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*¥×¥í¥°¥é¥à [#ccd98f71]
/*****************************************************************/
/* nxt¥×¥í¥°¥é¥à kadai2 */
/*****************************************************************/
//ÄêµÁʸ
#define in_dis 50 //Æþ¤ê¸ý¤Îµ÷Î¥
#define cr1_dis_r 1300 //1¼þÌܤÎľ³Ñ¤Þ¤Ç¤Î±¦¼ÖÎؤε÷Î¥
#define cr1_dis_l 1700 //1¼þÌܤÎľ³Ñ¤Þ¤Ç¤Îº¸¼ÖÎؤε÷Î¥
#define cr2_dis_r 10000 //2¼þÌܤÎľ³Ñ¤Þ¤Ç¤Î±¦¼ÖÎؤε÷Î¥
#define cr2_dis_l 8900 //2¼þÌܤÎľ³Ñ¤Þ¤Ç¤Îº¸¼ÖÎؤε÷Î¥
#define out_dis_r 17000 //½Ð¸ý¤Þ¤Ç¤Î±¦¼ÖÎؤε÷Î¥
#define out_dis_l 13800 //½Ð¸ý¤Þ¤Ç¤Îº¸¼ÖÎؤε÷Î¥
#define sensor_c 43 //Çò¤È¹õ¤ÎïçÃͤÎÃæ¿´ÃÍ
//¥á¥¤¥ó´Ø¿ô
task main(void){
unsigned int mode,in_f=0,out_f=0,cr1_f=0,cr2_f=0,cr_distance,distance_r,distance_l,sensor_w,sensor_b;
SetSensorLight(IN_3); //¥»¥ó¥µ¡¼¥»¥Ã¥È
ResetTachoCount(OUT_B); //±¦¼ÖÎؤβóž¿ô¤Î¥ê¥»¥Ã¥È
ResetTachoCount(OUT_C); //º¸¼ÖÎؤβóž¿ô¤Î¥ê¥»¥Ã¥È
mode=1;
sensor_w = sensor_c+5; //Çò¤ÎïçÃÍ
sensor_b = sensor_c-5; //¹õ¤ÎïçÃÍ
while(1){
distance_r=MotorTachoCount(OUT_B); //±¦¼ÖÎؤβóž¿ô¤Î¼èÆÀ
distance_l=MotorTachoCount(OUT_C); //º¸¼ÖÎؤβóž¿ô¤Î¼èÆÀ
TextOut(0,LCD_LINE1,"LightSensor ="); //¥Ç¥£¥¹¥×¥ì¥¤¤Îɽ¼¨
NumOut(85,LCD_LINE1,Sensor(IN_3)); //¥»¥ó¥µ¡¼¤ÎÃͤòɽ¼¨
TextOut(0,LCD_LINE2,"TachoCout_R"); //±¦¼ÖÎؤΥǥ£¥¹¥×¥ì¥¤¤Îɽ¼¨
NumOut(0,LCD_LINE3,distance_r); //±¦¼ÖÎؤε÷Υɽ¼¨
TextOut(0,LCD_LINE4,"TachoCout_L"); //º¸¼ÖÎؤΥǥ£¥¹¥×¥ì¥¤¤Îɽ¼¨
NumOut(0,LCD_LINE5,distance_l); //º¸¼ÖÎؤε÷Υɽ¼¨
NumOut(0,LCD_LINE6,mode); //¾ì¹ç¤ï¤±¤Îɽ¼¨
switch(mode){
case 1:
if(Sensor(IN_3)<=sensor_b){
CoastEx(OUT_BC,0); //¥â¡¼¥¿BC¥Õ¥ê¡¼
OnFwdEx(OUT_B,40,0);
Wait(5);
}else if(Sensor(IN_3)>=sensor_w){
CoastEx(OUT_BC,0); //¥â¡¼¥¿BC¥Õ¥ê¡¼
OnFwdEx(OUT_C,40,0);
Wait(5);
}else{
CoastEx(OUT_BC,0); //¥â¡¼¥¿BC¥Õ¥ê¡¼
OnFwdEx(OUT_BC,38,0);
Wait(5);
}
if(distance_r>in_dis && distance_l>in_dis && in_f==0){
mode=2;
}
if(distance_r>cr1_dis_r && distance_l>cr1_dis_l && cr1_f==0){
mode=2;
}
if(distance_r>cr2_dis_r && distance_l>cr2_dis_l && cr2_f==0){
mode=2;
}
if(distance_r>out_dis_r && distance_l>out_dis_l && out_f==0){
mode=2;
}
if(out_f==1 && Sensor(IN_3)>=99 && Sensor(IN_3)<=10){
Wait(1000);
OffEx(OUT_BC,0);
while(1);
}
break;
case 2:
if(Sensor(IN_3)<=sensor_b){
CoastEx(OUT_BC,0); //¥â¡¼¥¿BC¥Õ¥ê¡¼
OnFwdEx(OUT_B,50,0);
OnFwdEx(OUT_C,-20,0);
Wait(5);
}else if(Sensor(IN_3)>=sensor_w){
CoastEx(OUT_BC,0); //¥â¡¼¥¿BC¥Õ¥ê¡¼
OnFwdEx(OUT_C,50,0);
OnFwdEx(OUT_B,-20,0);
Wait(5);
}else{
CoastEx(OUT_BC,0); //¥â¡¼¥¿BC¥Õ¥ê¡¼
OnFwdEx(OUT_BC,25,0);
Wait(5);
}
if(distance_r>in_dis+300 && distance_l>in_dis+100 && in_f==0){
mode=1;
in_f++;
}
if(distance_r>cr1_dis_r+350 && distance_l>cr1_dis_l+150 && cr1_f==0){
mode=1;
cr1_f++;
}
if(distance_r>cr2_dis_r+350 && distance_l>cr2_dis_l+150 && cr2_f==0){
mode=1;
cr2_f++;
}
if(distance_r>out_dis_r+150 && distance_l>out_dis_l+350 && out_f==0){
mode=1;
out_f++;
}
break;
}
}
}
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