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#contents
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http://yakushi.shinshu-u.ac.jp/robotics/?plugin=ref&page=2014a%2FMission1&src=2014a-mission1.png
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*¥×¥í¥°¥é¥à [#lf70b930]
**ÄêµÁ [#j3e56972]
#define HIPOWER 4 ¡¡//ľÀþÍѤΥѥ
#define LOWPOWER 2¡¡//¥«¡¼¥ÖÍѤΥѥ
#define set_power_H SetPower(OUT_AC,HIPOWER);
#define set_power_L SetPower(OUT_AC,LOWPOWER);
#define go_forward set_power_H; OnFwd(OUT_AC);¡¡//ľ¿Ê
#define turn_left1 set_power_L;\
OnFwd(OUT_C); OnRev(OUT_A);¡¡¡¡//º¸Àû²ó
#define turn_left0 set_power_L;\
OnFwd(OUT_C); Off(OUT_A);¡¡¡¡//º¸ÀÞ
#define turn_right0 set_power_L;\
OnFwd(OUT_A); Off(OUT_C);¡¡¡¡//±¦Àû²ó
#define turn_right1 set_power_L;\
OnFwd(OUT_A); OnRev(OUT_C);¡¡//±¦ÀÞ
#define cross set_power_H; OnFwd(OUT_AC);Wait(20);¡¡//¸òº¹ÅÀ¤òÅϤë
task main()
{
**ÀßÄê [#eb1073b1]
SetSensor(SENSOR_2,SENSOR_LIGHT); //¸÷¥»¥ó¥µ¡¼¥»¥Ã¥È
int nl=0;¡¡¡¡//¸òº¹ÅÀ¤ò´¶ÃΤ¹¤ë¤¿¤á¤ÎÊÑ¿ô
int cc=0;¡¡¡¡//¸òº¹ÅÀ¤òÅϤä¿¿ô
int hc=0; //¿§¡¹¤Êµ¡Ç½¤ò¼Â¹Ô¤¹¤ë¤¿¤á¤ÎÊÑ¿ô
go_forward;¡¡//¥¹¥¿¡¼¥È¤ÎÏȤ«¤é½Ð¤ë¤¿¤á¤Îľ¿Ê
Wait(100);
ClearTimer(0);¡¡//¥¿¥¤¥Þ¡¼0¤ò¥»¥Ã¥È
OnRev(OUT_B);¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤¬Î¥¤ì¤Ê¤¤¤è¤¦¤Ë¤¹¤ë¤¿¤á¤Î¥¿¥¤¥ä¤ò²ó¤¹
while (true) {
**¥é¥¤¥ó¥È¥ì¡¼¥¹ [#ab6e2d4f]
while ((nl < 5)||(FastTimer(0)<500)||(FastTimer(1)<680)){¡¡//nl¤¬5¤è¤ê¾®¤µ¤¤Ëô¤Ï¥¹¥¿¡¼¥È¤«¤é5ÉðÊÆâ¤Î»þËô¤Ï2¸ÄÌܤÈ3¸ÄÌܤθòº¹ÅÀ¤ò²á¤®¤Æ6.8ÉðÊÆâ¤Î»þ
if (SENSOR_2 < 37) {¡¡¡¡//Ç»¤¤¹õ¤ò´¶ÃΤ·¤¿¤é
turn_left1;¡¡¡¡¡¡¡¡¡¡//º¸Àû²ó
nl++;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//nl¤Ë1¤ò¤¹
} else if (SENSOR_2 < 39) {¡¡//Çö¤¤¹õ¤ò´¶ÃΤ·¤¿¤é
turn_left0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//º¸ÀÞ ¡¡¡¡¡¡
nl=0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ȽÃǤ·Ä¾¤·
} else if (SENSOR_2 < 45) {¡¡//³¥¿§¤ò´¶ÃΤ·¤¿¤é
go_forward; ¡¡¡¡¡¡¡¡¡¡¡¡//ľ¿Ê
nl=0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ȽÃǤ·Ä¾¤·
]nl=0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ȽÃǤ·Ä¾¤·
} else if (SENSOR_2 < 47) {¡¡//Çö¤¤Çò¤ò´¶ÃΤ·¤¿¤é
turn_right0; ¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦ÀÞ
} else {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Ç»¤¤Çò¤ò´¶ÃΤ·¤¿¤é
turn_right1; ¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦Àû²ó
}
Wait(1);
}¡¡
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**¸òº¹ÅÀ [#sf572cb3]
turn_right1; Wait(35);¡¡//¸òº¹ÅÀ¤ò´¶ÃΤ¹¤ë¤È¤¤Ë¤º¤ì¤¿¤Î¤òÄ´À°
cross;¡¡¡¡//¸òº¹ÅÀ¤òÅϤë
nl=0;¡¡//ȽÃǤ·Ä¾¤·
cc++;¡¡//Õ¤Ë1¤ò¤¹
hc++;¡¡//hc¤Ë1¤ò¤¹
**¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ä¤«¤à [#m87d58d3]
while(hc==1){¡¡¡¡//°ì²óÌܤθòº¹ÅÀ¤òÅϤ俤é
turn_right1;
Wait(70);
go_forward;¡¡//¥Ü¡¼¥ë¤ò¥¥ã¥Ã¥Á
Wait(80);
turn_left0; ¡¡//¥Ü¡¼¥ë¤ò¸ÇÄê
Wait(100);
hc++;
}
**¸òº¹ÅÀ¤È´ª°ã¤¤¤·¤Ê¤¤¤¿¤á¤Ë [#mbbcc9c9]
while((hc==3)||(hc==5)){
ClearTimer(1);¡¡¡¡//2¸ÄÌܤÈ3¸ÄÌܤθòº¹ÅÀ¤òÅϤ俤饿¥¤¥Þ¡¼1¤ò¥»¥Ã¥È¤¹¤ë¡£
hc++;
}
**¥Ô¥ó¥Ý¥ó¶Ì¤ò¥·¥å¡¼¥È¤¹¤ë [#k76e02b9]
while (cc==4) {
turn_right1; //³ÑÅÙ¤òÈùÄ´À°
Wait(5);
OnRev(OUT_AC);¡¡//¥´¡¼¥ë¤Î³°¤Ë½Ð¤ë
Wait(100);
Off(OUT_ABC);
OnFwd(OUT_B);¡¡//¥Ô¥ó¥Ý¥ó¶Ì¤ò¥·¥å¡¼¥È
Wait(150);
cc++;
}
**»ß¤Þ¤ë [#p5a0a237]
while(cc==5){
Off(OUT_ABC);¡¡//»ß¤Þ¤ë
}
}
}
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