[[2014b/Member]]

#ref(2014b/Member/arisyka/Mission1/IMG_3304 ²þÄû.gif,40%)
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#contents

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([[2014ǯ¸å´ü/²ÝÂ꣱:http://yakushi.shinshu-u.ac.jp/robotics/?2014b%2FMission1]]¤è¤ê)

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*¥í¥Ü¥Ã¥È¤ÎÀâÌÀ [#l6d65f52]
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 float GetAngle(float d)
 {
 const float diameter=5.45;
 const float pi=3.1415;
 float ang = d/(diameter*pi)*360.0;
 return ang;
 }


**¥Ú¥ó¤ÎÆ°ºî [#x33b61aa]

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 #define UP RotateMotor(OUT_A,SPEED,-50);¡¡¡¡¡¡¡¡//¥Ú¥ó¤ò¾å¤²¤ë
 #define DOWN RotateMotor(OUT_A,SPEED,50);¡¡¡¡¡¡//¥Ú¥ó¤ò²¼¤²¤ë

#ref(2014b/Member/arisyka/Mission1/down up ¥ë¡¼¥×.gif,40%)


**¥í¥Ü¥Ã¥È¤ò²óž¤µ¤»¤ë [#q9d8bfe3]
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¥¿¥¤¥ä¤È¥¿¥¤¥ä¤ÎŤµ¡Êr¡Ë¤¬10.5­Ñ¤Ç¤¢¤ë¤«¤é¡¢¤³¤ì¤ò¸µ¤Ëfloat·¿¤Î´Ø¿ô¤òÍøÍѤ·¤Æ¥¿¥¤¥ä¤Îé¤ë±ß¼þ¤ÎŤµ¡ÊL=2¦ÐrX/360¡Ëµá¤á¤ë¡£¡ÊX=³ÑÅÙ¡Ë
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***90ÅÙ²óž [#aca1e640]
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 #define Ninety  GetAngle(16.5)
 #define Ten GetAngle(10)

 #define¡¡NBB¡¡RotateMotor(OUT_B,SPEED,Ninety);RotateMotor(OUT_BC,-50,Ten);¡¡¡¡¡¡¡¡//±¦¤Î¥¿¥¤¥ä¤ò16.5­Ñ¿Ê¤Þ¤»¡¢10­ÑÌá¤ë¢ª±¦¤Ë90ÅÙ²óž
 #define¡¡NBC RotateMotor(OUT_C,SPEED,Ninety);RotateMotor(OUT_BC,-50,Ten);¡¡¡¡¡¡¡¡//º¸¤Ë90ÅÙ²óž


***60ÅÙ²óž [#ff4fe7c6]
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L=2¡ß3.1415¡ß10.5¡ß60/360¢â10.995­Ñ

3­ÑÁ°¤Ë¿Ê¤ó¤À¸å¡¢60Åٲ󞤷¡¢10.494­Ñ¸å¤í¤Ë²¼¤²¤ë¤È¸µ¤Î°ÌÃ֤ˤ¤¤¯¡£

 #define Sixty GetAngle(10.995)
 #define Three RotateMotor(OUT_BC,SPEED,GetAngle(3));

 #define SixtyBackB Three;RotateMotor(OUT_B,SPEED,Sixty);RotateMotor(OUT_BC,-50,GetAngle(10.494));¡¡¡¡¡¡¡¡//3­Ñ¿Ê¤á¡¢±¦¤Î¥¿¥¤¥ä¤ò10.494­Ñ¿Ê¤Þ¤»¤¿¸å¡¢10.494­ÑÌá¤ë¢ª±¦¤Ë60ÅÙ²óž
 #define SixtyBackC Three;RotateMotor(OUT_C,SPEED,Sixty);RotateMotor(OUT_BC,-50,GetAngle(10.494));¡¡¡¡¡¡¡¡//º¸¤Ë60ÅÙ²óž


***20ÅÙ²óž [#afd6aa67]



*»ú¤ò½ñ¤¯ [#h20e4079]
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 task main ()
 {
 Wait(2000);

 DOWN;
 Eight;

 UP;
 Two;
 SixtyBackB;
 Two;
 NBB;

  DOWN;
 Eleven;
 UP;

 NBC;
 TwoFive;
 NBC;
 Two;

 DOWN;
 Seven;
 UP;

 NBB;
 Two;
 NBB;

 DOWN;
 Seven;
 UP;

 NBC;
 Two;
 NBC;

 DOWN;
 Seven;
 UP;

 NBC;

 DOWN;
 Four;
 UP;

 NBC;
 Seven;
 NBC;

 DOWN;
 Four;
 UP;

 NBC;
 ThreeFive;
 NBC;
 Four;
 NOBackC;
 NOBackC;

 DOWN;
 Five;
 UP;

 ThreeB;
 OneB;
 OneB;
 NBC;
 Three;
 NBB;

 DOWN;
 RotateMotor(OUT_B,SPEED,Sixty);
 UP;

 }



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