[[2012a/MemberOnly/¿Ê¹Ô¾õ¶·A]] *²ÝÂê2 ¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¥í¥Ü¥Ã¥È [#z8ba48ff] ¥ë¡¼¥ë ¡¦¸òº¹ÅÀ¡ß2 ¡¦¥Ø¥¢¥Ô¥ó¥«¡¼¥Ö¡ß1 ¡¦Ä¾³Ñ¡ß1 ¡¦¥³¡¼¥¹¤Î½ÐÆþ¤ê¸ý¤ÎÀþ¡ß4 ¡¦°ì¼þȾ°Ê¾å²ó¤Ã¤Æ¤«¤é¥³¡¼¥¹¥¢¥¦¥È¤¹¤ë *¥í¥Ü¥Ã¥ÈËÜÂÎ [#o7610797] ¥³¡¼¥¹¤òÁö¤ê¤ä¤¹¤¯¤¹¤ë¤¿¤á¤Ë¡Ê¾®²ó¤ê½ÐÍè¤ë¤è¤¦¤Ë¡Ë¡¢¸÷¥»¥ó¥µ¡¼¤ò¼ÖÎؤˤǤ¤ë¤À¤±¶á¤Å¤±¤Æ¼è¤êÉÕ¤±¤Þ¤·¤¿¡£¤½¤ì¤È¡¢¸«¤¿Ìܤò¥³¥ó¥Ñ¥¯¥È¤Ë¤·¤Þ¤·¤¿¡£ #ref(2012a/A4/Chako/M2/ËÜÂÎ.jpg,10%,ËÜÂÎ) #ref(2012a/A4/Chako/M2/¸÷¥»¥ó¥µ¡¼2.jpg,10%,¸÷¥»¥ó¥µ¡¼) *¥³¡¼¥¹ [#kbed670f] ¥³¡¼¥¹¤Ï¤³¤ó¤Ê´¶¤¸¤Ë¤Ê¤ê¤Þ¤·¤¿¡£ÉÁ¤¤¤Æ¤ß¤Æ·ë¹½¥à¥º¤¤¥³¡¼¥¹¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¤³¤È¤Ëµ¤¤Å¤¤Þ¤·¤¿¡£¹õ¤ÈÇò¤Î´Ö¤òÁö¤ë¤¿¤á¡¢¥³¡¼¥¹¤Î¹½Â¤¾å2¼þ¤·¤Æ¥³¡¼¥¹¥¢¥¦¥È¤¹¤ë¤³¤È¤Ë¤·¤¿¡£ #ref(2012a/A4/Chako/M2/¥³¡¼¥¹.jpg,10%,¥³¡¼¥¹) ¥³¡¼¥¹¤Ï¤³¤Î¤è¤¦¤Ë²ó¤ê¤Þ¤·¤¿¡£ #ref(2012a/A4/Chako/M2/¥³¡¼¥¹²ó¤ë¸þ¤.jpg,10%,¥³¡¼¥¹) ¤Þ¤¿¡¢¥³¡¼¥¹¤ÇÆñ¤·¤«¤Ã¤¿¤È¤³¤í¤¬3¤«½ê¤¢¤Ã¤¿¡£ #ref(2012a/A4/Chako/M2/¥³¡¼¥¹ÆñÅÀ2.jpg,10%,¥³¡¼¥¹) ¡¤Îľ³Ñ¤Î¤È¤³¤í¤Ç¤Ï¤½¤Î¤Þ¤Þ¤À¤È¶Ê¤¬¤ê¤¤ì¤º¤Ë¥³¡¼¥¹¥¢¥¦¥È¤·¤Æ¤·¤Þ¤Ã¤¿¤Î¤Ç¡¢¥¹¥¿¡¼¥È°ÌÃÖ¤«¤é¤ÎÂçÂΤε÷Î¥¤ò¬Äꤷ¡¢Ä¾³Ñ¤Î¼êÁ°¤Ç¿µ½Å¤ËÆ°¤¯¤è¤¦¤Ë¤·¤¿¡£2¼þÌܤÎľ³Ñ¤Ç¤â1¼þÌܤÈƱÍͤˤ·¤¿¡£¤È¤³¤í¤¬¡¢Í½Äê¤è¤ê¥¢¥¦¥È¥³¡¼¥¹¤òÁö¤Ã¤¿¤ê¤·¤ÆËè²óÈù̯¤Ëµ÷Î¥¤¬°ã¤Ã¤¿¤ê¤¹¤ë¤Î¤Ç¡¢ÀßÄꤹ¤ëµ÷Î¥¤¬Ã»¤¤¤È£¤Î¤È¤³¤í¤Ç¶Ê¤¬¤Ã¤Æ¤·¤Þ¤¤¡¢Ä¹¤¤¤È¡¤ò¶Ê¤¬¤ê¤¤ì¤Ê¤¤¤È¤¤¤¦É÷¤ËÂçÊѤÀ¤Ã¤¿¡£ ¢¤Ç¤ÏÆþ¤ë¤È¤¤Ë¤ÏÌäÂê¤Ê¤¤¤¬¡¢Àþ¤¬ÂÀ¤«¤Ã¤¿¤»¤¤¤«½Ð¤ë¤È¤¤Ëµ©¤Ëæ½Ð¤Ç¤¤Ê¤¤»þ¤¬¤¢¤ê¡¢¥¹¥Ô¡¼¥É¤ò¾å¤²¤ë¤³¤È¤Ë¤è¤ê¼ºÇԤγÎΨ¤ò²¼¤²¤ì¤¿¡£ £¤Ç¤âÀþ¤ÎÂÀ¤µ¤Î¤»¤¤¤«¡¢»þ¡¹¥¢¥¦¥È¥³¡¼¥¹µ¤Ì£¤ËÁö¤Ã¤Æ¤·¤Þ¤¦¤³¤È¤¬¤¢¤ê¡¢¤³¤³¤Ç¥¢¥¦¥È¥³¡¼¥¹¤òÁö¤ë¤È¸å¤Ëľ³Ñ¤Þ¤Ç¤Îµ÷Î¥¤¬ÊѤï¤Ã¤Æ¤·¤Þ¤¦¤Î¤Ç¡¢¤³¤³¤Ç¤â¥¹¥Ô¡¼¥É¤ò¾å¤²¤Æ²¿¤È¤«¾è¤êÀÚ¤ê¤Þ¤·¤¿¡£ ºÇ¸å¤Î¥³¡¼¥¹¥¢¥¦¥È¤Ç¤Ï¡¢¡¤Îľ³Ñ¤ÈƱÍÍ¥¹¥¿¡¼¥È¤«¤é¤ÎÂçÂΤε÷Î¥¤ò¬¤ê¥´¡¼¥ë´ÖºÝ¤Ç¿µ½Å¤Ë¤Ê¤ë¤è¤¦¤Ë¤·¤Æ¥³¡¼¥¹¥¢¥¦¥È¤¹¤ë¤è¤¦¤Ë¤·¤Þ¤·¤¿¡£ *¥×¥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 //1¼þÌܤÎľ³Ñ¤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; } } } *´¶ÁÛ [#lbf551ac] º£²ó¤Î²ÝÂê¤ÏÁ°²ó¤Î²ÝÂê¤è¤ê¤â¤È¤Æ¤âÆñ¤·¤¯ÂçÊѤǤ·¤¿¡£¥³¡¼¥¹¤Ï¸å¤«¤é¸å²ù¤·¤¿ÅÀ¤¬Â¿¤¯¡¢ºÇ½é¤Ë¤â¤Ã¤È¿µ½Å¤Ë¸å¤Î¤³¤È¤ò¹Í¤¨¤Æºî¤ì¤Ð¤è¤«¤Ã¤¿¡£¤Þ¤¿¡¢¥×¥í¥°¥é¥ß¥ó¥°¤ÏÁêÊý¤Ë¤È¤Æ¤â½õ¤±¤Æ¤â¤é¤¤¤Þ¤·¤¿¡£¼¡²ó¤«¤é¤Ï¥í¥Ü¥³¥ó¤¬»Ï¤Þ¤ë¤Î¤Ç¡¢¥Á¡¼¥à¥á¥¤¥È¤ËÌÂÏǤò¤«¤±¤Ê¤¤¤è¤¦¤Ëº£¤Þ¤Ç¤Î·Ð¸³¤ò³è¤«¤·¤Æ¼«Ê¬¤Ë¤Ç¤¤ë¤³¤È¤ò´èÄ¥¤ê¤¿¤¤¤È»×¤¤¤Þ¤¹¡£