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#contents
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**Bluetooth¤Ë¤è¤ëÄÌ¿®¥×¥í¥°¥é¥à [#pf04a566]
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~#include "bluetooth.nxc"¤Ç¾¤Î¥Õ¥¡¥¤¥ë¤«¤é¸Æ¤Ó½Ð¤»¤Þ¤¹¡£
/* bluetooth.nxc */
/* Á÷¼õ¿®¤ÈÀܳ³Îǧ */
/* ¥Þ¥¹¥¿¡¼ÍÑ¥×¥í¥°¥é¥à */
/* sendmsg(Á÷¿®¥á¥Ã¥»¡¼¥¸,¼õ¿®¥á¥Ã¥»¡¼¥¸) */
/****¥¹¥ì¡¼¥Ö¤ËÁ÷¿®¥á¥Ã¥»¡¼¥¸¤òÁ÷¿®¤·¤¿¸å¡¢¼õ¿®¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤ë¤Þ¤ÇÂÔµ¡¡£ ****/
sub sendmsg(string msg,string rps)
{
SendRemoteString(1,0,msg);
string rmsg = "";
while(rmsg == "")
{
ReceiveRemoteString(1,true,rmsg);
TextOut(0,LCD_LINE1,"Wait until slave");
TextOut(0,LCD_LINE2,"completes tasks...");
Wait(1000);
}
ResetScreen();
}
/* mreceive("¼õ¿®¥á¥Ã¥»¡¼¥¸") */
/* ¥¹¥ì¥¤¥Ö¤«¤é¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤ë¡£ */
sub mreceive(string rd)
{
string msg;
while(msg != rd)
{
ReceiveRemoteString(1,true,msg);
ResetScreen();
TextOut(0,LCD_LINE1,"Receiving...");
Wait(1000);
}
/* ¶¦ÍÑ¥×¥í¥°¥é¥à */
ResetScreen();
TextOut(0,LCD_LINE1,"I got it!!");
Wait(1000);
ResetScreen();
}
/* ¶¦ÍÑ¥×¥í¥°¥é¥à */
/* btcheck(Àܳ¥Ý¡¼¥ÈÈÖ¹æ) */
/* Àܳ¤Î³Îǧ¡£¼ºÇÔ¤·¤¿¾ì¹ç"Something wrong"¤òɽ¼¨¡£ */
sub btcheck(int conn)
{
while(!BluetoothStatus(conn) == NO_ERR)
{
ResetScreen();
TextOut(0,LCD_LINE1,"Something wrong");
Wait(1000);
}
ResetScreen();
}
/*¥¹¥ì¥¤¥ÖÍÑ¥×¥í¥°¥é¥à*/
/* receive("¼õ¿®¥á¥Ã¥»¡¼¥¸") */
/* ¥Þ¥¹¥¿¡¼¤«¤é¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤ë¡£ */
sub receive(string rd)
{
string msg;
while(msg != rd)
{
ReceiveRemoteString(0,true,msg);
ResetScreen();
TextOut(0,LCD_LINE1,"Receiving...");
Wait(1000);
}
ResetScreen();
TextOut(0,LCD_LINE1,"I got it!!");
Wait(1000);
ResetScreen();
}
/* repond("Á÷¿®¥á¥Ã¥»¡¼¥¸") */
/* ±þÅú¤Î¥á¥Ã¥»¡¼¥¸¤ò¥Þ¥¹¥¿¡¼¤ËÁ÷¿® */
sub respond(string reply)
{
SendResponseString(1,reply);
ResetScreen();
TextOut(0,LCD_LINE1,"Responded");
Wait(1000);
ResetScreen();
}
(C) 2014 ONO
***¶ìÏ«¤·¤¿ÅÀ [#pf42e6d4]
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#ref(bluetooth.png)
**´Ì¤Î¸¡ÃÎ¥×¥í¥°¥é¥à [#z5568099]
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~¤³¤Î¥×¥í¥°¥é¥à¤Ï¤Þ¤º±¦²óž¤·¤Ê¤¬¤é¥í¥Ü¥Ã¥È¤ÎÀµÌÌÊý¸þ¤ÎÂоÝʪ¤Þ¤Ç¤Îµ÷Î¥¤ò·×¬¤·¡¢°ìÈֶᤤ¤â¤Î¡Ê¡á´Ì¡Ë¤Ë¸þ¤¤òÄ´À°¤·¤Þ¤¹¡£Ä¶²»ÇÈ¥»¥ó¥µ¤òÍѤ¤¤Æ·×¬¤¹¤ë¤Î¤Ç¤¹¤¬¡¢¤³¤ì¤¬¤Ê¤«¤Ê¤«¤¯¤»¼Ô¤ÎÍͤǴñÎï¤Ë·è¤Þ¤ê¤Þ¤»¤ó¤Ç¤·¤¿¡£¤½¤Î¤¿¤á¼Ì¿¿¤Ë¤â¤¢¤ë¤è¤¦¤Ë¥í¥Ü¥Ã¥È¤Ë¥Ð¥ó¥Ñ¡¼¤òÀßÃÖ¤¹¤ë¤³¤È¤Ë¤Ê¤ê¤Þ¤·¤¿¡£
#ref(sonic.png)
/* find_direction.nxc */
#define tr OnFwdSync(OUT_AB,60,100); //±¦²óž
#define tl OnFwdSync(OUT_AB,60,-100); //º¸²óž
#define go OnFwdSync(OUT_AB,75,0) //ľ¿Ê
#define unko 60 //·×¬²ó¿ô
#define distance 13 //´Ì¤Þ¤Ç¤ÎÀܶáµ÷Î¥
#define measure_time 10 //·×¬´Ö³Ö
sub fd(void)
{
int takatyan; //
int zxc[unko]; //ÇÛÎó
int min; //²¾¤ÎºÇ¾®ÃÍ
/* ½àÈ÷¡§º¸¤Ë¾¯¤·²óž¡£ */
tl;
Wait(1000);
/* ¥Þ¥·¥ó¤È´Ì¤È¤Îµ÷Î¥¤ò¬¤ë¡£±¦²óž¤·¤Ê¤¬¤é£±£°ms´Ö³Ö¤Ç£¶£°²ó·×¬¡£ */
for(int i = 0;i <=unko-1;i ++) //i¤¬£±¡Á£¶£°¤Ë²Ã»»¤µ¤ì¤ë´Ö¤Ïzxc[i]¤ËĶ²»ÇÈ¥»¥ó¥µ¤ÎÃͤòÂåÆþ¡£
{
tr;
Wait(measure_time);
zxc[i] = SensorUS(S4);
}
/*µÏ¿¤·¤¿¥Ç¡¼¥¿¤ÎÃ椫¤éºÇ¾®Ã͡ʵ÷Î¥¡Ë¤òµá¤á¤ë¡£*/
min = 60; //²¾¤ÎºÇ¾®ÃÍ
for(int j = 0;j <=unko-1; j++) //jÈÖÃϤˤª¤±¤ëzxc¤ÎÃͤ¬min¤è¤ê¾®¤µ¤¤¾ì¹ç¡¢min¤Ëzxc¤ÎÃͤòÂåÆþ¡£
{
if(min > zxc[j])
{
min = zxc[j];
takatyan = j;
}
}
/***NXT¤ÏView¥á¥Ë¥å¡¼¤Ë¤Æ¤½¤ì¤¾¤ì¤Î¥»¥ó¥µ¤ÎÃͤò¥ê¥¢¥ë¥¿¥¤¥à¤Ç¸«¤ë¤³¤È¤¬¤Ç¤¤ë¤Î¤Ç¤¹¤¬¡¢**/
/***Ķ²»ÇÈ¥»¥ó¥µ¤Ï·×¬Èϰϳ°¤Ë¤Ê¤ë¤È¡É¡©¡©¡©¡©¡©¡É¤Èɽ¼¨¤·¤Þ¤¹¡£¤³¤Î¾ì¹ç¤Ë¥á¥â¥ê¤Ë²¿¤¬½ñ¤**/
/***¹þ¤Þ¤ë¤Î¤«Ê¬¤«¤é¤Ê¤¤¤Î¤Ç¤¹¤¬¡¢¤â¤·£°¤Ç¤âÂåÆþ¤µ¤ì¤Æ¤·¤Þ¤¦¤Èº¤¤ë¤Î¤Ç£±£°£°¤òÂåÆþ¤·¤Æ¤¤***/
/***¤Þ¤¹¡£ ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡**/
for(int j = 0;j <= unko-1; j++)
{
if(zxc[j] == 0){zxc[j] = 100; }
}
Off(OUT_AB);
TextOut(0,LCD_LINE1,"takatyan =");
NumOut(0,LCD_LINE2,zxc[takatyan]);
Wait(1000);
/* ºÇ¾®ÃͤȰìÃפ¹¤ë¤Þ¤Çº¸²óž¡£*/
tl;
until( SensorUS(S4) <= zxc[takatyan] );
PlaySound(SOUND_UP);
Off(OUT_AB);
ResetScreen();
Wait(1000);
/*´Ì¤ËÀܶᡣ*/
go;
until(SensorUS(S4) <= distance);
Off(OUT_AB);
}
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