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[[2014b/Member]]
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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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float GetAngle(float d)
{
const float diameter=5.45;
const float pi=3.1415;
float ang = d/(diameter*pi)*360.0;
return ang;
}
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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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***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¤ò16.5ѿʤޤ»¡¢10ÑÌá¤ë¢ª±¦¤Ë90ÅÙ²óž
#define¡¡NBC RotateMotor(OUT_C,SPEED,Ninety);RotateMotor(OUT_BC,-50,Ten);¡¡¡¡¡¡¡¡//º¸¤Ë90ÅÙ²óž
***60ÅÙ²óž [#ff4fe7c6]
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#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));¡¡¡¡¡¡¡¡//3ѿʤᡢ±¦¤Î¥¿¥¤¥ä¤ò10.494ѿʤޤ»¤¿¸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]
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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;
}
*´¶ÁÛ [#nc23b398]