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#define SPEED 10
#define P 40
#define I 40
#define D 90
#define gf(x,y,z) gt(x-log_x,y-log_y,z);log_x=x;log_y=y; //(¹Ô¤­Àè¤ÎºÂɸ , ·«¤êÊÖ¤· ¤Î²ó 
¿ô)
#define pu OnFwd(OUT_A,20);Wait(500);Off(OUT_A); //¥Ú¥ó¤ò¾å¤²¤ë
#define pd OnFwd(OUT_A,-SPEED);Wait(300);Off(OUT_A);Wait(600); //¥Ú¥ó¤ò²¼¤²¤ë
#define gh gf(0,0,1); //¥Û¡¼¥à¥Ý¥¸¥·¥ç¥ó (0,0) ¤ËÌá¤ë

sub gt(float x,float y,float z) //(¹Ô¤­Àè¤ÎºÂɸ , ·«¤êÊÖ¤·¤Î²ó¿ô)
{
    const float axis = 100.0; //¼´
    const int rep = z; //·«¤êÊÖ¤·²ó¿ô
    const float rotation = 180.0; //¼´¤òü¤«¤éü¤Þ¤ÇÆ°¤«¤¹¤Î¤ËɬÍפʳÑÅÙ
    const float correction = 0.5; //ÊäÀµ
    float angle_x = ((rotation/axis)*x)/rep + sign(x)*correction;
    float angle_y = ((rotation/axis)*y)/rep + sign(y)*correction;
    repeat(rep)
    {
        //RotateMotor(OUT_B,SPEED,angle_x);
        RotateMotorPID(OUT_B,SPEED,angle_x,P,I,D);
        //RotateMotor(OUT_C,SPEED,angle_y);
        RotateMotorPID(OUT_C,SPEED,angle_y,P,I,D);
    }
    Wait(400);
}

task main()
{
    ResetTachoCount(OUT_BC);
    float log_x = 0;
    float log_y = 0;
    
    //ÎسÔ
    pu;
    gf(40.0,100.0,2);
    pd;
    gf(0.0,50.0,30);
    gf(30.0,0.0,30);
    gf(100.0,50.0,30);
    gf(10.0,100.0,30);
    pu;

    //ÌÜ
    gf(15.0,45.0,2);
    pd;
    gf(30.0,45.0,1);
    pu;
    gf(50.0,45.0,1);
    pd;
    gf(70.0,45.0,1);
    pu;

    //É¡
    gf(30.0,35.0,2);
    pd;
    gf(25.0,25.0,10);
    gf(35.0,28.0,1);
    pu;

    //¸ý
    gf(15.0,15.0,2);
    pd;
    gf(40.0,15.0,2);
    pu;

    gh;
}

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#define SPEED 10
#define P 40
#define I 40
#define D 90
#define gf(x,y,z) gt(x-log_x,y-log_y,z);log_x=x;log_y=y; //(¹Ô¤­Àè¤ÎºÂɸ , ·«¤êÊÖ¤·¤Î²ó 
¿ô)
#define gh gf(0,0,1); //¥Û¡¼¥à¥Ý¥¸¥·¥ç¥ó (0,0) ¤ËÌá¤ë

sub gt(float x,float y,float z) //(¹Ô¤­Àè¤ÎºÂɸ , ·«¤êÊÖ¤·¤Î²ó¿ô)
{
    const float axis = 100.0; //¼´
    const int rep = z; //·«¤êÊÖ¤·²ó¿ô
    const float rotation = 180.0; //¼´¤òü¤«¤éü¤Þ¤ÇÆ°¤«¤¹¤Î¤ËɬÍפʳÑÅÙ
    const float correction = 0.5; //ÊäÀµ
    float angle_x = ((rotation/axis)*x)/rep + sign(x)*correction;
    float angle_y = ((rotation/axis)*y)/rep + sign(y)*correction;
    repeat(rep)
    {
        //RotateMotor(OUT_B,SPEED,angle_x);
        RotateMotorPID(OUT_B,SPEED,angle_x,P,I,D);
        //RotateMotor(OUT_C,SPEED,angle_y);
        RotateMotorPID(OUT_C,SPEED,angle_y,P,I,D);
    }
    Wait(400);
}

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#define pu OnFwd(OUT_A,20);Wait(500);Off(OUT_A); //¥Ú¥ó¤ò¾å¤²¤ë
#define pd OnFwd(OUT_A,-SPEED);Wait(300);Off(OUT_A);Wait(600); //¥Ú¥ó¤ò²¼¤²¤ë

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//ÎسÔ
pu;
gf(40.0,100.0,2);
pd;
gf(0.0,50.0,30);
gf(30.0,0.0,30);
gf(100.0,50.0,30);
gf(10.0,100.0,30);
pu;

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Last-modified: 2019-11-22 (¶â) 13:53:55