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#define CONN 1

#define SIGNALA 11

#define SIGNALB 12

#define SIGNALC 13

#define SIGNALD 14

#define SIGNALE 15

#define SIGNALF 16

#define SIGNALG 17 //¥á¥Ã¥»¡¼¥¸¤Ë¤Ä¤¤¤Æ¤ÏÁ´ÂΤÎή¤ì¤ÇÀâÌÀ¤·¤Þ¤¹

#define THRESHOLD 57

#define SPEED 50

#define speed 40

#define OnRL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL);

#define leftleft OnRL(speed,0);¡¡¡¡¡¡¡¡//¤­¤Ä¤¤¥«¡¼¥Ö¤ÎÉôʬ¤Ç¥·¥ç¡¼¥È¥«¥Ã¥È¤ò¤¹¤ë¤¿¤áÀû²ó¤·¤Ê¤¤¤è¤¦¤Ë¤·¤¿

#define left OnRL(speed,0);

#define straight OnRL(SPEED,SPEED);

#define right OnRL(0,speed+5);

#define rightright OnRL(-speed,speed+5);

#define MOVE_TIME_1 3000

#define MOVE_TIME_2 22500

#define MOVE_TIME_3 2000

#define zenshin OnFwd(OUT_B,speed);OnFwd(OUT_C,speed+6);

#define koutai OnRev(OUT_B,speed-10);OnRev(OUT_C,speed-4);¡¡¡¡¡¡//¼ÖÂΥХé¥ó¥¹¤Î±Æ¶Á¤Çº¸±¦¤Î¥â¡¼¥¿¡¼¤Î¶¯¤µ¤òÊѤ¨¤Æ¤¢¤ë

#define teishi Off(OUT_BC);

#define kaiten_R1 OnFwd(OUT_B,SPEED);OnRev(OUT_C,SPEED);

#define kaiten_R2 OnFwd(OUT_B,speed);OnRev(OUT_C,speed);

#define kaiten_L1 OnRev(OUT_B,SPEED);OnFwd(OUT_C,SPEED);

#define kaiten_L2 OnRev(OUT_B,SPEED);OnFwd(OUT_C,SPEED);

#define kaiten_time_R1 2500¡¡¡¡¡¡¡¡¡¡//´Ì¤ò¸«¤Ä¤±¤ë¤Ë¤Ïû¤¹¤®¤¿ºÇ¾®Ãͤò¸«¤Ä¤±¤ë¤¿¤á¤Ë²óž¤¹¤ë»þ´Ö

#define kaiten_time_L1 1500

#define KAITEN RotateMotorEx(OUT_BC,50,400,100,true,false);¡¡¡¡¡¡//180¡ë²óž

#define go_forward OnRL(SPEED,SPEED);

#define STEP 1

#define yasumi Off(OUT_BC);Wait(500);

sub serch_R1()¡¡¡¡¡¡¡¡¡¡¡¡//È¿»þ·×²ó¤ê¤Ç´Ì¤òõ¤¹

{
 SetSensorLowspeed(S4);
 long t10,t11;
 int L=1000;
 t10=CurrentTick();
 while(CurrentTick()-t10<=kaiten_time_R1){
  kaiten_R1;
  if(SensorUS(S4)<L)
  {
   L=SensorUS(S4);
   t11=CurrentTick()-t10;
  }
 }
 kaiten_L1;
 Wait(kaiten_time_R1-t11+100);¡¡¡¡//¼ÖÂΥХé¥ó¥¹¤ÎÌäÂê¤ò²þÁ±¤¹¤ë¤¿¤á¤ÎÈùÄ´À°+100
 Off(OUT_BC);
 Wait(500);
 }

inline sub serch_R2(int l)¡¡¡¡¡¡£ì£ã£í°Ê²¼¤Îµ÷Î¥¤Î¤â¤Î¤ò¸«¤Ä¤±¤¿¤é»ß¤Þ¤ë

{
 SetSensorLowspeed(S4);
 kaiten_R1
 until(SensorUS(S4)<=l);
 Off(OUT_BC);
 }

sub serch_L()¡¡¡¡¡¡¡¡»þ·×²ó¤ê¤Ç´Ì¤òõ¤¹

{
 SetSensorLowspeed(S4);
 long t12,t13;
 int L=1000;
 t12=CurrentTick();
 while(CurrentTick()-t12<=kaiten_time_L1){
  kaiten_L1;
  if(SensorUS(S4)<L)
  {
   L=SensorUS(S4);
   t13=CurrentTick()-t12;
  }
 }
 kaiten_R1;
 Wait(kaiten_time_L1-t13+80);¡¡¡¡¡¡¡¡//¼ÖÂΥХé¥ó¥¹¤ÎÌäÂê¤ò²þÁ±¤¹¤ë¤¿¤á¤ÎÈùÄ´À°+80
 Off(OUT_BC);
 Wait(500);
 }

inline void sekkin(int d)¡¡¡¡¡¡ÌÜɸ¤ËÀ᤹ܶ¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à

{
 SetSensorLowspeed(S4);

 while(SensorUS(S4)>=d){
 koutai;
 }
 teishi;
}

sub LT_R()¡¡¡¡¡¡¡¡¡¡¡¡//¥é¥¤¥ó¥È¥ì¡¼¥¹

{
   SetSensorLight(S3);
   long t0=CurrentTick();
   while(CurrentTick()-t0<=MOVE_TIME_2){
    if(SENSOR_3<THRESHOLD-10){
    rightright;
   }else if(SENSOR_3<THRESHOLD-7){
    right;
   }else if(SENSOR_3<THRESHOLD+2){
    straight;
   }else if(SENSOR_3<THRESHOLD+3){
    left;
   }else{
    leftleft;
   }
   Wait(STEP);
  }
 }

task main()

{
SetSensorLight(S2);
SetSensorLight(S3);
SetSensorLowspeed(S4);
OnRev(OUT_BC,30);
Wait(500);
teishi;        //½é´ü°ÌÃÖ¤«¤éÀÖ¤¤¥Ü¡¼¥ë¤ò¥­¥ã¥Ã¥Á¤¹¤ë¾ì½ê¤Þ¤Ç¤ÎÈùÄ´À°
int msg;
SendRemoteNumber(CONN,MAILBOX1,SIGNALA);¡¡¡¡¡¡¥¹¥ì¡¼¥Ö¦¤Ë¥Ü¡¼¥ë¤ò¤Ä¤«¤ó¤Ç¤â¤é¤¦
while(true){
 ReceiveRemoteNumber(MAILBOX1,true,msg);
 if(msg==SIGNALE){
  koutai;
  Wait(MOVE_TIME_1);¡¡¡¡
  KAITEN;¡¡¡¡¡¡¡¡¡¡¡¡//¸åÂष¤Æ180¡ë²óž¤¹¤ë¡£¸òº¹ÅÀ¤ò±Û¤¨¤¿¤¢¤¿¤ê¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤é¤ì¤ë¤è¤¦¤Ë¤¹¤ë
  teishi;
  yasumi;
  LT_R();¡¡¡¡¡¡¡¡//¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³«»Ï
  teishi;¡¡¡¡¡¡¡¡//ÁÛÄê¤Ç¤ÏÂçÂÎÃÏÅÀE¤ËÅþÃ夷¤¿¤¢¤¿¤ê¤ÇÄä»ß
  serch_R1();¡¡¡¡¡¡//´Ì¤ò¥µ¡¼¥Á
  teishi;
  sekkin(15);¡¡¡¡¡¡//15­Ñ¤Îµ÷Î¥¤Þ¤ÇÀܶá
  koutai;
  Wait(1000);¡¡¡¡¡¡//ÈùÄ´À°¡¡¡¡¡¡
  teishi;
  SendRemoteNumber(CONN,MAILBOX1,SIGNALB);¡¡¡¡¡¡¥¹¥ì¡¼¥Ö¦¤Ë¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤Æ¤â¤é¤¦
 }
 if(msg==SIGNALF){
 zenshin;¡¡¡¡¡¡¡¡¡¡¡¡
 Wait(MOVE_TIME_3);¡¡¡¡¡¡¡¡¡¡//ÂçÂÎÃÏÅÀE¤ËÌá¤ë(¿¾¯¤º¤ì¤Æ¤¤¤Æ¤âÌäÂê¤Ê¤·)
 kaiten_R1;
 Wait(100);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÀĤ¤¥Ü¡¼¥ë¤ò»¡ÃΤ¹¤ëÁ°¤Ë¥Ü¡¼¥ë¤ò¾è¤»¤¿´Ì¤ò¸«¤Ä¤±¤Ê¤¤¤è¤¦¤Ë¾¯¤·²óž
 yasumi;
 serch_R2(25);¡¡¡¡¡¡¡¡//25­Ñ°ÊÆâ¤Ë²¿¤«¤ò¸«¤Ä¤±¤¿¤éÄä»ß
 yasumi;
 zenshin;
 Wait(500);¡¡¡¡¡¡¡¡¡¡//ÀĤ¤¥Ü¡¼¥ë¤ÈĶ²»ÇÈ¥»¥ó¥µ¡¼¤¬¶á¤¹¤®¤¿¤È¤­¤Î¤¿¤á¤Ë¾¯¤·Î¥¤ì¤ë
 sekkin(10);

¡¡koutai;

 Wait(200);         //ÀĤ¤¥Ü¡¼¥ë¤ò¥­¥ã¥Ã¥Á¤Ç¤­¤ë°ÌÃ֤ޤdzÎǧ¡¡¡¡¡¡¡¡
 yasumi;
 SendRemoteNumber(CONN,MAILBOX1,SIGNALC);¡¡¡¡¡¡¥¹¥ì¡¼¥Ö¦¤Ë¥Ü¡¼¥ë¤ò¥­¥ã¥Ã¥Á¤·¤Æ¤â¤é¤¦
 }
 if(msg==SIGNALG){
  koutai;
  Wait(2000);¡¡¡¡//ÌÜɸ¤Ë¾¯¤·¶á¤Å¤¯¡¡¡¡¡¡
  kaiten_R1;¡¡
  Wait(500);¡¡¡¡//²¾¤ËÀĦ¤Î´Ì¤¬­¢¤À¤Ã¤¿¾ì¹ç¥µ¡¼¥ÁÈϰϤˤʤ¤¾ì¹ç¤¬¤¢¤ë¤Î¤Ç¾¯¤·²óž
  serch_L();¡¡¡¡¡¡//´Ì¤ò¥µ¡¼¥Á
  teishi;
  sekkin(15);¡¡¡¡¡¡//15­Ñ¤Îµ÷Î¥¤Þ¤ÇÀܶá
  teishi;
  koutai;¡¡¡¡
  Wait(1000);¡¡¡¡¡¡¡¡//ÈùÄ´À°
  SendRemoteNumber(CONN,MAILBOX1,SIGNALD);¡¡¡¡¡¡¥¹¥ì¡¼¥Ö¦¤Ë¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤Æ¤â¤é¤¦
  teishi;¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Ää»ß
 }
}

}

¥¹¥ì¡¼¥Ö¦¤Î¥×¥í¥°¥é¥à

#define POWER 50

#define Power 25

#define power 15

#define time 300

#define Time 600

#define TIME 1000

#define hand_catch OnRev(OUT_B,POWER);Wait(Time);Off(OUT_B);¡¡¡¡//¥Ü¡¼¥ë¤ò¤Ä¤«¤à

#define arm_Up OnFwd(OUT_C,POWER);Wait(TIME);Off(OUT_C);¡¡¡¡¡¡//ÏÓ¤ò¾å¤²¤ë

#define hand_release OnFwd(OUT_B,power);Wait(TIME);Off(OUT_B);¡¡¡¡¡¡//¼ê¤òÎ¥¤¹

#define arm_Down OnRev(OUT_C,POWER);Wait(Time+200);Off(OUT_C);¡¡¡¡¡¡//ÏÓ¤ò²¼¤²¤ë

#define arm_up OnFwd(OUT_C,POWER);Wait(Time);Off(OUT_C);¡¡¡¡¡¡¡¡//ÏÓ¤ò¾¯¤·¤À¤±¾å¤²¤ë

#define arm_down OnRev(OUT_C,Power);Wait(Time);Off(OUT_C);¡¡¡¡¡¡//ÏÓ¤ò¾¯¤·¤À¤±²¼¤²¤ë

#define yasumi Off(OUT_BC);Wait(500);

#define SIGNALA 11

#define SIGNALB 12

#define SIGNALC 13

#define SIGNALD 14

#define SIGNALE 15

#define SIGNALF 16

#define SIGNALG 17

sub ball_catch()¡¡¡¡¡¡¡¡¥Ü¡¼¥ë¤òÄϤó¤Ç»ý¤Á¾å¤²¤ë

{
 Wait(Time);
 arm_Down;
 hand_catch;
 arm_Up;
 Off(OUT_BC);
 }
 

sub ball_release()¡¡¡¡¡¡¡¡¥Ü¡¼¥ë¤ò´Ì¤Î¾å¤ËÃÖ¤¯

{
 Wait(Time);
 arm_down;
 yasumi;
 hand_release;
 arm_up;
 Off(OUT_BC);
 }
 

task main()

{
 int msg;
 while(true){
  ReceiveRemoteNumber(MAILBOX1,true,msg);
 
  if(msg==SIGNALA){
  ball_catch();
  Off(OUT_BC);
  SendResponseNumber(MAILBOX1,SIGNALE);¡¡¡¡¡¡//ÀÖ¤¤¥Ü¡¼¥ë¤òÄϤó¤À¤³¤È¤ò¥Þ¥¹¥¿¡¼Â¦¤ËÅÁ¤¨¤ë
  }
  if(msg==SIGNALB){
  yasumi;
  ball_release();
  yasumi;
  SendResponseNumber(MAILBOX1,SIGNALF);¡¡¡¡¡¡//ÀÖ¤¤¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤¿¤³¤È¤ò¥Þ¥¹¥¿¡¼Â¦¤ËÅÁ¤¨¤ë
  }
  if(msg==SIGNALC){
  ball_catch();
  Off(OUT_BC);
  SendResponseNumber(MAILBOX1,SIGNALG);¡¡¡¡¡¡//ÀĤ¤¥Ü¡¼¥ë¤òÄϤó¤À¤³¤È¤ò¥Þ¥¹¥¿¡¼Â¦¤ËÅÁ¤¨¤ë
  }
  if(msg==SIGNALD){
  yasumi;
  ball_release();
  yasumi;¡¡¡¡¡¡¡¡¡¡//ÀĤ¤¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤ÆÄä»ß
  }
 } 
}

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