2013a/Member/Jun/Mission2 の履歴ソース(No.1)

• 履歴一覧
• 差分 を表示
• 現在との差分 を表示
• 2013a/Member/Jun/Mission2 へ行く。
  • 1 (2013-08-01 (木) 17:21:06)

[[2013a/Member]]

#define THRESHOLD 42
#define HIPOWER 7
#define LOWPOWER 2
#define set_power_H SetPower(OUT_AC,HIPOWER);
#define set_power_L SetPower(OUT_AC,LOWPOWER);
#define set_power_N SetPower(OUT_B,LOWPOWER);
#define go_fwd set_power_H; OnFwd(OUT_AC);
#define arm_fwd set_power_N; OnFwd(OUT_B);Wait(30);Off(OUT_B);
#define arm_bwd set_power_N; OnRev(OUT_B);Wait(30);Off(OUT_B);
#define turn_left1 set_power_L ;\
  OnFwd(OUT_C);OnRev(OUT_A);
#define turn_left0 set_power_L ;\
  OnFwd(OUT_C);Off(OUT_A);
#define turn_right0 set_power_L ;\
  OnFwd(OUT_A);Off(OUT_C);
#define turn_right1 set_power_L ;\
  OnFwd(OUT_A);OnRev(OUT_C);
#define STEP 1
#define nMAX 200
#define short_break Off(OUT_AC); Wait(100);
#define CROSS_TIME 300
#define cross_line set_power_L;\
  OnFwd(OUT_A);OnRev(OUT_C);\
    Wait(CROSS_TIME);short_break;

sub followline_l ()
{
  int nOnline=0;
  int MOVETIME;
  MOVETIME=0;
  SetSensor(SENSOR_2,SENSOR_LIGHT);
 
 
  PlaySound(SOUND_UP);
  MOVETIME=MOVETIME+600;
  
  while(nOnline < nMAX  && FastTimer(0)<=MOVETIME){
    
    if(SENSOR_2< THRESHOLD -14) {
       turn_right1;
       nOnline++;
    }else{
     if(SENSOR_2< THRESHOLD -10){
      turn_right0;
    }else if(SENSOR_2< THRESHOLD -7){
      go_fwd;
    }else if(SENSOR_2< THRESHOLD -1){
      turn_left0;
    }else{
       turn_left1;
     }
     nOnline=0;
     
     }
     Wait(STEP*10);
   }	
}

sub followline_r ()
{
  int nOnline=0;
  int MOVETIME;
  MOVETIME=0;
  SetSensor(SENSOR_2,SENSOR_LIGHT);
 
 
 MOVETIME=MOVETIME+600;
 PlaySound(SOUND_DOWN);
  
  while(nOnline < nMAX  && FastTimer(0)<=MOVETIME){
    
    if(SENSOR_2< THRESHOLD -14) {
       turn_right1;
       nOnline++;
    }else{
     if(SENSOR_2< THRESHOLD -10){
      turn_right0;
    }else if(SENSOR_2< THRESHOLD -7){
      go_fwd;
    }else if(SENSOR_2< THRESHOLD -1){
      turn_left0;
    }else{
       turn_left1;
     }
     nOnline=0;
     
     }
     Wait(STEP*10);
   }	
}

sub followline_l1 ()
{   
  int MOVETIME;
  MOVETIME=0;
  SetSensor(SENSOR_2,SENSOR_LIGHT);
  MOVETIME=MOVETIME+600; 
  PlaySound(SOUND_LOW_BEEP);
  
  
  while(FastTimer(0)<=MOVETIME){
    if(SENSOR_2< THRESHOLD -14) {
       turn_left1;
    }else{
     if(SENSOR_2< THRESHOLD -10){
      turn_left0;
     }else if(SENSOR_2< THRESHOLD -7){
      go_fwd;
     }else if(SENSOR_2< THRESHOLD -1){
      turn_right0;
     }else{
       turn_right1;
      }
     Wait(STEP*10);
     }
  }
}

sub catch_1 ()
{
	turn_right1;Wait(100);
	Off(OUT_AC);Wait(50);
	go_fwd;Wait(50);
	Off(OUT_AC);Wait(50);
	OnFwd(OUT_B);Wait(10);
	Off(OUT_B);Wait(10);
	turn_left1;Wait(100);
	Off(OUT_AC);Wait(50);

}

sub throw_1 ()
{
	OnFwd(OUT_B);Wait(20);
	Off(OUT_B);Wait(1);
	OnRev(OUT_B);Wait(50);
}

sub get_1()
{
	OnFwd(OUT_B);Wait(20);
	Off(OUT_B);Wait(600);
	OnRev(OUT_B);Wait(50);
}

task main ()
{
 SetSensor(SENSOR_2,SENSOR_LIGHT);
 ClearTimer(0);
 int nOnline;
 int MOVETIME;
  

	turn_left1;Wait(200);
	Off(OUT_AC);Wait(10);
	
 while(FastTimer(0)<=600){
    followline_l();
 }
	Off(OUT_AC);
	Wait(50); 
	PlaySound(SOUND_DOUBLE_BEEP);
	ClearTimer(0);
  
	OnRev(OUT_B);Wait(50);
	get_1();
	turn_left1;Wait(50);
	Off(OUT_AC);Wait(50);
	throw_1();
	
 while(FastTimer(0)<=600){
    followline_l();
 }
	Off(OUT_AC);
	Wait(50); 
	PlaySound(SOUND_DOUBLE_BEEP);
	ClearTimer(0);
	
 while(FastTimer(0)<=600){
    followline_l();
 }
	Off(OUT_AC);
	Wait(50); 
	PlaySound(SOUND_DOUBLE_BEEP);
	ClearTimer(0);

 while(FastTimer(0)<=600){
    followline_l();
 }
	Off(OUT_AC);
	Wait(50); 
	PlaySound(SOUND_DOUBLE_BEEP);
	ClearTimer(0);
	
 while(FastTimer(0)<=600){
    followline_l();
 }
	Off(OUT_AC);
	Wait(50); 
	PlaySound(SOUND_DOUBLE_BEEP);
	ClearTimer(0);
	
	turn_left1;Wait(50);
	throw_1();
	turn_right1;Wait(100);
	
 while(FastTimer(0)<=600){
    followline_l();
 }
	Off(OUT_AC);
	Wait(50); 
	PlaySound(SOUND_DOUBLE_BEEP);
	ClearTimer(0);
	
	catch_1();
	
}