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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);¡¡¡¡¡¡//15Ѥε÷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);¡¡¡¡¡¡//15Ѥε÷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 } }
}
#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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