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[[2013b/Member]]
#contents
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Tomo, Yuki, Naoki, Naoyoshi
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*¥×¥í¥°¥é¥ß¥ó¥° [#da142a73]
**ÄêµÁ·² [#nec0531c]
#define RIGHT OUT_B
#define LEFT OUT_C
#define BOTH OUT_BC
#define SPEED1 35
#define SPEED2 SPEED1*2
#define OnRL(speedR,speedL) OnRev(RIGHT,speedR);OnRev(LEFT,speedL); //¥®¥¢¤ÎÅÔ¹ç¤ÇÀµÅ¾¤ÈµÕž¤¬È¿ÂÐ
#define go_forward OnRevSync(BOTH,SPEED2,0); //º¸±¦¤Î¥¿¥¤¥ä¤Î°ÜÆ°µ÷Î¥¤ò¥·¥ó¥¯¥í¤µ¤»¤ÆÁ°¿Ê
#define go_back OnFwdSync(BOTH,SPEED2,0); //¸åÂà
#define turn_left1 OnFwdSync(BOTH,SPEED2,100); //»þ·×²ó¤ê¤ËÀû²ó¡£3¤ÄÌܤΰú¿ô100¤ÏÀû²óΨ¡Ê±¦¤Î¥â¡¼¥¿¤Èº¸¤Î¥â¡¼¥¿¤Î²óž³ÑÅÙ¤¬100%°Û¤Ê¤ë¡Ë
#define turn_left0 OnRL(SPEED2,0); //º¸ÀÞ
#define turn_right0 OnRL(0,SPEED2); //±¦ÀÞ
#define turn_right1 OnFwdSync(BOTH,SPEED2,-100); //Ⱦ»þ·×²ó¤ê¤ËÀû²ó
#define u_turnCW OnRL(-SPEED1,SPEED1); //»þ·×²ó¤ê¤ËÀû²ó¡£²»ÇÈõÃÎÍѤ˥¹¥Ô¡¼¥É¤òÍî¤È¤·¤Æ¤¤¤ë¡£
#define u_turnRCW OnRL(SPEED1,-SPEED1); //Ⱦ»þ·×²ó¤ê¤ËÀû²ó
#define THRESHOLD 45
#define RANGE1 7 //¥é¥¤¥ó¥È¥ì¡¼¥¹Ãæ¤Ë´Ì¤ò¤Ä¤«¤àÆ°ºî¤Ë°Ü¹Ô¤¹¤ë¤¿¤á¤Îµ÷Î¥
#define RANGE2 19.8 //¥¢¡¼¥à¤ò¿¤Ð¤·¤¿»þ¤Î´Ì¤Þ¤Ç¤Îµ÷Î¥
#define RANGE3 23 //²óž¤·¤Ê¤¬¤é
#define RANGE4 5 //Á°Êý¤Ë´¶ÃΤ·¤¿´Ì¤ò¥Ð¥ó¥Ñ¡¼¤Î¥Û¥ë¥À¡¼¤Ë²¡¤·¤³¤à¤Î¤ËɬÍפʵ÷Î¥
#define STEP 1
#define SR SENSOR_2
#define SL SENSOR_1
#define SS SensorUS(S3)
#define CONN 1
#define arm_down "arm1.rxe" //¥¢¡¼¥à¤ò³«¤¡¢¤Ä¤«¤à½àÈ÷¤ò¤¹¤ë¥×¥í¥°¥é¥à¤òÄêµÁ¤·¤Ê¤ª¤·¤¿¡£Æä˥¢¡¼¥à¤ò¥À¥¦¥ó¤µ¤»¤ë¤ï¤±¤Ç¤Ï¤Ê¤¤
#define arm_up "arm2.rxe" //¥¢¡¼¥à¤Î¹ß²¼¢ª°®¤ê¢ª¾å¾º¤Î°ìÏ¢¤ÎÆ°ºî¤òÄêµÁ¤·¤Ê¤ª¤·¤¿
#define BUILD_RAG 1000 //¥´¡¼¥ë¤Î¸òº¹ÅÀ¤Ë»ß¤Þ¤Ã¤¿¤¢¤È¡¢¥´¡¼¥ëÃæ±û¤ò¸þ¤¯¤¿¤á¤Î²óž¤ËɬÍפʻþ´Ö¡£
#define DO 523 //²»ÄøC¡¢E¡¢G¤ò»ØÄê¡£hiC¤ÏC¤ÎÆóÇܤÇÂбþ
#define MI 659
#define SO 784
#define SIGNALON 11 //Mail¼õ¿®ÍÑ
#define SIGNALOFF 12
#define LATIO 3 //Áö¹Ô¶îÆ°·Ï¤Î¥®¥¢Èæ¡Ê24¡§8¡Ë¡£µ÷Î¥¤Î»»½Ð¤ËɬÍ×
int nFase,angleA,angleB,msg,nCross;
float GetAngle(float r) //°ú¿ôr¡Îcm¡Ï¤À¤±¿Ê¤à¤Î¤ËɬÍפʲóž³Ñ¤òƳ¤¯¥Þ¥¯¥í¡£¥®¥¢Èæ¹ÍθºÑ¤ß
{
const float diameter=5.45;
const float pi=3.1415;
float ang=r/(diameter*pi)*360.0*LATIO;
return ang;
}
**¥Þ¥¹¥¿¡¼ [#q174e056]
***¥é¥¤¥ó¥È¥ì¡¼¥¹ [#l69cb404]
¡¡¹õ¤¤Àþ¤ò¸«¤Ä¤±¤Æ¤½¤³¤«¤é¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ë°Ü¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£
sub find_line() //¹õÀþ¤ò¸«¤Ä¤±¤ë¤Þ¤ÇÁ°¿Ê¤·¡¢º¸±¦Î¾Êý¤Î¥»¥ó¥µ¤¬Àþ¤ò¸¡ÃΤ¹¤ë¤Þ¤Ç³ÑÅÙ¤òÄ´À°¤¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó
{
until((SL<=THRESHOLD)&&(SR<=THRESHOLD))
{
if((SL>THRESHOLD)&&(SR>THRESHOLD))
{
go_forward;
}
else if((SL>THRESHOLD)&&(SR<=THRESHOLD))
{
turn_right0;
}
else
{
turn_left0;
}
Wait(STEP);
}
}
sub start_traceR() //º¸±¦¤Î¸÷¥»¥ó¥µ¤¬Àè¤Ë¾è¤Ã¤¿¾õÂÖ¤«¤é±¦Êý¸þ¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³«»Ï¤¹¤ë¤¿¤á¤Î¥µ¥Ö¥ë¡¼¥Á¥ó
{
until(SL>THRESHOLD)
{
turn_right0;
}
PlaySound(SOUND_CLICK);
Off(BOTH);
}
sub start_traceL() //º¸±¦¤Î¸÷¥»¥ó¥µ¤¬Àè¤Ë¾è¤Ã¤¿¾õÂÖ¤«¤éº¸Êý¸þ¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³«»Ï¤¹¤ë¤¿¤á¤Î¥µ¥Ö¥ë¡¼¥Á¥ó
{
until(SR>THRESHOLD)
{
turn_left0;
}
PlaySound(SOUND_CLICK);
Off(BOTH);
}
sub traceR() //±¦Â¦¤Î¸÷¥»¥ó¥µ¤ò»È¤Ã¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¦¥â¡¼¥É
{
if(SR<THRESHOLD-4)
{
turn_right1;
}
else if(SR<THRESHOLD)
{
turn_right0;
}
else if(SR<THRESHOLD+4)
{
go_forward;
}
else if(SR<THRESHOLD+7)
{
turn_left0;
}
else
{
turn_left1;
}
}
sub traceL() //º¸Â¦¤Î¸÷¥»¥ó¥µ¤ò»È¤Ã¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¦¥â¡¼¥É
{
if(SL<THRESHOLD-4)
{
turn_left1;
}
else if(SL<THRESHOLD)
{
turn_left0;
}
else if(SL<THRESHOLD+4)
{
go_forward;
}
else if(SL<THRESHOLD+7)
{
turn_right0;
}
else
{
turn_right1;
}
}
sub search_crossR(int MAXCross) //±¦Â¦¤Î¸÷¥»¥ó¥µ¤ò»È¤Ã¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¤¤Ä¤Ä¡¢°ú¿ôMAXCross¤Îʬ¤À¤±¸òº¹ÅÀ¤ò´¶ÃΤ¹¤ë¥µ¥Ö¥ë¡¼¥Á¥ó¡£¸òº¹ÅÀ¤ÎȽÄê¤Ïº¸±¦¤Î¸÷¥»¥ó¥µ¤¬Æ±»þ¤ËïçÃͤò²¼²ó¤Ã¤¿¤³¤È¤Ç¹Ô¤¦¡£
{
nCross=0;
while(nCross<MAXCross)
{
until((SL<=THRESHOLD)&&(SR<=THRESHOLD))
{
traceR();
Wait(STEP);
}
nCross++;
PlaySound(SOUND_UP);
until((SL>THRESHOLD)&&(SR>THRESHOLD))
{
go_forward;
Wait(STEP);
}
}
}
sub search_crossL(int MAXCross) //Ʊ¤¸¤¯º¸Â¦¤Î¸÷¥»¥ó¥µ¤Ë¤è¤ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÈƱ»þ¤Ë¸òº¹ÅÀȽÄê¤ò¹Ô¤¦
{
nCross=0;
while(nCross<MAXCross)
{
until((SL<=THRESHOLD)&&(SR<=THRESHOLD))
{
traceL();
Wait(STEP);
}
nCross++;
PlaySound(SOUND_UP);
until((SL>THRESHOLD)&&(SR>THRESHOLD))
{
go_forward;
Wait(STEP);
}
}
}
***´Ì¤ò¤Ä¤«¤à¤¿¤á¤ÎÆ°ºî [#u9dc9d1d]
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¡¡¤É¤³¤Ç¸«¤Ä¤±¤¿¤Î¤«¡¢´Ì¤ò¸«¤Ä¤±¤¿»þ¤È´Ì¤ò»ý¤Ä¤¿¤á¤Ë¥¢¡¼¥à¤ò²¼¤²¤ëÆ°ºî¤Î»þ¤Ë²»³Ú¤òή¤¹¤È¤¤¤¦´ñÈ´¤Ê¥¢¥¤¥Ç¥¢¤ò¤¿¤¿¤½Ð¤·¡¢»Â¿·¤µ¤Ç¾¡É餷¤Ë¤¤¤Ã¤Æ¤¤¤¿¤Î¤À¡ª¡ª
sub catch() //»ý¤Ã¤Æ¤¤¤ë´Ì¤ò¿·¤·¤¤´Ì¤Î¾å¤ËºÜ¤»¡¢ÄϤߡ¢¤Þ¤¿»ý¤Á¾å¤²¤ë°ìÏ¢¤ÎÆ°ºî¡£
{
angleB=GetAngle(RANGE4);
RotateMotor(BOTH,SPEED1,-angleB); //´Ì¤ò¥Û¥ë¥À¡¼¤ÎÃæ¤Ë²¡¤·¤³¤à¤¿¤á¤Ë¾¯¤·Á°¿Ê¤¹¤ë
PlayTone(262,400); //¥Í¥Ã¥È¾å¤Ç¸«¤Ä¤±¤¿¥á¥í¥Ç¥£¡¼¡£Æä˰ÕÌ£¤Ï¤Ê¤¤¡£
Wait(500);
PlayTone(294,400);
Wait(500);
PlayTone(300,400);
Wait(500);
PlayTone(294,400);
Wait(500);
RemoteStartProgram(CONN,arm_down); //¥¹¥ì¡¼¥Ö¤Ë¥¢¡¼¥à¤ò³«¤«¤»¤ë
Wait(5000);
ReceiveRemoteNumber(MAILBOX1,true,msg);
if(msg==SIGNALON)
{
PlaySound(SOUND_CLICK);
}
else
{
PlaySound(SOUND_FAST_UP);
}
angleA=GetAngle(RANGE2);
RotateMotor(BOTH,SPEED2,angleA); //¥¢¡¼¥à¤Î¿¤Ó¤Ë¹ç¤ï¤»¸åÂह¤ë
RemoteStartProgram(CONN,arm_up); //¥¹¥ì¡¼¥Ö¤Ë´Ì¤òÄϤޤ»¤ë
PlayTone(DO,120);Wait(150); //ãÀ®´¶¤Î¤¢¤ë¥á¥í¥Ç¥£¡¼¡£°ì²ó¤´¤È¤ËȾ²»¤º¤Ä¾å¾º¤µ¤»¤¿¤«¤Ã¤¿
PlayTone(MI,120);Wait(150);
PlayTone(SO,120);Wait(150);
PlayTone(DO*2,240);Wait(300);
PlayTone(SO,120);Wait(150);
PlayTone(DO*2,360);Wait(450);
Wait(10000);
if(msg==SIGNALON)
{
PlaySound(SOUND_CLICK);
}
else
{
PlaySound(SOUND_FAST_UP);
}
RotateMotor(BOTH,SPEED2,-angleA+angleB); //¤Ä¤«¤àÆ°ºî¤Î³«»ÏÅÀ¤Þ¤ÇÌá¤ë¡£
}
sub build() //¥´¡¼¥ë¤Ç´Ì¤òºÜ¤»¤ë¤À¤±¤Î¥×¥í¥°¥é¥à¡£ºÇ¸å¤Þ¤Ç»È¤ï¤ì¤Ê¤«¤Ã¤¿
{
PlayTone(262,400);
Wait(500);
PlayTone(294,400);
Wait(500);
PlayTone(524,400);
Wait(500);
PlayTone(294,400);
Wait(500);
RemoteStartProgram(CONN,arm_down);
Wait(10000);
go_back;
Wait(2000);
Off(BOTH);
nFase++;
}
***¥á¥¤¥ó [#e0d70ca9]
task main() //¥¹¥¿¡¼¥È¤«¤é¥´¡¼¥ë¤Þ¤Ç¤Î°ìÏ¢¤Îή¤ì¤òµ½Ò¤·¤¿¥×¥í¥°¥é¥à
{
SetSensorLight(S1);
SetSensorLight(S2);
SetSensorLowspeed(S3);
nFase=0; //Âè0Ãʳ¬³«»Ï¡Ê¥é¥¤¥ó¤Ë¾è¤ë¤Þ¤Ç¡Ë
msg=SIGNALOFF;
until(BluetoothStatus(CONN)==NO_ERR);
find_line();
start_traceR();
nFase++; //Âè°ìÃʳ¬³«»Ï ¡Ê°ì¤ÄÌܤδ̤ò¤Ä¤«¤à¤Þ¤Ç¡Ë
while(SS>RANGE1)
{
traceR();
Wait(STEP);
}
Off(BOTH);
catch();
nFase++; //ÂèÆóÃʳ¬³«»Ï¡Ê2¤ÄÌܤδ̤ò¤Ä¤«¤à¤Þ¤Ç¡Ë
while(nFase<3)
{
until(SS<RANGE3) //´Ì¤ò´¶ÃΤ¹¤ë¤Þ¤Ç²óž¤·Â³¤±¤ë
{
u_turnRCW;
Wait(STEP);
}
while(SS>RANGE1) //´¶ÃΤ·¤¿¤é¥Û¥ë¥À¡¼¤Ë³ÊǼ¤µ¤ì¤ë¤Þ¤ÇÁ°¿Ê
{
go_forward;
Wait(STEP);
}
Off(BOTH);
catch();
nFase++;
}
while(nFase<4) //Âè»°Ãʳ¬³«»Ï¡Ê3¤ÄÌܤδ̤ò³ÊǼ¤¹¤ë¤Þ¤Ç¡Ë
{
until(SS<RANGE3+3)
{
u_turnRCW;
Wait(STEP);
}
u_turnCW;
Wait(200);
Off(BOTH);
while(SS>RANGE1)
{
go_forward;
Wait(STEP);
}
Off(BOTH); //3¤ÄÌܤδ̤ÏÄϤޤº¡¢¥Û¥ë¥À¡¼¤ÇÊú¤¨¤¿¤Þ¤Þ¥´¡¼¥ë¤Ç´Ì¤ò2¤ÄºÜ¤»¤ë
nFase++; //Âè»ÍÃʳ¬³«»Ï¡Ê´Ì¤ò¥´¡¼¥ë¤Ë±¿¤Ó¡¢Åã¤ò·ú¤Æ¤ë¤Þ¤Ç¡Ë
}
until((SR<THRESHOLD)||(SL<THRESHOLD)) //ȿž¤·¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ËÌá¤ë
{
u_turnRCW;
}
find_line();
start_traceL();
search_crossL(2); //2¤ÄÌܤθòº¹ÅÀ¤ò²á¤®¤¿¤È¤³¤í¤ÇÄä»ß¡¢´Ì¤ò²¼¤í¤¹
Off(BOTH);
build();
go_back;Wait(3000);
u_turnRCW;Wait(BUILD_RAG);
}
**¥¹¥ì¡¼¥Ö [#x4209159]
¡¡¥¹¥ì¡¼¥Ö¤ÎÊý¤Ï¡¢¥¢¡¼¥à¤ò²¼¤²¤Æ¡¢³«ÊĤ¹¤ë¥×¥í¥°¥é¥à¤À¤±¤Ç¤è¤«¤Ã¤¿¡£
***¥¢¡¼¥à¤ò³«¤¯ [#q44ba034]
#define SIGNALON 11
#define SIGNALOFF 12
#define CONN 0
task main()
{
until(BluetoothStatus(CONN)==NO_ERR);
RotateMotor(OUT_A,20,-48);
Wait(1000);
PlaySound(SOUND_FAST_UP);
Wait(2000);
SendResponseNumber(MAILBOX1,SIGNALON);
}
***¥¢¡¼¥à¤ò¹ß¤í¤·¤Æ¤«¤é¤ÎÆ°ºî [#wa53149a]
#define SIGNALON 11
#define SIGNALOFF 12
#define CONN 0
task main()
{
until(BluetoothStatus(CONN)==NO_ERR);
RotateMotorEx(OUT_BC,15,450,0,true,true);
Wait(1000);
RotateMotor(OUT_A,30,48);
Wait(1000);
PlaySound(SOUND_FAST_UP);
Wait(1000);
RotateMotorEx(OUT_BC,40,-450,0,true,true);
Wait(1000);
SendResponseNumber(MAILBOX1,SIGNALON);
}
*È¿¾Ê¡¦´¶ÁÛ [#y7ef0387]
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