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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();
 }
 
  /* ¶¦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
 /*(c) 2014 ONO*/

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´Ì¤ò¸¡Ã΢ª¥¹¥ì¡¼¥Ö¤Ø¥¢¡¼¥à¤ò¹ß¤í¤¹¤è¤¦¤ËÍ×ÀÁ(sendmsg)¢ª¼õ¿®¤·¤¿¸å(receive)¥¹¥ì¡¼¥Ö¤¬¥¢¡¼¥à¤ò¹ß¤í¤·¥Þ¥¹¥¿¡¼¤Ø±þÅú(respond)¢ªÁ°¿Ê¤Î¸å´Ì¤ò¤Ä¤«¤ó¤Ç¥¢¡¼¥à¤ò¾å¾º¤µ¤»¤ë¤è¤¦Í×ÀÁ(sendmsg)¢ª´Ì¤ò¤Ä¤«¤ó¤Ç¥¢¡¼¥à¤ò¾å¾º¤µ¤»¤¿¸å±þÅú(receive&respond)¢ª¼¡¤Î¥¹¥Æ¥Ã¥×¤Ø

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**´Ì¤Î¸¡ÃÎ¥×¥í¥°¥é¥à [#z5568099]

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 /* 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);
 
 }
  
 /* (c) 2014 ONO*/

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 #define p(a,b) PlayTone(a,b);
 
 task main()
 {
 
	while(true)
	{
		p(Random(800),Random(500));
		Wait(Random(500)); 
	}
 }

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