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[[2013b/Member]]
*²ÝÂꣲ [#gde868f5]
**²ÝÂê¤Î¥Ý¥¤¥ó¥È [#h7f5fefb]
#ref(2013b/Member/trtr/Mission2/robocon2013b.png,17.4kb,¥³¡¼¥¹)
***´Ì¤ò±¿¤Ö¡Ä¥é¥¤¥ó¥È¥ì¡¼¥¹¤Îµ»½Ñ¤ä±¿¤ó¤Ç¤¤¤¯ÊýË¡¤¬»î¤µ¤ì¤ë [#ibe08eb6]
***´Ì¤òÀѤà¡Ä¤É¤ó¤ÊÊýË¡¤ÇÀѤफ¡¢³Î¼Â¤ËÀѤळ¤È¤¬¤Ç¤¤ë¤«¤¬»î¤µ¤ì¤ë [#i6742c22]
***ÆóÂæ¤Î¥í¥Ü¥Ã¥È¤ò»È¤Ã¤Æ¤½¤ÎÏ¢·È¤¬¤Ç¤¤Æ¤¤¤ë¤«¡Ä°ìÂ椺¤ÄÆ°¤¤òʬô¤¹¤ë¤«¹çÂΤµ¤»¤ë¤«¡¢¤½¤ÎÏ¢·È¤Ï¤È¤ì¤Æ¤¤¤ë¤«»î¤µ¤ì¤ë [#h94ef63e]
**¥í¥Ü¥Ã¥È¤Ë¤Ä¤¤¤Æ [#t636a00b]
ËÍã¤Î¥°¥ë¡¼¥×¤ÏÆóÂæ¤Î¥°¥ë¡¼¥×¤Ç´Ì¤ò±¿¤ÖÌò¤È´Ì¤òÀѤ߾夲¤ëÌò¤Ëʬô¤·¤¿¡£ËͤÈ6638¤µ¤ó¤ÏÀѤà¥í¥Ü¥Ã¥È¡¢kk¤µ¤ó¤Èmatsuro¤µ¤ó¤Ï´Ì¤ò±¿¤Ö¥í¥Ü¥Ã¥È¤òôÅö¤·¤¿¡£ºÇ½éËͤ¿¤Á¤Î¥í¥Ü¥Ã¥È¤¬ÀѤ߾夲¤ëºî¶È¤òÁ´¤Æ°ìÂΤǹԤ¦Í½Äê¤À¤Ã¤¿¡£¤Ç¤â¥í¥Ü¥Ã¥È¤ÎÊѹ¹¤Ç´Ì¤Î²¡¤µ¤¨¤Ä¤±¤ò¤â¤¦°ìÂΤΥí¥Ü¥Ã¥È¤Ë¤·¤Æ¤â¤é¤ï¤Ê¤¤¤È¤¤¤±¤Ê¤¯¤Ê¤Ã¤¿¡£
***»îºîÉʤˤĤ¤¤Æ[#e927d353]
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#ref(2013b/Member/trtr/Mission2/¼Ì¿¿£¶.JPG,32KB,robot6)
***¥í¥Ü¥³¥óÅöÆü¤Î¥í¥Ü¥Ã¥È [#h8112edb]
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[http://yakushi.shinshu-u.ac.jp/robotics/?2013b%2FMember%2Fmatsuro%2FMission2]
[http://yakushi.shinshu-u.ac.jp/robotics/?2013b%2FMember%2Fkk%2FMission2]
#ref(2013b/Member/trtr/Mission2/¼Ì¿¿ 5.JPG,160kb,robot4)
#ref(2013b/Member/trtr/Mission2/bou2.JPG,88kb,robot5)
**¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ [#m9cfc359]
***´Ì¤òÀѤ߾夲¤ë¥í¥Ü¥Ã¥È [#z08f6162]
#define HP 3
#define LP 0
#define THRESHOLD 36//¥é¥¤¥ó¥È¥ì¡¼¥¹ÍÑïçÃÍ
#define turn_right1 OnFwd(OUT_A);//±¦ÀÞ¥Þ¥¯¥í
#define go_forward OnFwd(OUT_AC);//ľ¿Ê¥Þ¥¯¥í
#define turn_left1 OnFwd(OUT_C);//º¸ÀÞ¥Þ¥¯¥í
#define TIME_TRACE1 3//¥È¥ì¡¼¥¹¤Î1²ó¤ÎȽÃǤÇÂԤĻþ´Ö
#define TIME_TRACE2 500//²¼µŽ¢//£´.¡Á£µ.Ž£¤ÇËÜÂΤò90Åٲ󞤵¤»¤ëÃÏÅÀ¤ò»ØÄꤹ¤ëÃÍ
#define NB_COUNT 4//¸òº¹ÅÀ¼±ÊÌÍѤιõ¤Î²ó¿ô¤ò¿ô¤¨¤ëÃÍ
#define MESSSAGE_CAN 11//´Ì¤¬±¿¤Ð¤ì¤Æ¤¤¿¤³¤È¤òȽÃǤ¹¤ë¤¿¤áÄÌ¿®¤ÇÁ÷¤ëÃÍ
´Ì¤òÀѤॵ¥Ö¥ë¡¼¥Á¥ó ¡¡
sub stack_can() ¡¡{
OnRev(OUT_B);
*/¤³¤Î¥µ¥Ö¥ë¡¼¥Á¥ó¤òÁö¤é¤»¤ëÁ°¤Ç¤Ï¥¢¡¼¥à¥æ¥Ë¥Ã¥È¤Ï¾å¤¬¤Ã¤Æ¤¤¤ë¤¿¤á
¥æ¥Ë¥Ã¥È¤ò¹ß²¼¤µ¤»¤Ä¤Ä¥¢¡¼¥à¤ò³«¤¯/*
Wait(120);
Off(OUT_B);
OnFwd(OUT_B);//´Ì¤ò¤Ä¤«¤ß¤Ä¤Ä»ý¤Á¾å¤²¤ë
Wait(120);
Off(OUT_B);
}
¥×¥í¥°¥é¥àËÜÂÎ
task main()
{
SetSensor(SENSOR_2,SENSOR_LIGHT);
int nbk=0//ïçÃͰʲ¼¤È¤Ê¤Ã¤¿²ó¿ô¤ò¥«¥¦¥ó¥È¤¹¤ëÊÑ¿ô
int ncros=0//¸òº¹ÅÀ¤Î²ó¿ô¤ò¥«¥¦¥ó¥È¤¹¤ëÊÑ¿ô
SetPower(OUT_AB,LP);
SetPower(OUT_C,HP);
//1.¹õÀþ¤ËÅö¤¿¤ë¤Þ¤ÇÁ°¿Ê
OnFwd(OUT_AC);
until (SENSOR_2>=THRESHOLD);
//2.º¸ÀÞ¤·¥é¥¤¥ó¥È¥ì¡¼¥¹
turn_left1;OnRev(OUT_A);
Wait(80);//90ÅÙÀû²ó
ClearTimer(0);
while(ncros=0){//¸òº¹ÅÀ¤òÄ̲᤹¤ë¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹(¤³¤Î»þ¥³¡¼¥¹¾å¤Î´Ì¤Ï¥³¤Î»ú·¿¤Î¥·¥ã¡¼¥·¤ÎÃæ¤ËÆþ¤ë)
while(nbk<NB_COUNT){
if(SENSOR_2<THRESHOLD-3){turn_left1;nbk++;}
else if(SENSOR_2<THRESHOLD+3){OnFwd(OUT_AC);nbk=0;}
else{turn_right1;nbk=0;}
Wait(TIME_TRACE1);
}
Off(OUT_AC);
turn_left1;
Wait(nbk*TIME_TRACE1);
}
//3.¸òº¹ÅÀ¤òÄ̲á¸å´Ì¤òÄϤó¤Ç»ý¤Á¾å¤²¤ë
OnFwd(OUT_B);
Wait(120);
Off(OUT_B);
//4.¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤·Å¬Åö¤ÊÃÏÅÀ¤Ë¤Ä¤¯¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹
ClearTimer(0);
while(FastTimer(0)<TIME_TRACE2){//1
if(SENSOR_2<THRESHOLD-3){turn_left1;}
else if(SENSOR_2<THRESHOLD+3){OnFwd(OUT_AC);}
else{turn_right1;}
Wait(TIME_TRACE1);
}//1
//5.90ÅÙ±¦Àû²ó¤·È¾±ß¤ÎÃæ±û¤Ë¤¢¤ë´Ì¤ò²ó¼ý¤¹¤ë
turn_right1;Wait(80);//90ÅÙ±¦Àû²ó
OnFwd(OUT_AC);
repeat(2){
until(SENSOR_2<THRESHOLD);
until(SENSOR_2>THRESHOLD);
}//¥é¥¤¥ó¤ò2²ó¤Þ¤¿¤°
Off(OUT_AC);
stackile_can();//´Ì¤òÀѤà
turn_right1;Wait(90);//90ÅÙ+aÀû²ó
//6.¥´¡¼¥ëľÁ°¤Î¸òº¹ÅÀ¤Þ¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹
ncros=0;
while(ncros<2){//1
while(nbk<NB_COUNT){//2
if(SENSOR_2<THRESHOLD-3){turn_left1;nbk++;}
else if(SENSOR_2<THRESHOLD+3){OnFwd(OUT_AC);}
else{turn_right1;}
Wait(TIME_TRACE1);
}//2
Wait(50);
turn_right1;Wait(NB_COUNT*TIME_TRACE1);
nbk=0;
ncros++;;
}//1
//7.¥´¡¼¥ëÃæ±û¤Ø°ÜÆ°¤·ÂÔµ¡
turn_left1;Wait(NB_COUNT*TIME_TRACE1/2);
OnFwd(OUT_C);OnRev(OUT_A);Wait(40);//90ÅÙº¸Àû²ó
go_forward;Wait(60);
OnRev(OUT_A);Wait(120);//135ÅÙº¸Àû²ó
//8.ÄÌ¿®¤ò¤·¤Æ´Ì¤ò²ó¼ý¤·ÀѤ߾夲¤ëÆ°ºî¤ò·«¤êÊÖ¤¹
ClearMessage();
repeat(2){
until(Message()==MESSAGE_CAN);
stackile can();
ClearMessage();
}
//9.´Ì¤òÃÖ¤¤¤Æ¥´¡¼¥ë¤«¤é½Ð¤ë
OnRev(OUT_B);
Wait(120);
Off(OUT_B);
OnRev(OUT_AC);
Wait(400)
Off(OUT_AC);
}
***²þÀµÈÇ [#h7f70a7d]
****´Ø¿ô [#w22e7054]
#define HP 7
#define LP 2
#define THRESHOLD 36//¥é¥¤¥ó¥È¥ì¡¼¥¹ÍÑïçÃÍ
#define turn_right1 OnFwd(OUT_A);
#define go_forward OnRev(OUT_A);
#define TIME_TRACE1 3//¥È¥ì¡¼¥¹¤Î1²ó¤ÎȽÃǤÇÂԤĻþ´Ö
#define TIME_TRACE2 500//Ž¢£´Ž£¤ÇËÜÂΤò90Åٲ󞤵¤»¤ëÃÏÅÀ¤ò»ØÄꤹ¤ëÃÍ
#define NB_COUNT 4//¸òº¹ÅÀ¼±ÊÌÍѤÎÃÍ
#define STACK 11//
Ë¿¥³¥ó¥Ó¥Ë¤ÎÆþŹ²»
task play_music()
{
PlayTone(740,28);Wait(5);
PlayTone(587,28);Wait(5);
PlayTone(440,28);Wait(5);
PlayTone(587,28);Wait(5);
PlayTone(659,28);Wait(5);
PlayTone(880,61);Wait(5);
PlayTone(440,28);Wait(5);
PlayTone(659,28);Wait(5);
PlayTone(740,28);Wait(5);
PlayTone(659,28);Wait(5);
PlayTone(440,28);Wait(5);
PlayTone(587,80);
}
****¥×¥í¥°¥é¥à¤ÎËÜÂÎ [#g03f46f4]
task main()
{
SetSensor(SENSOR_2,SENSOR_LIGHT);
SetPower(OUT_A,HP);
int nbk=0;
int ncros=0;
1.¹õÀþ¤ËÅö¤¿¤ë¤Þ¤ÇÁ°¿Ê
OnRev(OUT_A);
until (SENSOR_2<=THRESHOLD);
2.º¸ÀÞ¤·¥é¥¤¥ó¥È¥ì¡¼¥¹
turn_right1;
Wait(400);
ClearTimer(0);
while(FastTimer(0)<=1000){
if(SENSOR_2<THRESHOLD){go_forward;}
else{turn_right1;}
Wait(TIME_TRACE1);
}
//´ÌÀѤß
start play_music;
SetPower(OUT_BC,2);
OnFwd(OUT_B);Wait(68);Off(OUT_B);
stop play_music;
while(ncros<2){//1
while(nbk<NB_COUNT){//2
if(SENSOR_2<THRESHOLD){go_forward;nbk++;}
else{turn_right1;nbk=0;}
Wait(TIME_TRACE1);
}//2
Wait(50);
turn_right1;Wait(NB_COUNT*TIME_TRACE1);
nbk=0;
ncros++;
go_forward;Wait(60);
}//1
while(nbk<NB_COUNT){//1
if(SENSOR_2<THRESHOLD){go_forward;nbk++;}
else{turn_right1;nbk=0;}
Wait(TIME_TRACE1);
}//1
turn_right1;Wait(350);
go_forward;Wait(200);
turn_right1;Wait(170);
until(Message()==STACK);
start play_music;
OnFwd(OUT_C);Wait(1000);
OnRev(OUT_B);Wait(68);Off(OUT_BC);
stop play_music;
turn_right1;Wait(350);Off(OUT_A);
ClearMessage();
repeat(2){
until(Message()==STACK);
OnFwd(OUT_B);Wait(68);Off(OUT_B);
ClearMessage();
until(Message()==STACK);
OnFwd(OUT_C);Wait(1000);
OnRev(OUT_B);Wait(68);Off(OUT_BC);
turn_right1;Wait(350);Off(OUT_A);
ClearMessage();
}
OnRev(OUT_A);
Wait(170);
go_forward;
Wait(600);
Off(OUT_A);
}
***´Ì¤ò±¿¤Ö¥í¥Ü¥Ã¥È [#k60cc7cf]
•ÄêµÁʸ
#define WHITE 46//Çò¤ÎÃÍ
#define BLACK 40//¹õ¡Ê¥é¥¤¥ó¾å¡Ë¤ÎÃÍ
//¶³¦¤ÎÃͤϾå¤ÎÆó¤Ä¤«¤é¡Ü¡¢-¤ò¤â¤Á¤¤¤Æºî¤Ã¤Æ¤¤¤Þ¤¹¡£
#define CATCH 44¡¡¡¡¡¡//´Ì¤ò¤Ä¤«¤ó¤À»þ¤Î¸÷¥»¥ó¥µ¡¼£³¤ÎÃÍ
#define power SetPower(OUT_AC,1);//¥â¡¼¥¿¡¼¤Î½ÐÎϤò7Ãʳ¬Ãæ¤Î£±¤Ë¤¹¤ë¡¡ÄêµÁ¤Ç¤¹¡£
#define go_forward power;OnFwd(OUT_AC);//¥Ñ¥ï¡¼¤òÍÞ¤¨¤¿Á°¿Ê
#define go_back power;OnRev(OUT_AC);//¥Ñ¥ï¡¼¤òÍÞ¤¨¤¿¸åÂà
#define LEFT power;OnRev(OUT_A);OnFwd(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡//¥Ñ¥ï¡¼¤òÍÞ¤¨¤¿º¸¤½¤Î¾ìÀû²ó
#define left power;Off(OUT_A);OnFwd(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡//¥Ñ¥ï¡¼¤òÍÞ¤¨¤¿º¸²ó¤ê
#define RIGHT power;OnFwd(OUT_A);OnRev(OUT_C);¡¡¡¡¡¡¡¡¡¡//¥Ñ¥ï¡¼¤òÍÞ¤¨¤¿±¦¤½¤Î¾ìÀû²ó
#define right power;OnFwd(OUT_A);Off(OUT_C);¡¡¡¡¡¡¡¡¡¡//¥Ñ¥ï¡¼¤òÍÞ¤¨¤¿±¦²ó¤ê
#define PUSH power;OnRev(OUT_B);Wait(3);Off(OUT_B);Wait(20);
¡¡//´Ì¤ò²¡¤·½Ð¤¹Æ°ºî¤Ç¤¹¡£¥â¡¼¥¿¡¼¤Î¸þ¤¤«¤éOnRev¤ÇËÀ¤¬Èô¤Ó½Ð¤·¡¢OnFwd¤ÇÌá¤ê¤Þ¤¹¡£Float¤Ç¡¡Í¥¤·¤¯»ÅÉñ¤¤¤Þ¤¹¡£
•¥µ¥Ö¥ë¡¼¥Á¥ó
¥é¥¤¥ó¥È¥ì¡¼¥¹(±¦Â¦)
sub trace1_R(){
if (SENSOR_1 < BLACK){
RIGHT;
} else if (SENSOR_1 < BLACK +2){¡¡//¹õ´ó¤ê¤Î¶³¦¤ÎÃÍ
right;
} else if (SENSOR_1 > WHITE -2){¡¡//Çò´ó¤ê¤Î¶³¦¤ÎÃÍ
left;
} else if (SENSOR_1 > WHITE){
LEFT;
}
}
¥é¥¤¥ó¥È¥ì¡¼¥¹(º¸Â¦)
sub trace1_L(){
if (SENSOR_1 < BLACK){
LEFT;
} else if (SENSOR_1 < BLACK +2){
left;
} else if (SENSOR_1 > WHITE -2){
right;
} else if (SENSOR_1 > WHITE){
RIGHT;
}
}
¸òº¹ÅÀ¤òȽÃǤ¹¤ë¥é¥¤¥ó¥È¥ì¡¼¥¹(±¦Â¦)
sub trace2_R(){
while (FastTimer(0) < 25){¡¡//¸òº¹ÅÀ¤ÈȽÃǤ¹¤ë¤Þ¤Ç¤Î»þ´Ö¤Ç¤¹¡£
if (SENSOR_1 < BLACK){
RIGHT;
}else if (SENSOR_1 < BLACK +2){
ClearTimer(0);
right;
}else if (SENSOR_1 > WHITE -2){
ClearTimer(0);
left;
}else if (SENSOR_1 > WHITE){
ClearTimer(0);
LEFT;
}else{
ClearTimer(0);
go_forward;
}
}
if(FastTimer(0) >= 25){¡¡¡¡//¸òº¹ÅÀ¤Ç¤ÎÆ°ºî¤Ç¤¹¡£
ClearTimer(0);
LEFT;
Wait(40);
go_forward;
Wait(20);
Off(OUT_AC);
ClearTimer(0);
}
}
¸òº¹ÅÀ¤òȽÃǤ¹¤ë¥é¥¤¥ó¥È¥ì¡¼¥¹(º¸Â¦)
sub trace2_L(){
while (FastTimer(0) < 25){
if (SENSOR_1 < BLACK){
LEFT;
}else if (SENSOR_1 < BLACK +2){
ClearTimer(0);
left;
}else if (SENSOR_1 > WHITE -2){
ClearTimer(0);
right;
}else if (SENSOR_1 > WHITE){
ClearTimer(0);
RIGHT;
}else{
ClearTimer(0);
go_forward;
}
}
if(FastTimer(0) >= 25){
ClearTimer(0);
RIGHT;
Wait(40);
go_forward;
Wait(20);
Off(OUT_AC);
ClearTimer(0);
}
}
´Ì¤Î¼õ¤±ÅϤ·(±¦Â¦¥È¥ì¡¼¥¹»þ)
sub trace3_R(){
while (FastTimer(0) < 25){
if (SENSOR_1 < BLACK){
RIGHT;
}else if (SENSOR_1 < BLACK +2){
ClearTimer(0);
right;
}else if (SENSOR_1 > WHITE -2){
ClearTimer(0);
left;
}else if (SENSOR_1 > WHITE){
ClearTimer(0);
LEFT;
}else{
ClearTimer(0);
go_forward;
}
}
if(FastTimer(0) >= 25){
go_forward;
Wait(10);
LEFT;
Wait(70);
Off(OUT_AC);
Wait(100);
PUSH;
go_back;¡¡¡¡//¥Ï¥µ¥ß¤ÎÀÜ¿¨¤òÈò¤±¤ë¤¿¤á
Wait(100);
Off(OUT_AC);
ClearTimer(0);
}
}
´Ì¤Î¼õ¤±ÅϤ·(º¸Â¦)
sub trace3_L(){
while (FastTimer(0) < 25){
if (SENSOR_1 < BLACK){
LEFT;
}else if (SENSOR_1 < BLACK +2){
ClearTimer(0);
left;
}else if (SENSOR_1 > WHITE -2){
ClearTimer(0);
right;
}else if (SENSOR_1 > WHITE){
ClearTimer(0);
RIGHT;
}else{
ClearTimer(0);
go_forward;
}
}
if(FastTimer(0) >= 25){
RIGHT;
Wait(70);
Off(OUT_AC);
PUSH;
go_back;
Wait(50);
Off(OUT_AC);
ClearTimer(0);
}
}
¥á¥¤¥ó¥¿¥¹¥¯
task main()
{
SetSensor(SENSOR_1, SENSOR_LIGHT);
SetSensor(SENSOR_3, SENSOR_LIGHT);
ClearTimer(0);
int n=0;
while(n==0){
Wait(100); //Áê¼ê¤òÂԤĻþ´Ö
until(SENSOR_1 < BLACK){ //¹õ¤Ë¤Ê¤ë¤Þ¤Çľ¿Ê¡¢¥é¥¤¥ó¤ò´¶ÃΤ·¤Æ¥È¥ì¡¼¥¹¤ò³«»Ï¤·¤Þ¤¹¡£
go_forward;}
Off(OUT_AC);
Wait(100);
go_back;¡¡¡¡¡¡¡¡//´¶ÃΤ«¤éÆ°ºî¤Þ¤Ç¤Ë¿Ê¤ó¤Ç¤·¤Þ¤Ã¤¿Ê¬Ìá¤ê¤Þ¤¹¡£
Wait(15);
Off(OUT_AC);
Wait(30);
n++;
}
while(n==1){
if (SENSOR_3 > CATCH){
PlaySound(SOUND_UP);¡¡¡¡¡¡//´Ì¤ò¤Ä¤«¤ó¤À¹ç¿Þ
ClearTimer(0);
until(FastTimer(0) > 500){¡¡¡¡//¡¤ÇÅϤë°ÌÃ֤ޤǤλþ´Ö¤Ç¤¹¡£
trace1_R();}
LEFT;¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¡¤ÇÅϤë¤È¤¤ÎÆ°ºî¤Ç¤¹¡£
Wait(55);
go_forward;
Wait(20);
until(SENSOR_1 < BLACK){
go_forward;}
ClearTimer(0);
until(FastTimer(0) > 500){¡¡//¡¤òÅϤ꽪¤¨¤Æ¤«¤é¤Î¥È¥ì¡¼¥¹
trace1_R();}
ClearTimer(0);
trace3_R();
n++;
} else if (SENSOR_1 < BLACK){
RIGHT;
} else if (SENSOR_1 < BLACK +2){
right;
} else if (SENSOR_1 > WHITE -2){
left;
} else if (SENSOR_1 > WHITE){
LEFT;
}
}
while(n==2){¡¡¡¡//Æó¤ÄÌܤδ̤ò±¿¤Ö¥×¥í¥°¥é¥à¤Ç¤¹¡£
RIGHT;
Wait(40);
go_forward;
Wait(150);
until(SENSOR_1 < BLACK){
right;}
if (SENSOR_3 > CATCH){
until(SENSOR_1 < BLACK){
LEFT;}
ClearTimer(0);
trace3_L();
n++;
} else if (SENSOR_1 < BLACK){
LEFT;
} else if (SENSOR_1 < BLACK +2){
left;
} else if (SENSOR_1 > WHITE -2){
right;
} else if (SENSOR_1 > WHITE){
RIGHT;
}
}
}
**È¿¾Ê [#g0c01249]
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