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#define KOSATEN 37      //¹õ¤«¤É¤¦¤«¤Î¶­³¦
#define completed 15   //¥¹¥ì¡¼¥Ö¦¤ËÆ°ºî¤Î½ªÎ»¤òÅÁ¤¨¤ë

#define turn_left OnRev(OUT_A,70);OnFwd(OUT_B,70);     //º¸ÀÞ
#define go_left OnRev(OUT_A,85);Off(OUT_B);            //¿Ê¤ß¤Ä¤Äº¸¤Ë¶Ê¤¬¤ë
#define go_straight OnRev(OUT_AB,70);                  //ľ¿Ê
#define go_right OnRev(OUT_B,85);Off(OUT_A);           //¿Ê¤ß¤Ä¤Ä±¦¤Ë¶Ê¤¬¤ë
#define turn_right OnRev(OUT_B,100);OnFwd(OUT_A,100);  //±¦ÀÞ
#define short_break Off(OUT_AB);Wait(1000);            //¾®µÙ»ß
#define brake Off(OUT_AB)                              //Ää»ß
sub follow_line()              //Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
{
  while((SENSOR_1>KOSATEN)||(SENSOR_2>KOSATEN)){
   int d=SENSOR_1-SENSOR_2;
    if (d<-6){
     turn_right;
   }else if (d<-3){
     go_right;
   }else if (d<=3){
     go_straight;
   }else if (d<=6){
     go_left;
   }else {
     turn_left;
   }
  }
  PlaySound(SOUND_CLICK);
  brake;Wait(200);
} 

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sub follow_line2(int followtime)        //¥¿¥¤¥Þ¡¼¤ò»È¤¦¥é¥¤¥ó¥È¥ì¡¼¥¹
{
  long t0=CurrentTick();
  while(CurrentTick()-t0<followtime){
   int d=SENSOR_1-SENSOR_2;
    if (d<-6){
     turn_right;
   }else if (d<-3){
     go_right;
   }else if (d<=3){
     go_straight;
   }else if (d<=6){
     go_left;
   }else {
     turn_left;
   }
  }
  PlaySound(SOUND_CLICK);
  brake;Wait(200);
} 

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sub chokusinL()                    //ľ¿Êº¸
{
 go_left;Wait(500);
} 

sub chokusinR()                    //ľ¿Ê±¦
{
 go_right;Wait(500);
}

sub sasetsu()                      //º¸ÀÞ
{
 turn_left;Wait(500);
 go_left;Wait(500);
}

sub usetsu(int migi)               //±¦ÀÞ
{
 turn_right;Wait(500);
 go_right;Wait(migi);
}

sub turn_behind()                  //¿¶¤ê¸þ¤¯
{
 turn_left;Wait(1000);
 while(SENSOR_1>KOSATEN){
 turn_left;
 }
 Off(OUT_BC);
}
sub backleft()                     //¸åÂष±¦¤ò¸þ¤¯
{
 OnFwd(OUT_A,100);Off(OUT_B);Wait(1500);
 turn_right;Wait(600);
 Off(OUT_AB);
}

sub backright()                    //¸åÂषº¸¤ò¸þ¤¯
{
 OnFwd(OUT_B,100);Off(OUT_A);Wait(1400);
 turn_left;Wait(500);
 Off(OUT_AB);
}
sub ball_catch()                   //¶Ì¤òÄϤà
{
 int msg;
 SendRemoteNumber(1,MAILBOX1,12);
 while(msg==completed){
  ReceiveRemoteNumber(MAILBOX1,true,msg);
 }
} 

sub ball_release()                 //¶Ì¤òÊü¤¹
{
 int msg;
 SendRemoteNumber(1,MAILBOX1,11);
 while(msg==completed){
  ReceiveRemoteNumber(MAILBOX1,true,msg);
 }
}
sub arm_up()                       //¥¢¡¼¥à¤ò¾å¤²¤ë
{
 int msg;
 SendRemoteNumber(1,MAILBOX1,13);
 while(msg==completed){
  ReceiveRemoteNumber(MAILBOX1,true,msg);
 }
}

sub arm_down()                     //¥¢¡¼¥à¤ò²¼¤²¤ë
{
 int msg;
 SendRemoteNumber(1,MAILBOX1,14);
 while(msg==completed){
  ReceiveRemoteNumber(MAILBOX1,true,msg);
 }
}
sub up_catch()                     //¥¢¡¼¥à¤ò¾å¤²¤Ê¤¬¤éÊĤ¸¤ë
{
 int msg;
 SendRemoteNumber(1,MAILBOX1,16);
 while(msg==completed){
  ReceiveRemoteNumber(MAILBOX1,true,msg);
 }
}

sub down_release()                 //¥¢¡¼¥à¤ò²¼¤²¤Ê¤¬¤é³«¤¯
{
 int msg;
 SendRemoteNumber(1,MAILBOX1,17);
 while(msg==completed){
  ReceiveRemoteNumber(MAILBOX1,true,msg);
 }
}
task main()
{
 SetSensorLight(S1);//±¦¥«¥é¡¼¥»¥ó¥µ¡¼
 SetSensorLight(S2);//º¸¥«¥é¡¼¥»¥ó¥µ¡¼
 arm_up();
 short_break;
 ball_release();
 go_straight;Wait(2000);
 follow_line();            //M
 chokusinR();              //K
 follow_line2(1500);
 short_break;              //L
 arm_down();
 short_break;
 ball_catch();             //¥Ü¡¼¥ë¥­¥ã¥Ã¥Á
 short_break;
 arm_up();
 short_break;
 turn_behind();
 follow_line();
 chokusinL();              //K
 follow_line();
 usetsu(500);              //M
 follow_line();
 sasetsu();
 follow_line();
 chokusinL();              //B
 follow_line();
 usetsu(500);              //X
 follow_line();
 sasetsu();                //X'
 follow_line();
 chokusinR();              //B'
 follow_line();
 sasetsu();                //M'
 follow_line();
 sasetsu();                //K'
 follow_line2(1000);
 short_break;              //J'
 ball_release();           //¥ê¥ê¡¼¥¹
 short_break;
 backleft();               //K'
 follow_line2(3700);
 short_break;              //L'
 arm_down();
 short_break;
 ball_catch();             //¥Ü¡¼¥ë¥­¥ã¥Ã¥Á
 short_break;
 arm_up();
 short_break;
 turn_behind();
 OnFwd(OUT_AB,30);Wait(100);
 follow_line();
 usetsu(500);              //K'
 follow_line2(500);
 short_break;              //J'
 ball_release();           //¥ê¥ê¡¼¥¹
 short_break;
 backright();
 follow_line();
 chokusinL();
 follow_line();
 usetsu(500);              //M'
 follow_line();
 chokusinL();              //B'
 follow_line();
 usetsu(500);              //X'
 follow_line();
 sasetsu();                //X
 follow_line();
 sasetsu();                //B
 follow_line();
 usetsu(400);              //C
 follow_line2(1650);
 short_break;              //I
 arm_down();
 short_break;
 ball_catch();             //¥Ü¡¼¥ë¥­¥ã¥Ã¥Á
 short_break;
 up_catch();
 short_break;
 backleft();               //C
 follow_line();
 usetsu(500);              //B
 follow_line();
 usetsu(500);              //X
 follow_line();
 sasetsu();                //X'
 follow_line();
 sasetsu();                //B'
 follow_line();
 usetsu(700);
 follow_line2(900);
 short_break;              //J'
 down_release();           //¥ê¥ê¡¼¥¹
 short_break;
 arm_up();
 short_break;
 backright();              //K'
}                          //½ªÎ»

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#define ball_release 11
#define ball_catch   12
#define arm_up       13
#define arm_down     14
#define completed    15
#define up_catch   16
#define down_release   17
task main()
{
 int msg;

 while(true){
  ReceiveRemoteNumber(MAILBOX1,true,msg);
  if(msg==ball_release){
   OnFwd(OUT_A,50);Wait(500);Off(OUT_A);Wait(500);    //¶Ì¤òÊü¤¹
   SendResponseNumber(MAILBOX1,completed);
  }
  if(msg==ball_catch){
   OnRev(OUT_A,50);Wait(600);Off(OUT_A);Wait(500);    //¶Ì¤òÄϤà
   SendResponseNumber(MAILBOX1,completed);
  }
  if(msg==arm_up){
   OnFwd(OUT_B,50);Wait(600); OnFwd(OUT_B,5);Wait(500);   //¥¢¡¼¥à¤ò¾å¤²¤ë
   SendResponseNumber(MAILBOX1,completed);
  }
  if(msg==arm_down){
   OnRev(OUT_B,30);Wait(600); OnFwd(OUT_B,5);Wait(500);   //¥¢¡¼¥à¤ò²¼¤²¤ë
   SendResponseNumber(MAILBOX1,completed);
  }
  if(msg==up_catch){
   OnFwd(OUT_B,40);OnRev(OUT_A,15);Wait(300);        //ÄϤߤʤ¬¤é»ý¤Á¾å¤²¤ë
   SendResponseNumber(MAILBOX1,completed);
  }
  if(msg==down_release){
   OnRev(OUT_B,10);OnFwd(OUT_A,20);Wait(150);        //²¼¤í¤·¤Ê¤¬¤éÊü¤¹
   SendResponseNumber(MAILBOX1,completed);
  }
  Wait(100);
  msg=0;
 }
}                     //½ªÎ»

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Last-modified: 2019-08-14 (¿å) 05:58:47