[[2013b/Member]]
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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);
 	}
 

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