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***³Æ¥â¡¼¥¿¡¼¡¦¥»¥ó¥µ¡¼¤ÎÄêµÁ¡Ê̿̾¡Ë¡¡¡Érobot.h¡É¡¡ [#e3317db4]
#define LEFT_WHEEL OUT_C //º¸¤Î¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¼
#define RIGHT_WHEEL OUT_A //±¦¤Î¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¼
#define BOTH_WHEEL OUT_AC //ξ¥¿¥¤¥ä¤Î¥â¡¼¥¿¡¼
#define ARM_BASE OUT_A //ËÜÂΦ¤Î¥¢¡¼¥à¤Î¥â¡¼¥¿¡¼
#define ARM_HAND OUT_B //¥¢¡¼¥àÀè¤Î¥â¡¼¥¿¡¼
#define DIST_SENSOR S2 //µ÷Υ¬ÄêÍÑĶ²»ÇÈ¥»¥ó¥µ¡¼
#define TYPE_SENSOR S3 //»æ¥³¥Ã¥×ȽÊÌÍѸ÷¥»¥ó¥µ¡¼
void InitSensor(){
SetSensorLowspeed(DIST_SENSOR);
SetSensorLight(TYPE_SENSOR);
}
***³ÆÆ°ºî¤ÎÄêµÁ [#kaff63fa] ¡Édrivebase.h¡É [#f533f2a8]
#define SPEED_STRAIGHT 50
#define SPEED_SPIN 40
#define SPEED_STRAIGHT_LOW 20
#define SPEED_SPIN_LOW 30
#define STAY_WAIT 50
#define WHEEL_STRAIGHT (80 / 1715)
void DebugDriveType(string type, int speed){
DebugNumber(DEBUG_DRIVETYPE, type, speed);
}
void Stay(){
Off(BOTH_WHEEL);
DebugDriveType("Stay", 0);
}
void StayWait(){
Stay();
Wait(STAY_WAIT);
}
void Drive(int speed, int rate, string type){
if(speed){
if(speed > 0){
OnFwdSync(BOTH_WHEEL, speed, rate);
}else{
OnRevSync(BOTH_WHEEL, -speed, rate);
}
DebugDriveType(type, speed);
}else{
}
}
void DriveStraight(int speed){
Drive(speed, 0, "Straight");
}
void DriveLeft(int speed){
Drive(speed, -100, "Left");
}
void DriveRight(int speed){
Drive(speed, 100, "Right");
}
void Forward(){
DriveStraight(SPEED_STRAIGHT);
}
void ForwardLow(){
DriveStraight(SPEED_STRAIGHT_LOW);
}
void Back(){
DriveStraight(-SPEED_STRAIGHT);
}
void BackLow(){
DriveStraight(-SPEED_STRAIGHT_LOW);
}
void SpinLeft(){
DriveLeft(SPEED_SPIN);
}
void SpinLeftLow(){
DriveLeft(SPEED_SPIN_LOW);
}
void SpinRight(){
DriveRight(SPEED_SPIN);
}
void SpinRightLow(){
DriveRight(SPEED_SPIN_LOW);
}
void Spin(int degree){
if(degree > 0){
StartDirectionTimer();
SpinLeft();
until(StopDirectionTimer() >= degree);
}else{
StartDirectionTimer();
SpinRight();
until(StopDirectionTimer() <= degree);
}
}
void SpinLow(int degree){
if(degree > 0){
StartDirectionTimer();
SpinLeftLow();
until(StopDirectionTimer() >= degree);
}else{
StartDirectionTimer();
SpinRightLow();
until(StopDirectionTimer() <= degree);
}
}
void GoForward(int x){
int d;
float p = MotorRotationCount(LEFT_WHEEL);
Forward();
until((d = x - (MotorRotationCount(LEFT_WHEEL) - p) * WHEEL_STRAIGHT) < 0){
DebugDriveType("Forward", d);
}
Stay();
}
void GoForwardLow(int x){
int d;
float p = MotorRotationCount(LEFT_WHEEL);
ForwardLow();
until((d = x - (MotorRotationCount(LEFT_WHEEL) - p) * WHEEL_STRAIGHT) < 0){
DebugDriveType("ForwardLow", d);
}
Stay();
}
void GoBack(int x){
int d;
float p = MotorRotationCount(LEFT_WHEEL);
Back();
until((d = x + (MotorRotationCount(LEFT_WHEEL) - p) * WHEEL_STRAIGHT) < 0){
DebugDriveType("Back", d);
}
Stay();
}
void GoBackLow(int x){
int d;
float p = MotorRotationCount(LEFT_WHEEL);
BackLow();
until((d = x + (MotorRotationCount(LEFT_WHEEL) - p) * WHEEL_STRAIGHT) < 0){
DebugDriveType("BackLow", d);
}
Stay();
}
void GoStraight(int x){
if(x > 0){
GoForward(x);
}else{
GoBack(-x);
}
}
void GoStraightLow(int x){
if(x > 0){
GoForwardLow(x);
}else{
GoBackLow(-x);
}
}
**¼ÖÂΤθþ¤¡Ê¼«¿È¤¬¥Õ¥£¡¼¥ë¥É¾å¤Ë¤ª¤¤¤Æ¤É¤Î¸þ¤¤Ë¸þ¤¤¤Æ¤¤¤ë¤«¡Ë¤ò·×¤ë ¡Édirection.h¡É[#bd15c679]
#define BODY_WIDTH 12.6
#define DIRECTION_COE (0.044 / BODY_WIDTH * 360 / 2 / PI)
float direction = 0;
float leftMoterCount = 0;
float rightMoterCount = 0;
float directionTimer = 0;
float GetDirection(){
float out = MotorRotationCount(RIGHT_WHEEL);
float in = MotorRotationCount(LEFT_WHEEL);
direction += (out - leftMoterCount - in + rightMoterCount) * DIRECTION_COE;
leftMoterCount = out;
rightMoterCount = in;
DebugNumber(DIRECTION_DEBUG, "Direction", direction);
return direction;
}
void StartDirectionTimer(){
directionTimer = GetDirection();
}
float StopDirectionTimer(){
return GetDirection() - directionTimer;
}
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ºÇ½éstart¤Ë¤Þ¤Ã¤¹¤°ÃÖ¤¤¤¿¤È¤·¤Æ¡¢¤½¤ì¤ò0¡ë¤È¤·¤Þ¤¹¡£¡Ê°ø¤ß¤Ëº¸²ó¤ê¤¬Àµ¤Ç¡¢±¦²ó¤ê¤¬Éé¤Ç¤¹¡£º¸¤Ë90¡ë²ó¤Ã¤¿¤È¤¤Ï+90¡ë¤Ç¡¢±¦¤Ë90¡ë²ó¤Ã¤¿¤È¤¤Ï-90¡ë¤È¤Ê¤ê¤Þ¤¹¡Ë
¤¿¤È¤¨¤Ð¤³¤³¤«¤é¼ÖÂΤò90¡ë±¦¤Ë¸þ¤±¤¿¤¤»þ¡¢¥Þ¥·¥ó¤Ë¡Ö¼«¿È¤Î¸þ¤¤¬-90¡ë¤Ë¤Ê¤ë¤Þ¤Ç±¦Àû²ó¤¹¤ë¡×¤È¤¤¤¦¥×¥í¥°¥é¥à¤òÆþÎϤ¹¤ì¤Ð¥Þ¥·¥ó¤Ï±¦¤Ë90¡ë¤À¤±²ó¤ê¤Þ¤¹¡£
¤Þ¤¿¡¢¸þ¤¤òºÇ½é¤Î¾õÂ֤˥ꥻ¥Ã¥È¤·¤¿¤¤»þ¤Ï¡Ö¼«¿È¤Î¸þ¤¤¬0¡ë¤Ë¤Ê¤ë¤è¤¦Àû²ó¤¹¤ë¡×¤ÈÆþÎϤ¹¤ì¤Ð¼ÖÂΤϥ¹¥¿¡¼¥È»þ¤Î¤Þ¤Ã¤¹¤°¤Î¸þ¤¤Ëľ¤ê¤Þ¤¹¡£
**¥«¥Ã¥×¤òõ¤¹ ¡Ésearch.h¡É[#u91ae062]
#define DIST_CATCH 12
#define DIST_STACK 11
#define DIST_SEARCH 6
#define SEARCH_DIRECTION1 90
#define SEARCH_DIRECTION2 120
#define DistSensor SensorUS(DIST_SENSOR)
void TowardCup(int degree){
int min = DistSensor;
float dir = GetDirection();
SpinLow(-degree * 0.5);
StartDirectionTimer();
SpinLeftLow();
while(StopDirectionTimer() < degree){
if(DistSensor < min){
min = DistSensor;
dir = GetDirection();
}
}
SpinRightLow();
until(GetDirection() <= dir);
Stay();
}
int PrepareCup(int dist){
int x, y;
TowardCup(SEARCH_DIRECTION1);
x = DistSensor - DIST_SEARCH;
GoForwardLow(x);
StayWait();
TowardCup(SEARCH_DIRECTION2);
y = dist - DistSensor;
GoBackLow(y);
StayWait();
return x - y;
}
int PrepareCatch(){
return PrepareCup(DIST_CATCH);
}
int PrepareStack(){
return PrepareCup(DIST_STACK);
}
¤Þ¤ººÇ½é¤Ë¼ó¤òº¸±¦¤Ë¿¶¤Ã¤Æ¥«¥Ã¥×¤Î¤¢¤ëÊý¸þ¤ò·×¤Ã¤Æ¤½¤ÎÊý¸þ¤Ë¿Ê¤ß¡¢¤¢¤ëÄøÅÙÀܶᤷ¤¿¤È¤³¤í¤Ç¤â¤¦°ìÅÙ¼ó¤ò¿¶¤Ã¤Æ¥«¥Ã¥×¤òõ¤·¤Þ¤¹¡£
**¥¢¡¼¥à¤Î¥×¥í¥°¥é¥à ¡Éarm.h¡É [#id3010c4]
***ÄêµÁʸ [#z664db1d]
#define DOWN_POWER 30
#define HOLD_DOWN_POWER 50
#define UP_POWER 90
#define HOLD_UP_POWER 50
#define HOLD_POWER 20
#define RELEASE_POWER 80
#define ARM1_DEGREE 90
#define ARM2_DEGREE 210
#define CUP1 55
#define CUP2 37
#define CUP3 23
#define TypeSensor SENSOR_3
***¥µ¥Ö¥ë¡¼¥Á¥ó [#b20e0b81]
void DownArm(){
Off(ARM_BASE);
Wait(100);
RotateMotor(ARM_BASE, DOWN_POWER, ARM1_DEGREE);
OnFwd(ARM_BASE, HOLD_DOWN_POWER);
Wait(1000);
}
void UpArm(){
Off(ARM_BASE);
Wait(100);
RotateMotor(ARM_BASE, UP_POWER, -ARM1_DEGREE);
OnRev(ARM_BASE, HOLD_UP_POWER);
Wait(2000);
}
void HoldCup(){
OnFwd(ARM_HAND, HOLD_POWER);
while(MotorRotationCount(ARM_HAND) < ARM2_DEGREE);
}
void ReleaseCup(){
RotateMotor(ARM_HAND, RELEASE_POWER, -ARM2_DEGREE);
}
void CatchCup(){
HoldCup();
Wait(500);
UpArm();
Wait(500);
ReleaseCup();
HoldCup();
}
void StackCup(){
DownArm();
Wait(500);
ReleaseCup();
Wait(500);
}
int GetCupType(){
int n = 0;
if(TypeSensor > (CUP1 + CUP2) * 0.5){
n = 1;
}else if(TypeSensor > (CUP2 + CUP3) * 0.5){
n = 2;
}else{
n = 3;
}
DebugNumber(DEBUG_CUPTYPE, "CupNumber", n);
DebugNumber(DEBUG_CUPSENSOR, "CupSensor", TypeSensor);
return n;
}
void MasterCatchCup(){
BTSendMessage(BT_CATCH, true);
BTReceiveMessage();
}
void MasterStackCup(){
BTSendMessage(BT_STACK, true);
BTReceiveMessage();
}
**Bluetooth¡Ê£²¤Ä¤ÎËÜÂδ֤ǤÎÄÌ¿®¡Ë ¡Ébluetooth.h¡É [#u82683da]
#define BT_CONN 1
#define BT_MAILBOX MAILBOX3
#define BT_NULL 0
#define BT_CATCH 1
#define BT_STACK 2
#define BT_FINISH 3
void BTStart(string file){
until(BluetoothStatus(BT_CONN) == NO_ERR);
RemoteStartProgram(BT_CONN, file);
}
int BTReceiveMessage(){
int msg = BT_NULL;
while(msg == BT_NULL){
ReceiveRemoteNumber(BT_MAILBOX, true, msg);
DebugNumber(5, "debug", msg);
}
return msg;
}
void BTSendMessage(int msg, bool isMaster){
if(isMaster){
SendRemoteNumber(BT_CONN, BT_MAILBOX, msg);
}else{
SendResponseNumber(BT_MAILBOX, msg);
}
}
void BTStop(){
BTSendMessage(BT_FINISH, true);
}
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