2019a/Member

課題3

ボール運搬ロボット ピンポン玉または青と赤のボールを運搬して,所定の容器の中に入れる。

ロボットの機構

センターライト

センサーライトを2つを並べて使用した。

image1 (13).jpeg

アーム

ボールを拾うアームと容器を持ち上げるアームを取り付けた。

ボールを拾うアーム

image1 (15).jpeg

容器を持ち上げるアーム

image1 (14).jpeg

ロボットの上側

容器を持ち上げて容器から出てきたボールを滑らして容器に入れる。

image1 (16).jpeg

プログラミング

明るさの定義

#define BLACKS 38
#define BLACK 45
#define THRESHOLD 53
#define WHITE 60
#define WHITES 68

左右の移動の定義

#define left_s OnFwd(OUT_A,60);OnRev(OUT_B,60);
#define left OnFwd(OUT_A,60);Off(OUT_B);
#define right_s OnFwd(OUT_B,60);OnRev(OUT_A,90);
#define right OnFwd(OUT_B,60);Off(OUT_A);
#define forward OnFwd(OUT_AB,60);
#define back OnRev(OUT_AB,60);

マスターとスレーブの定義

#define CONN 1
#define SIGNALON1 10 
#define SIGNALOFF1 11
#define SIGNALON2 20 
#define SIGNALOFF2 21
#define SIGNALON3 30
#define SIGNALOFF3 31
#define HALF 1900
#define QUARTER 220

ライントレース

左側

sub follow_line_left()
{
  SetSensorLight(S1);
  SetSensorLight(S2);
  long t0=0,t1=0,stop_time=1;
  while(t1-t0<stop_time){
      if((SENSOR_1<BLACKS)&&(SENSOR_2<BLACKS)){
          t0=CurrentTick();
          forward;
          until((SENSOR_1<THRESHOLD)&&(SENSOR_2<THRESHOLD));
          t1=CurrentTick();
      }else if(SENSOR_1<BLACKS){
          left_s;
      }else if(SENSOR_1<BLACK){
          left;
      }else if(SENSOR_1<THRESHOLD){
          forward;     
      }else if(SENSOR_1<WHITE){
          right;
      }else if(SENSOR_1<WHITES){
          right_s;
       }
   }
   Off(OUT_AB);
   Wait(1000);
}

右側

sub follow_line_right()
 {
  SetSensorLight(S1);
  SetSensorLight(S2);
  long t0=0,t1=0,stop_time=1;
  while(t1-t0<stop_time){
      if((SENSOR_1<BLACKS)&&(SENSOR_2<BLACKS)){
          t0=CurrentTick();
          forward;
          until((SENSOR_1<THRESHOLD)&&(SENSOR_2<THRESHOLD));
          t1=CurrentTick();
      }else if(SENSOR_2<BLACKS){
          right_s;
      }else if(SENSOR_2<BLACK){
          right;
      }else if(SENSOR_2<THRESHOLD){
          forward;     
      }else if(SENSOR_2<WHITE){
          left;
      }else if(SENSOR_2<WHITES){
          left_s;
       }
   }
   Off(OUT_AB);
   Wait(1000);
}

後ろに移動

sub follow_line_back()
{
  SetSensorLight(S1);
  SetSensorLight(S2);
  long t0=0,t1=0,stop_time=1;
  while(t1-t0<stop_time){
      if((SENSOR_1<BLACKS)&&(SENSOR_2<BLACKS)){
          t0=CurrentTick();
          back;
          until((SENSOR_1<THRESHOLD)&&(SENSOR_2<THRESHOLD));
          t1=CurrentTick();
      }else if(SENSOR_2<BLACKS){
          right_s;
      }else if(SENSOR_2<BLACK){
          right;
      }else if(SENSOR_2<THRESHOLD){
          back;     
      }else if(SENSOR_2<WHITE){
          left;
      }else if(SENSOR_2<WHITES){
          left_s;
       }
   }
   Off(OUT_AB);
   Wait(1000);
}


sub start_right()
{
   right;
   Wait(100);
}
sub start_left()
{
   left;
   Wait(100);
}
sub across()
{   
  SetSensorLight(S1);
  SetSensorLight(S2);
  long t0=0,t1=0,stop_time=1;
  while(t1-t0<stop_time){
      if((SENSOR_1<BLACKS)&&(SENSOR_2<BLACKS)){
          t0=CurrentTick();
          forward;
          until((SENSOR_1<THRESHOLD)&&(SENSOR_2<THRESHOLD));
          t1=CurrentTick();
      }else if(SENSOR_1<WHITES){
          forward;
       }
   }
   Off(OUT_AB);
   Wait(1000);
}
sub send_msg1()
 {
   int msg;
   while(msg!=SIGNALOFF1){
       SendRemoteNumber(CONN,MAILBOX1,SIGNALON1);
       ReceiveRemoteNumber(MAILBOX1,true,msg);
        }
} 
vsub send_msg2()
{
   int msg;
   while(msg!=SIGNALOFF2){
       SendRemoteNumber(CONN,MAILBOX2,SIGNALON2);
       ReceiveRemoteNumber(MAILBOX2,true,msg);
} 
}
sub send_msg3()
{
int msg;
   while(msg=""){
       SendRemoteNumber(CONN,MAILBOX3,SIGNALON3);
       ReceiveRemoteNumber(MAILBOX3,true,msg);
        }
   msg="";
} 
task main()
{
   follow_line_left();
   right_s;
   Wait(200);
   forward;
   Wait(900);
   Off(OUT_AB);
   send_msg1();
   right_s;
   Wait(HALF);
   follow_line_right();
   send_msg2();
}

ロボコンで使用した子機のプログラム

#define CONN 1
#define SIGNALON1 10 
#define SIGNALOFF1 11
#define SIGNALON2 20 
#define SIGNALOFF2 21
#define SIGNALON3 30 
#define SIGNALOFF3 31
sub ball_catch1()
{
   OnFwd(OUT_A,40);
   Wait(200);
   OnRev(OUT_B,50);
   Wait(500);
   OnRev(OUT_A,60);
   Wait(700);
   Off(OUT_AB);
}
sub ball_throw1()
{
   OnFwd(OUT_A,40);
   Wait(100);
   OnFwd(OUT_B,50);
   Wait(500);
   OnRev(OUT_A,60);
   Wait(700);
   Off(OUT_AB);
}
sub ball_catch2()
{  
   OnRev(OUT_C,50);
   Wait(150);
   Off(OUT_C);
}
sub receive_msg1()
{
   int msg;
   while(msg!=SIGNALON1){
       ReceiveRemoteNumber(MAILBOX1,true,msg); //msgが空の間,MAILBOX1にmsgを受信し続け  る   
        } 
   ball_catch1();
   PlaySound(SOUND_UP);
   SendResponseNumber(MAILBOX1,SIGNALOFF1);//親機MAILBOX1にSIGNALOFF1を送る
}
sub receive_msg2()
{
   int msg;
   while(msg!=SIGNALON2){
       ReceiveRemoteNumber(MAILBOX2,true,msg); //msgが空の間,MAILBOX1にmsgを受信し続け る   
        } 
   ball_throw1();
   PlaySound(SOUND_UP);
   SendResponseNumber(MAILBOX2,SIGNALOFF2);//親機MAILBOX1にSIGNALOFF1を送る
}
sub receive_msg3()
{
   int msg;
   while(msg=""){
       ReceiveRemoteNumber(MAILBOX3,true,msg);
        } 
   ball_catch2();
   SendResponseNumber(MAILBOX3,SIGNALOFF3);
   msg="";
}
task main()
{
   receive_msg1();
   receive_msg2();
}

数値調整する前のおおまかなプログラミングの流れ

#define BLACKS 45
#define BLACK 53
#define THRESHOLD 61
#define WHITE 69
#define WHITES 75
#define left_s OnFwd(OUT_A,50);OnRev(OUT_B,50);
#define left OnFwd(OUT_A,50);Off(OUT_B);
#define right_s OnFwd(OUT_B,50);OnRev(OUT_A,50);
#define right OnFwd(OUT_B,50);Off(OUT_A);
#define forward OnFwd(OUT_AB,50);
#define CONN 1
#define SIGNALON1 10 
#define SIGNALOFF1 11
#define SIGNALON2 20 
#define SIGNALOFF2 21
#define SIGNALON3 30
#define SIGNALOFF3 31
#define HALF 450
#define QUARTER 220

sub follow_line_left()
{
  SetSensorLight(S1);
  SetSensorLight(S2);
  long t0=0,t1=0,stop_time=1;
  while(t1-t0<stop_time){
      if((SENSOR_1<BLACKS)&&(SENSOR_2<BLACKS)){
          t0=CurrentTick();
          forward;
          until((SENSOR_1<THRESHOLD)&&(SENSOR_2<THRESHOLD));
          t1=CurrentTick();
      }else if(SENSOR_1<BLACKS){
          left_s;
      }else if(SENSOR_1<BLACK){
          left;
      }else if(SENSOR_1<THRESHOLD){
          forward;     
      }else if(SENSOR_1<WHITE){
          right;
      }else if(SENSOR_1<WHITES){
          right_s;
       }
   }
   Off(OUT_AB);
   Wait(1000);
}
sub follow_line_right()
{
  SetSensorLight(S1);
  SetSensorLight(S2);
  long t0=0,t1=0,stop_time=1;
  while(t1-t0<stop_time){
      if((SENSOR_1<BLACKS)&&(SENSOR_2<BLACKS)){
          t0=CurrentTick();
          forward;
          until((SENSOR_1<THRESHOLD)&&(SENSOR_2<THRESHOLD));
          t1=CurrentTick();
      }else if(SENSOR_2<BLACKS){
          right_s;
      }else if(SENSOR_2<BLACK){
          right;
      }else if(SENSOR_2<THRESHOLD){
          forward;     
      }else if(SENSOR_2<WHITE){
          left;
      }else if(SENSOR_2<WHITES){
          left_s;
       }
   }
   Off(OUT_AB);
   Wait(1000);
}
sub follow_line_leftT()
{
  SetSensorLight(S1);
  SetSensorLight(S2);
  long t0=0,t1=0,stop_time=1;
  while(t1-t0<stop_time){
      if(SENSOR_2<BLACKS){
          t0=CurrentTick();
          forward;
          until(SENSOR_2<THRESHOLD);
          t1=CurrentTick();
      }else if(SENSOR_1<BLACKS){
          left_s;
      }else if(SENSOR_1<BLACK){
          left;
      }else if(SENSOR_1<THRESHOLD){
          forward;     
      }else if(SENSOR_1<WHITE){
          right;
      }else if(SENSOR_1<WHITES){
          right_s;
       }
   }
   Off(OUT_AB);
   Wait(1000);
}
sub follow_line_rightT()
{
  SetSensorLight(S1);
  SetSensorLight(S2);
  long t0=0,t1=0,stop_time=1;
  while(t1-t0<stop_time){
      if(SENSOR_1<BLACKS){
          t0=CurrentTick();
          until(SENSOR_1<THRESHOLD)
          t1=CurrentTick();
      }else if(SENSOR_2<BLACKS){
          right_s;
      }else if(SENSOR_2<BLACK){
          right;
      }else if(SENSOR_2<THRESHOLD){
          forward;     
      }else if(SENSOR_2<WHITE){
          left;
      }else if(SENSOR_2<WHITES){
          left_s;
       }
   }
   Off(OUT_AB);
   Wait(1000);
 }   
sub start_right()
{
   right;
   Wait(100);
}
sub start_left()
{
   left;
   Wait(100);
}
subacross()
{   
  SetSensorLight(S1);
  SetSensorLight(S2);
  long t0=0,t1=0,stop_time=1;
  while(t1-t0<stop_time){
      if((SENSOR_1<BLACKS)&&(SENSOR_2<BLACKS)){
          t0=CurrentTick();
          forward;
          until((SENSOR_1<THRESHOLD)&&(SENSOR_2<THRESHOLD));
          t1=CurrentTick();
      }else if(SENSOR_1<WHITES){
          forward;
       }
   }
   Off(OUT_AB);
   Wait(1000);
}
sub send_msg1()
{
   int msg;
   while(msg=""){
       SendRemoteNumber(CONN,MAILBOX1,SIGNALON1);
       ReceiveRemoteNumber(MAILBOX1,true,msg);
        }
   msg="";
} 
sub send_msg2()
{
   int msg;
   while(msg=""){
       SendRemoteNumber(CONN,MAILBOX2,SIGNALON2);
       ReceiveRemoteNumber(MAILBOX2,true,msg);
        }
   msg="";
} 
sub send_msg3()
{
   int msg;
   while(msg=""){
       SendRemoteNumber(CONN,MAILBOX3,SIGNALON3);
       ReceiveRemoteNumber(MAILBOX3,true,msg);
        }
   msg="";
} 
task main()
{
   long t2=3000;
   forward;
   Wait(500);
   follow_line_rightT();
   forward;
   Wait(t2);
   Off(OUT_AB);
   send_msg1();     //toL'
   right_s;
   Wait(HALF);
   follow_line_leftT();
   right_s;
   Wait(QUARTER);
   follow_line_right();
   send_msg2();     //toJ'
   left_s;
   Wait(HALF);
   follow_line_right();
   start_right();
   follow_line_right();     //toM'
   start_right();
   follow_line_left();
   start_right();
   follow_line_rightT();
   left_s;
   Wait(QUARTER);
   follow_line_rightT();     //toB
   follow_line_rightT();
   left_s;
   Wait(QUARTER);
   follow_line_rightT();
   forward;
   Wait(t2);    //ktoL
   send_msg1();      //ball
   left_s;
   Wait(HALF);
   follow_line_leftT();
   right_s;
   Wait(QUARTER);
   follow_line_left();     //toJ
   send_msg2();
   left_s;
   Wait(QUARTER);
   OnFwd(OUT_C,40);
   Wait(500);
   send_msg3

まとめ

今回はライントレースするところから難しかった。容器の玉を入れることを捨てて確実に一点とる作戦でもよっかたのではないかなと思った。


添付ファイル: fileimage1 (16).jpeg 14件 [詳細] fileimage1 (15).jpeg 17件 [詳細] fileimage1 (14).jpeg 11件 [詳細] fileimage1 (13).jpeg 19件 [詳細]

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Last-modified: 2019-08-14 (水) 13:08:31