,d_gosa=11,side_flag=0;
       long ang_min=0,angle=0,d_angle=0;
       if (side_select=="right"){       //right¤ò»ØÄꤷ¤Æ¤¤¤ì¤Ð±¦Àû²ó
          side_flag=1;
       }else if(side_select=="left"){   //left¤ò»ØÄꤷ¤Æ¤¤¤ì¤Ðº¸Àû²ó
             side_flag=-1;
       }
       ResetTachoCount(OUT_BC);
       OnFwdSync(OUT_BC,30,100*side_flag);
       while(((tire_diameter/(tire_axis*gear_ratio))*MotorTachoCount(OUT_C)*side_flag)<=rotate_angle){   //»ØÄꤷ¤¿³ÑÅÙ[rotate_angle]ʬÀû²ó
           if(d_min>SensorUS(S2)){
               d_min=SensorUS(S2);    //µ÷Î¥¤ÎºÇ¾®Ã͹¹¿·
               angle=MotorTachoCount(OUT_C);
           }
       }
       ang_min=MotorTachoCount(OUT_C)-angle;
       Off(OUT_BC);
       Wait(1000);
       ResetTachoCount(OUT_BC);
       RotateMotorEx(OUT_BC, 40, ang_min, -100*side_flag, true, true);//ʪÂΤÎÊý¤ò¸þ¤¯
       Off(OUT_BC);
       ResetTachoCount(OUT_BC);
       if(7<SensorUS(S2)){¡¡¡¡//´Ì¤Þ¤Ç¤Îµ÷Î¥¤¬7­Ñ°Ê²¼¤Ë¤Ê¤é
           OnFwd(OUT_BC,40);     //ʪÂΤÎÊý¤Ë¶á¤Å¤¯
           while(7<SensorUS(S2) || 40>(pi*tire_diameter*MotorTachoCount(OUT_C))/en*gear_ratio){µ÷Î¥¤¬7­Ñ°Ê²¼¤Ë¤Ê¤ë¤Þ¤¿¤Ï40­Ñ¿Ê¤à¤Þ¤Ç
               d_angle=MotorTachoCount(OUT_C);   //ʪÂΤ˶á¤Å¤¤¤¿Ê¬¤Î¥â¡¼¥¿¡¼¤Î²óž³Ñ¤òµ­Ï¿
           }
           Off(OUT_BC);
           RotateMotor(OUT_BC,30,en*2*gear_ratio/(pi*tire_diameter));   
       } 
       def_arm_up;¡¡¡¡//¥¢¡¼¥à¤ò¾å¤²¤ë
       RotateMotor(OUT_BC,30,en*d_gosa*gear_ratio/(pi*tire_diameter));¡¡¡¡//µ÷Î¥¤ÎÈùÄ´À°
       Wait(700);
       def_hand_open;¡¡¡¡//¥Ü¡¼¥ë¤òÊü¤¹
       RotateMotor(OUT_BC,-30,en*d_gosa*gear_ratio/(pi*tire_diameter)+d_angle);¡¡¡¡//¶á¤Å¤¤¤¿Ê¬Ìá¤ë
       def_arm_down;¡¡¡¡//¥¢¡¼¥à¤ò²¼¤²¤ë
       ResetTachoCount(OUT_BC);
       RotateMotorEx(OUT_BC, 40, angle, -100*side_flag, true, true);//¸µ¤Î¸þ¤­¤ØÌ᤹
       Off(OUT_BC);
   }

¥×¥í¥°¥é¥àÁ´ÂÎ

   task main(){          
       string invert_str="off";
       int b_tyokusin=10,r_back=22;¡¡//ľ¿Ê¤¹¤ëµ÷Î¥¤È¸åÂह¤ëµ÷Î¥¤òÄêµÁ
       follow_line(1200, -1,1,invert_str,"off");¡¡//Y¤«¤é½Ð¤ÆÀĥܡ¼¥ë¤Ø¸þ¤«¤¦
       follow_line(800, -1,0,invert_str,"off");
       def_hand_close;¡¡//Àĥܡ¼¥ë¤òÄϤà
       ResetTachoCount(OUT_BC);
       RotateMotor(OUT_BC,30,en*b_tyokusin*gear_ratio/(pi*tire_diameter)); //±ß¤ÎÃæ¤ËÆþ¤ë
       Off(OUT_BC);
       search_throw("right",55.0);¡¡//±¦Àû²ó³ÑÅÙ55Å٤Ǻ÷Ũ
       Wait(2000);
       RotateMotor(OUT_BC,-30,en*b_tyokusin*gear_ratio/(pi*tire_diameter));¡¡//±ß¤«¤é½Ð¤ë
       Off(OUT_BC);
       def_arm_up;¡¡//¥¢¡¼¥à¤ò¾å¤²¤ë
       RotateMotor(OUT_BC,-30,en*r_back*gear_ratio/(pi*tire_diameter));¡¡//E¤Î¸òº¹ÅÀ¤Þ¤Ç¸åÂह¤ë
       follow_line(600,1200000,-1,invert_str,"on");  //E¤«¤éF¤Ø¸þ¤«¤¤µÞ¥«¡¼¥Ö¤Ø¹Ô¤­¡¢À֥ܡ¼¥ë¤òǧ¼±¤·¤¿¤é¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ª¤¨¤ë 
       RotateMotor(OUT_BC,-30,en*3*gear_ratio/(pi*tire_diameter));¡¡//3¥»¥ó¥Á²¼¤¬¤ë
       def_arm_down; //¥¢¡¼¥à¤ò²¼¤²¤ë
       def_hand_close; //À֥ܡ¼¥ë¤òÄϤà
       search_throw("left",270);¡¡//º¸Àû²ó270Å٤Ǻ÷Ũ
       Wait(1000);Off(OUT_BC);
   }

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źÉÕ¥Õ¥¡¥¤¥ë: fileup-down.jpg [¾ÜºÙ] filebad-robot.jpeg [¾ÜºÙ] fileresult.jpg [¾ÜºÙ] filesensor.jpeg [¾ÜºÙ] filerobot-over.jpeg [¾ÜºÙ] filearm-hand.jpeg [¾ÜºÙ] filearm.jpeg [¾ÜºÙ] filegear.jpeg [¾ÜºÙ] fileball-arm.jpeg [¾ÜºÙ] filehand.jpeg [¾ÜºÙ] fileback-tire.jpeg [¾ÜºÙ] filegear-tire.png 4·ï [¾ÜºÙ] filecenter-tire.jpeg [¾ÜºÙ] filerobot.jpeg [¾ÜºÙ] fileroot.png 3·ï [¾ÜºÙ] file2018b-mission3.png 2·ï [¾ÜºÙ]

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Last-modified: 2019-02-13 (¿å) 23:40:46 (6d)