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[[2010a]]
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#CONTENTS
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#ref(CA3A0014.JPG)
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#ref(CA3A0015.JPG)
*¤½¤ì¤¾¤ì¤Î¥×¥í¥°¥é¥à [#fdd830b1]
**¡¶õ¤´Ì¤ò¥³¡¼¥¹¾å¤ËÌᤷ¤ÆºÆ¤Ó¥³¡¼¥¹¤ËÌá¤Ã¤Æ¿Ê¤à(K.H) [#k711c3ab]
#define go_straight(t) OnFwd(OUT_A+OUT_C);Wait(t); //tÉÃÁ°¿Ê
#define turn_right(t) OnRev(OUT_A);OnFwd(OUT_C);Wait(t); //tÉñ¦¤ËÀû²ó
#define turn_left(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t); //tÉú¸¤ËÀû²ó
#define fleeze_there(t) Off(OUT_A+OUT_C);Wait(t); //tÉÃÀÅ»ß
#define limit 40 //ïçÃÍ
#define away_can OnFwd(OUT_B);Wait(100);OnFwd(OUT_A+OUT_C);Wait(50);
OnRev(OUT_A);OnFwd(OUT_C);Wait(180);OnRev(OUT_B);Wait(100);
OnRev(OUT_A+OUT_C);Wait(50);OnFwd(OUT_A);OnRev(OUT_C);Wait(180);
OnRev(OUT_A+OUT_C);Wait(80); //´Ì¤ò¼«Ê¬¸åÊý¤Î¥³¡¼¥¹¾å¤ËÃÖ¤¿Ê¹ÔÊý¸þ¤Ë¸þ¤Ä¾¤ë
task main()
{
SetPriority(1); //Í¥Àè½ç°Ì1
SetSensor(SENSOR_2,SENSOR_TOUCH); //¥»¥ó¥µ¡¼£²¤Ï¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤Ç¤¹
start follow_line; //¥³¡¼¥¹°ÜÆ°¥×¥í¥°¥é¥à³«»Ï
until (SENSOR_1 == 1); //¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿¤é
stop follow_line; //¥³¡¼¥¹°ÜÆ°¥×¥í¥°¥é¥àÄä»ß
fleeze_there(100); //£±ÉÃÀÅ»ß
away_can; ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//´Ì¤ò¼«Ê¬¸åÊý¤Î¥³¡¼¥¹¾å¤ËÃÖ¤¿Ê¹ÔÊý¸þ¤Ë¸þ¤Ä¾¤ë
start follow_line; //ºÆ¤Ó¥³¡¼¥¹°ÜÆ°¥×¥í¥°¥é¥à³«»Ï
}
task follow_line()
{
SetPriority(2); //Í¥Àè½ç°Ì2
SetSensor(SENSOR_1, SENSOR_LIGHT); //¥»¥ó¥µ¡¼£±¤Ï¸÷¥»¥ó¥µ¡¼¤Ç¤¹
SetSensor(SENSOR_3, SENSOR_LIGHT);¡¡ //¥»¥ó¥µ¡¼£³¤Ï¸÷¥»¥ó¥µ¡¼¤Ç¤¹
int i=0;¡¡ //ÊÑ¿ôi¤òÄêµÁ¤·¤½¤Î½é´üÃͤò£°¤È¤¹¤ë
while (i<9){ //i¤¬£¹Ì¤Ëþ¤Î¤È¤°Ê²¼¤Î¹ÔÆ°¤ò¤¹¤ë
if ((SENSOR_1 < limit) && (SENSOR_3 < limit)) //¤â¤·¤É¤Á¤é¤Î¥»¥ó¥µ¡¼¤â̵ȿ±þ¤Ê¤é
{go_straight(5);}¡¡ //ľ¿Ê
else if ((SENSOR_1 > limit) && (SENSOR_3 < limit)) //±¦¤Î¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤ò´¶ÃΤ·¤¿¤é
{turn_right(5);} //±¦¤ËÀû²ó
else if ((SENSOR_1 < limit) && (SENSOR_3 > limit)) //º¸¤Î¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤ò´¶ÃΤ·¤¿¤é
{turn_left(5);} //º¸¤ËÀû²ó
else if ((SENSOR_1 > limit) && (SENSOR_3 > limit)) //ξÊý¤Î¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤ò´¶ÃΤ·¤¿¤é¸òº¹ÅÀ¤Ê¤Î¤Ç
{fleeze_there(200); //£²ÉÃÄä»ß
i++; //i¤Ë+1¤¹¤ë
go_straight(10);} //¸òº¹ÅÀ¤òÁ°¿Ê¤·±Û¤¨¤ë
}
Off(OUT_A+OUT_B+OUT_C) //¥â¡¼¥¿¡¼ABC¤òÄä»ß
}
**¢¶õ¤´Ì¤ò¼¡¤Î¸òº¹ÅÀ¤Þ¤Ç±¿¤ó¤Ç¹Ô¤¡¢¤½¤Î¸òº¹ÅÀ¤Ë¶õ¤´Ì¤ò»Ä¤·¤Æ¤µ¤é¤Ë¥³¡¼¥¹¤Ë±è¤Ã¤Æ¿Ê¤à(D.Y) [#ab26dd6c]
#define THRESHOLD 40
#define FRONT OnFwd(OUT_A);OnFwd(OUT_C); //Á°¿Ê
#define BACK OnRev(OUT_A);OnRev(OUT_C); //¸å¿Ê
#define RIGHT Off(OUT_A);OnFwd(OUT_C); //±¦½¤Àµ
#define LEFT OnFwd(OUT_A);Off(OUT_C); //º¸½¤Àµ
#define STOP Off(OUT_A+OUT_C); //Ää»ß
#define ARMDOWN OnRev(OUT_B);Wait(100); //¥¢¡¼¥à²¼¹ß
#define ARMUP OnFwd(OUT_B);Wait(100); //¥¢¡¼¥à¾å¾º
#define ARMSTOP Off(OUT_B); //¥¢¡¼¥àÄä»ß
#define TURN OnFwd(OUT_A);OnRev(OUT_C);Wait(180); //180¡ëÀû²ó
#define RUN_TIME 1200 //µ¯Æ°»þ´Ö
task main()
{
SetSensor(SENSOR_1,SENSOR_LIGHT);
SetSensor(SENSOR_2,SENSOR_TOUCH);
SetSensor(SENSOR_3,SENSOR_LIGHT);
ClearTimer(0);
while(Timer(0) <= RUN_TIME ) //¥¿¥¤¥Þ¡¼0¤¬RUN_TIME°Ê²¼¤Î»þ¤Ë·«¤êÊÖ¤¹
{ if(SENSOR_2==1)
strat_cancarry; //¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬on¤Î»þ¡¢´Ì¤Î±¿ Ȥò³«»Ï
else{strat line_trace;} //¤½¤ì°Ê³°¤Î»þ¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹Â³¹Ô
}
Off(OUT_A+OUT_C); //µ¯Æ°»þ´Ö¤ò²á¤®¤ë¤È¤ÈÄä»ß
}
task can_carry()
{
while(true)
{ if(SENSOR_1<THRESHOLD)
if(SENSOR_3<THRESHOLD)
{ FRONT;Wait(20); //Á°¿Ê
TURN; //180¡ëÀû²ó(¸åÊý¤ò¸þ¤¯)
ARMUP; //¥¢¡¼¥à¾å¾º
FRONT;Wait(20); //Á°¿Ê
TURN; //180¡ëÀû²ó(Á°Êý¤ò¸þ¤¯)
}
else{RIGHT;} //º¸¤¬Çò¡¢±¦¤¬¹õ¤ò´¶ÃΤ·¤¿¤È¤¡¢±¦½¤Àµ¡£
else{if(SENSOR_3<THRESHOLD){LEFT;} //º¸¤¬¹õ¡¢±¦¤¬Çò¤ò´¶ÃΤ·¤¿¤È¤¡¢º¸½¤Àµ¡£
else{FRONT;}} //º¸±¦¤Î¥»¥ó¥µ¡¼¤¬Çò¤ò´¶ÃΤ·¤¿¤È¤¡¢Á°¿Ê¡£
}
}
task line_trace()
{
while(true)
{ if(SENSOR_1<THRESHOLD)
if(SENSOR_3<THRESHOLD){STOP;Wait(15);FRONT;} //º¸±¦¤Î¥»¥ó¥µ¡¼¤¬¹õ¤ò´¶ÃΤ·¤¿¤È ¤¡¢°ì»þÄä»ß¤Î¤ÁÁ°¿Ê¡£
else{RIGHT;} //º¸¤¬Çò¡¢±¦¤¬¹õ¤ò´¶ÃΤ·¤¿¤È¤¡¢±¦½¤Àµ¡£
else{if(SENSOR_3<THRESHOLD){LEFT;} //º¸¤¬¹õ¡¢±¦¤¬Çò¤ò´¶ÃΤ·¤¿¤È¤¡¢º¸½¤Àµ¡£
else{FRONT;}} //º¸±¦¤Î¥»¥ó¥µ¡¼¤¬Çò¤ò´¶ÃΤ·¤¿¤È¤¡¢Á°¿Ê¡£
}
}
**£´ñ¿ô²óÌܤ˶õ¤´Ì¤ËÁø¶ø¤·¤¿¤é¡¢¤½¤Î¾ì¤Çȿž¤·¤Æ¿Ê¤ß¡¢¶ö¿ô²óÌܤËÁø¶ø¤·¤¿¤é¡¢¶õ¤´Ì¤ò²¡¤·¤Î¤±¤Æ¿Ê¤à(¤Æ¤é¤¹¤£¡¼) [#vbe66b53]
#define strate OnFwd(OUT_A+OUT_C); //Á°¿Ê
#define turn_left(t) OnRev(OUT_A);OnFwd(OUT_C);Wait(t);Off(OUT_A+OUT_C); //º¸ÀÞ
#define turn_right(t) OnFwd(OUT_A);OnRev(OUT_C);Wait(t);Off(OUT_A+OUT_C);//±¦ÀÞ
#define stay Off(OUT_A+OUT_C);//»ß¤Þ¤ë
#define THRESHOLD 40//ïçÃÍ
int turn_count
task main()
{
SetSensor(SENSOR_1,SENSOR_LIGHT); //¥»¥ó¥µ¡¼1¤ò¸÷¥»¥ó¥µ¡¼
SetSensor(SENSOR_2,SENSOR_TOUCH);//¥»¥ó¥µ¡¼2¤ò¥¿¥Ã¥Á¥»¥ó¥µ¡¼
SetSensor(SENSOR_3,SENSOR_LIGHT); //¥»¥ó¥µ¡¼3¤ò¸÷¥»¥ó¥µ¡¼
while(true)
{
turn_count=0
strate;//ľ¿Ê
until((SENSOR_1<THRESHOLD)||(SENSOR_3<THRESHOLD))//¸÷¥»¥ó¥µ¡¼¤¬¹õ¤Ë¤Ê¤ë¤Þ¤Ç
stay;
if(SENSOR_1<THRESHOLD){//º¸¤Î¸÷¥»¥ó¥µ¡¼¤¬¹õ
OnFwd(OUT_C);OnRev(OUT_A);//±¦ÀÞ
until(SENSOR_1>THRESHOLD)//¥é¥¤¥ó¾å¤ËÌá¤ë¤Þ¤Ç
stay;}
else if(SENSOR_3<THRESHOLD){//±¦¤Î¸÷¥»¥ó¥µ¡¼¤¬¹õ
OnFwd(OUT_A);OnRev(OUT_C);//º¸ÀÞ
until(SENSOR_3>THRESHOLD)//¥é¥¤¥ó¾å¤ËÌá¤ë¤Þ¤Ç
stay;
else if((SENSOR_1<THRESHOLD)&&(SENSOR_3<THRESHOLD))//ξÊý¤Î¥»¥ó¥µ¡¼¤¬¹õ
{Wait(100);//°ìöÄä»ß
turn_count++;//¥«¥¦¥ó¥È¤òÁý¤ä¤¹
strate;//Á°¿Ê
until((SENSOR_1>THRESHOLD)&&(SENSOR_3>THRESHOLD))//ξÊý¤Î¥»¥ó¥µ¡¼¤¬Çò¤Ë¤Ê¤ë¤Þ¤Ç
stay;}
while(turn_count<10){//9²ó¸òº¹ÅÀ¤ËÅö¤¿¤Ã¤¿¤éÄä»ß
{ int n=0;//n¤ÎÃͤòÄêµÁ
while(n==1){//n¤¬1¤Î»þ
if(SENSOR_2==1)//¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬È¿±þ
OnRev(OUT_A);
OnRev(OUT_C);
Wait(50);
turn_left(200);//ȿž
n++;//n¤ò1Áý¤ä¤¹
}
while(n==2){//n¤¬2¤Î»þ
if(SENSOR_2==1)//¥¿¥Ã¥Á¥»¥ó¥µ¤¬È¿±þ
strate;//ľ¿Ê
n--;//n¤ò1¸º¤é¤¹}
stay;}
}
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