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[[2014b/Member]]
#contents
*¤Ï¤¸¤á¤Ë [#o4d8a879]
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([[2014ǯ¸å´ü/²ÝÂê3:http://yakushi.shinshu-u.ac.jp/robotics/?2014b%2FMission3]]»²¾È)
*¥Þ¥¹¥¿¡¼·¿ [#hacfc6a7]
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-[[edaeda:http://yakushi.shinshu-u.ac.jp/robotics/?2014b%2FMember%2Fedaeda%2FMission3]]
-[[knee:http://yakushi.shinshu-u.ac.jp/robotics/?2014b%2FMember%2Fknee%2FMission3]]
- kuryu
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*¥í¥Ü¥Ã¥È¤ÎÀâÌÀ [#h9193c48]
**Á´ÂÎ [#ne8db113]
#ref(2014b/Member/arisyka/Mission3/IMG_3870.JPG,20%)
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**¥¢¡¼¥à [#y4bd3434]
#ref(2014b/Member/arisyka/Mission3/IMG_3869.gif,30%)
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**¥ì¡¼¥ë [#k920454a]
#ref(2014b/Member/arisyka/Mission3/IMG_3873.gif,30%)
¾å¤Î¼Ì¿¿¤ÎÀ֤ǰϤޤ줿Éôʬ¡£¤Þ¤¿¡¢Üô¿§¤Ç°Ï¤Þ¤ì¤¿Éôʬ¤Ï¥Ü¡¼¥ë¤ò»æ¥³¥Ã¥×¤ËÆþ¤ì¤ëºÝ¤Ë¡¢»æ¥³¥Ã¥×¤¬Åݤì¤Ê¤¤¤è¤¦¤Ë¤¹¤ë¤¿¤á¤Î¥¹¥È¥Ã¥Ñ¡¼¤Ç¤¢¤ë¡£Åݤ¹³ÑÅÙ¤òÄ´À°¤¹¤ë¤³¤È¤Ç»æ¥³¥Ã¥×¤ËÆþ¤ì¤ë¥Ü¡¼¥ë¤Î¿ô¤òÊѤ¨¤ë¡£
*¥×¥í¥°¥é¥à [#ec7cd753]
**¥¢¡¼¥à¤ÎÆ°¤ [#vd5284f2]
#define SPEED1 45
#define SPEED2 60
#define SPEED3 10
#define SPEED4 30
#define SPEED5 50
#define SPEED6 25
float GetAngle(float d)
{
const float diameter=5.45;
const float pi=3.1415;
float ang = d/(diameter*pi)*360.0;
return ang;
}
#ref(2014b/Member/arisyka/Mission3/arm¥ë¡¼¥×2.gif,40%)
#define DOWN RotateMotor(OUT_A,SPEED3,105);
#define UP RotateMotor(OUT_A,-SPEED5,105); //¥¢¡¼¥àÁ´ÂΤÎÆ°¤
#define LDown RotateMotor(OUT_A,SPEED3,25);
#define LUp RotateMotor(OUT_A,-SPEED2,25);
#ref(2014b/Member/arisyka/Mission3/catch&separate.gif,40%)
#define Catch RotateMotor(OUT_B,-SPEED4,105);
#define Separate RotateMotor(OUT_B,SPEED4,105); //¥¢¡¼¥à¤ÎÆ°¤
task main ()
{
OnFwd(OUT_A,10);
Wait(1500);
Catch; ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò²¼¤²¡¢»æ¥³¥Ã¥×¤ò¤Ä¤«¤à
OnRev(OUT_A,50);
Wait(3500);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò¾å¤²¡¢¥ì¡¼¥ë¤Î¾å¤Ë¥Ü¡¼¥ë¤ò¤Î¤»¤ë
Wait(2000);
OnFwd(OUT_A,10);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
Wait(3500);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò²¼¤²¡¢»æ¥³¥Ã¥×¤òÃÖ¤¯
Separate;
OnRev(OUT_A,35);
Wait(2000); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò¾å¤²¤ë(¸µ¤Î°ÌÃÖ¤ËÌ᤹)
Wait(500);
}
**¥ì¡¼¥ë¤ÎÆ°¤ [#n39571be]
#define SPEED1 45
#define SPEED2 60
#define SPEED3 10
#define SPEED4 30
#define SPEED5 50
float GetAngle(float d)
{
const float diameter=5.45;
const float pi=3.1415;
float ang = d/(diameter*pi)*360.0;
return ang;
}
#define Into1 RotateMotor(OUT_C,SPEED3,20); //¥Ü¡¼¥ë¤òÆþ¤ì¤ë
#define Return1 RotateMotor(OUT_C,-SPEED3,25);
#define Into2 RotateMotor(OUT_C,SPEED4,30);
#define Return2 RotateMotor(OUT_C,-SPEED4,15);
task main(){
OnFwd(OUT_C,15);
Wait(1000);
Wait(3000); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥ì¡¼¥ë¤ò·¹¤±¡¢4¤Ä¤ÎÆâ2¤Ä¤À¤±¥Ü¡¼¥ë¤ò»æ¥³¥Ã¥×¤ËÆþ¤ì¤ë
OnRev(OUT_C,30);
Wait(500);
Wait(5000);
OnFwd(OUT_C,25);
Wait(1000);
Wait(3000); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥ì¡¼¥ë¤ò·¹¤±¡¢¥ì¡¼¥ë¤Ë»Ä¤Ã¤Æ¤¤¤ë¥Ü¡¼¥ë¤ò»æ¥³¥Ã¥×¤ËÆþ¤ì¤ë
OnRev(OUT_C,30);
Wait(2500);
}
**¥Þ¥¹¥¿¡¼Â¦ [#n256cd4e]
**¥¹¥ì¡¼¥Ö¦ [#ea1f8404]
*¥Þ¥¹¥¿¡¼Â¦(¥³¥Ô¡¼ÍÑ) [#hacfc6a7]
#define CONN 1 ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¹¥ì¡¼¥Ö(ÄÌ¿®Áê¼ê)¤ÎÀܳÈÖ¹æ
#define SPEED 50
#define SPEED_SLOW 40
#define turn_right_here OnFwd(OUT_B,SPEED_SLOW);OnFwd(OUT_C,-SPEED_SLOW); //±¦Àû²ó
float GetAngle(float d) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Ê¤àµ÷Î¥¤ò·×»»¤¹¤ë
const float diameter=5.45;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¿¥¤¥ä¤Îľ·Â
const float pi=3.1415;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±ß¼þΨ
float ang = d/(diameter*pi)*360.0; return ang; //³ÑÅÙ¤ò·×»»¤¹¤ë
}
const float diameter = 5.45;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
const float track = 15;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¿¥¤¥ä¤Î¥È¥ì¥Ã¥ÉÉý
const float pi = 3.1415;
void fwdDist(float d) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//µ÷Î¥ d ÑÁ°¿Ê
long angle;
angle = d/(diameter*pi)*360.0;
RotateMotorEx(OUT_BC,SPEED_SLOW,angle,0,true,true);
}
void turnAng(long ang) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//³ÑÅÙ ang Å٤λþ·×²ó¤ê¤ÎÀû²ó
long angle;
angle = track/diameter * ang;
RotateMotorEx(OUT_BC,SPEED_SLOW,angle,100,true,true);
}
int searchDirection(long ang) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤Ë ang ÅÙ¤ÎÈϰϤÇõ¤·¡¢¾ã³²Êª¤Þ¤Ç¤Îµ÷Î¥¤òÊÖ¤¹
long angle,tacho_min=0,tacho_corr;
int d_min;
d_min=300;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²¾¤ÎºÇ¾®ÃÍ
angle = (track/diameter)*ang;¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Àû²ó³ÑÅÙ¤«¤é¥¿¥¤¥ä¤Î²óž¤ò·×»»
turnAng(ang/2);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//»ØÄꤵ¤ì¤¿³ÑÅÙ¤ÎȾʬ¤òÀû²ó
ResetTachoCount(OUT_BC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
OnFwdSync(OUT_BC,SPEED_SLOW,-100);¡¡¡¡¡¡¡¡//È¿»þ·×²ó¤ê¤ËÀû²ó
while(MotorTachoCount(OUT_B)<=angle){
if(SensorUS(S1)<d_min){
d_min=SensorUS(S1);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²¾¤ÎºÇ¾®Ãͤò¹¹¿·
PlaySound(SOUND_UP);
tacho_min=MotorTachoCount(OUT_B);
}
}
OnFwdSyncEx(OUT_BC,SPEED_SLOW,100,RESET_NONE);
until(MotorTachoCount(OUT_B)<=tacho_min||SensorUS(S1)<=d_min);
Wait(14);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÈùÄ´À°
Off(OUT_BC);Wait(500);
return d_min;
}
#define anglemove2 int angle = GetAngle(20);RotateMotor(OUT_BC,-SPEED,angle);OnFwd(OUT_B,-SPEED);OnFwd(OUT_C,SPEED);Wait(1500);angle += GetAngle(60);RotateMotor(OUT_BC,SPEED,angle);int d = searchDirection(120);if(d > 15){ fwdDist(d-15.0);}else {fwdDist(d-15);}PlaySound(SOUND_UP);turn_right_here;Wait(200);
#define anglemove3 int angle = GetAngle(20);RotateMotor(OUT_BC,-SPEED,angle);OnFwd(OUT_B,-SPEED);OnFwd(OUT_C,SPEED);Wait(1500);angle += GetAngle(60);RotateMotor(OUT_BC,SPEED,angle);int d = searchDirection(120);turn_right_here;Wait(600);if(d > 15){ fwdDist(d);}else {fwdDist(d);}PlaySound(SOUND_UP);
#define anglemove4 int angle = GetAngle(20);RotateMotor(OUT_BC,-SPEED,angle);OnFwd(OUT_B,-SPEED);OnFwd(OUT_C,SPEED);Wait(1500);angle += GetAngle(60);RotateMotor(OUT_BC,SPEED,angle);int d = searchDirection(120);turn_right_here;Wait(600);if(d > 15){ fwdDist(d);}else {fwdDist(d);}PlaySound(SOUND_UP);
#define count 7
#define sound PlaySound(SOUND_CLICK);
**angle move1 [#d59f8a17]
task main() {
SetSensorLowspeed(S1);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
until (BluetoothStatus(CONN) == NO_ERR);¡¡¡¡//Àܳ¤Ç¤¤ë¤Þ¤ÇÂÔµ¡
RotateMotor(OUT_BC,50,GetAngle(50));¡¡¡¡¡¡¡¡//50ÑÁ°¿Ê
OnFwd(OUT_B,30);
OnRev(OUT_C,50);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦¤Ë90ÅÙÀû²ó
Wait(1500);
RotateMotor(OUT_BC,50,GetAngle(30));¡¡¡¡¡¡¡¡//30ÑÁ°¿Ê
int d = searchDirection(120);
if(d > 15){
fwdDist(d-15.0);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
else {fwdDist(d-15);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//»æ¥³¥Ã¥×¤ÎÊý¸þ¤òõ¤·¤¿¸å²»¤òÌĤ餷¡¢Á°¸å¤ÎÆ°¤¤Ç15ѼêÁ°¤ÇÄä»ß
PlaySound(SOUND_UP);
turn_right_here;
Wait(200);
RemoteStartProgram(CONN, "arm time1.rxe");¡¡¡¡//¥¹¥ì¡¼¥Ö¤Î¡Öarm time1¡×¤Î¥×¥í¥°¥é¥à¤òµ¯Æ°¡¡
}
**angle move2 [#j2aa6be8]
task main() {
SetSensorLowspeed(S1);
until (BluetoothStatus(CONN) == NO_ERR);
int angle = GetAngle(20);
RotateMotor(OUT_BC,-SPEED,angle);
OnFwd(OUT_B,-SPEED);
OnFwd(OUT_C,SPEED);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸å¤í¤Ë20Ѹå¿Ê¤·¤¿¸å¡¢180ÅÙÀû²ó¤·¤Æ60ÑÁ°¿Ê
Wait(1500);
angle += GetAngle(60);
RotateMotor(OUT_BC,SPEED,angle);
int d = searchDirection(120);
if(d > 15){
fwdDist(d-15.0);}
else {fwdDist(d-15);}
PlaySound(SOUND_UP);
turn_right_here;
Wait(200);
RemoteStartProgram(CONN, "arm time2.rxe");
}
**angle move3 [#h9f89ef8]
task main() {
SetSensorLowspeed(S1);
until (BluetoothStatus(CONN) == NO_ERR);
int angle = GetAngle(20);
RotateMotor(OUT_BC,-SPEED,angle);
OnFwd(OUT_B,-SPEED);
OnFwd(OUT_C,SPEED);
Wait(1500);
angle += GetAngle(60);
RotateMotor(OUT_BC,SPEED,angle);
int d = searchDirection(120);
turn_right_here;
Wait(600);
if(d > 15){
fwdDist(d);}
else {fwdDist(d);}
PlaySound(SOUND_UP);
RemoteStartProgram(CONN, "rail1.rxe");
}
**angle move4 [#r0e5655e]
task main() {
SetSensorLowspeed(S1);
until (BluetoothStatus(CONN) == NO_ERR);
int angle = GetAngle(20);
RotateMotor(OUT_BC,-SPEED,angle);
OnFwd(OUT_B,-SPEED);
OnFwd(OUT_C,SPEED);
Wait(1500);
angle += GetAngle(60);
RotateMotor(OUT_BC,SPEED,angle);
int d = searchDirection(120);
turn_right_here;
Wait(600);
if(d > 15){
fwdDist(d);}
else {fwdDist(d);}
PlaySound(SOUND_UP);
RemoteStartProgram(CONN, "rail2.rxe");
}
**move [#g2dac7b9]
task main() {
SetSensorLowspeed(S1);
until (BluetoothStatus(CONN) == NO_ERR);
int nOnline=0;
RotateMotor(OUT_BC,50,GetAngle(50));
OnFwd(OUT_B,30);
OnRev(OUT_C,50);
Wait(3000);
RotateMotor(OUT_BC,50,GetAngle(50));
int d = searchDirection(120);
if(d > 15){
fwdDist(d-15.0);}
else {fwdDist(d-15);}
PlaySound(SOUND_UP);
turn_right_here;
Wait(200);
RemoteStartProgram(CONN, "arm time1.rxe");
if(nOnline=0){
if(SensorUS(S3)<count){
sound;
Wait(10000);
nOnline++;
int angle = GetAngle(20);
RotateMotor(OUT_BC,-SPEED,angle);
OnFwd(OUT_B,-SPEED);
OnFwd(OUT_C,SPEED);
Wait(1500);
angle += GetAngle(60);
RotateMotor(OUT_BC,SPEED,angle);
int d = searchDirection(120);
if(d > 15){
fwdDist(d-15.0);}
else {fwdDist(d-15);}
PlaySound(SOUND_UP);
turn_right_here;
Wait(200);
RemoteStartProgram(CONN, "arm time2.rxe");
}
}
else if(nOnline=1){
if(SensorUS(S3)<count){
sound;
nOnline++;
}
}
else if(nOnline=2){
int angle = GetAngle(20);
RotateMotor(OUT_BC,-SPEED,angle);
OnFwd(OUT_B,-SPEED);
OnFwd(OUT_C,SPEED);
Wait(1500);
angle += GetAngle(60);
RotateMotor(OUT_BC,SPEED,angle);
int d = searchDirection(120);
turn_right_here;
Wait(600);
if(d > 15){
fwdDist(d);}
else {fwdDist(d);}
PlaySound(SOUND_UP);
RemoteStartProgram(CONN, "rail1.rxe");
if(SensorUS(S3)<count){
sound;
Wait(10000);
nOnline++;
}
}
else if(nOnline=3){
int angle = GetAngle(20);
RotateMotor(OUT_BC,-SPEED,angle);
OnFwd(OUT_B,-SPEED);
OnFwd(OUT_C,SPEED);
Wait(1500);
angle += GetAngle(60);
RotateMotor(OUT_BC,SPEED,angle);
int d = searchDirection(120);
turn_right_here;
Wait(600);
if(d > 15){
fwdDist(d);}
else {fwdDist(d);}
PlaySound(SOUND_UP);
RemoteStartProgram(CONN, "rail2.rxe");
}
}
**ex [#f70778d9]
task main() {
SetSensorLowspeed(S1);
until (BluetoothStatus(CONN) == NO_ERR);
OnFwd(OUT_BC,50);
Wait(5500);
turn_right_here;
Wait(2500);
RemoteStartProgram(CONN, "arm time.rxe");
Off(OUT_BC);
Wait(10000);
Wait(10000);
Wait(10000);
int angle1 = GetAngle(20);
RotateMotor(OUT_BC,-SPEED,angle1);
OnFwd(OUT_B,-SPEED);
OnFwd(OUT_C,SPEED);
Wait(1500);
angle1 += GetAngle(60);
RotateMotor(OUT_BC,SPEED,angle1);
int d2 = searchDirection(120);
if(d2 > 15){
fwdDist(d2-15.0);}
else {fwdDist(d2-15);}
PlaySound(SOUND_UP);
turn_right_here;
Wait(200);
RemoteStartProgram(CONN, "arm time.rxe");
Off(OUT_BC);
Wait(10000);
Wait(10000);
Wait(10000);
int angle2 = GetAngle(20);
RotateMotor(OUT_BC,-SPEED,angle2);
OnFwd(OUT_B,-SPEED);
OnFwd(OUT_C,SPEED);
Wait(1500);
angle2 += GetAngle(60);
RotateMotor(OUT_BC,SPEED,angle2);
int d3 = searchDirection(120);
turn_right_here;
Wait(600);
if(d3 > 15){
fwdDist(d3);}
else {fwdDist(d3);}
PlaySound(SOUND_UP);
RemoteStartProgram(CONN, "rail1.rxe");
Off(OUT_BC);
Wait(10000);
Wait(10000);
Wait(10000);
int angle3 = GetAngle(20);
RotateMotor(OUT_BC,-SPEED,angle3);
OnFwd(OUT_B,-SPEED);
OnFwd(OUT_C,SPEED);
Wait(1500);
angle3 += GetAngle(60);
RotateMotor(OUT_BC,SPEED,angle3);
int d4 = searchDirection(120);
turn_right_here;
Wait(600);
if(d4 > 15){
fwdDist(d4);}
else {fwdDist(d4);}
PlaySound(SOUND_UP);
RemoteStartProgram(CONN, "rail2.rxe");
}
**ex2 [#gb9319b5]
task main() {
SetSensorLowspeed(S1);
until (BluetoothStatus(CONN) == NO_ERR);
OnFwd(OUT_BC,50);
Wait(5500);
turn_right_here;
Wait(2000);
RemoteStartProgram(CONN, "arm time.rxe");
Off(OUT_BC);
Wait(10000);
Wait(10000);
OnFwd(OUT_B,-SPEED);
OnFwd(OUT_C,SPEED);
Wait(700);
OnFwd(OUT_BC,50);
Wait(4000);
RemoteStartProgram(CONN, "rail.rxe");
Off(OUT_BC);
}
*¥¹¥ì¡¼¥Ö¦ [#g12768a7]
*¥¹¥ì¡¼¥Ö¦(¥³¥Ô¡¼ÍÑ) [#g12768a7]
**arm time [#dd328ea5]
#define SPEED1 45
#define SPEED2 60
#define SPEED3 10
#define SPEED4 30
#define SPEED5 50
#define SPEED6 25
float GetAngle(float d)
{
const float diameter=5.45;
const float pi=3.1415;
float ang = d/(diameter*pi)*360.0;
return ang;
}
#define DOWN RotateMotor(OUT_A,SPEED3,105);
#define UP RotateMotor(OUT_A,-SPEED5,105); //¥¢¡¼¥àÁ´ÂΤÎÆ°¤
#define LDown RotateMotor(OUT_A,SPEED3,25);
#define LUp RotateMotor(OUT_A,-SPEED2,25);
#define Catch RotateMotor(OUT_B,-SPEED4,105);
#define Separate RotateMotor(OUT_B,SPEED4,105); //¥¢¡¼¥à¤ÎÆ°¤
task main ()
{
OnFwd(OUT_A,10);
Wait(1500);
Catch; ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò²¼¤²¡¢»æ¥³¥Ã¥×¤ò¤Ä¤«¤à
OnRev(OUT_A,50);
Wait(3500);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò¾å¤²¡¢¥ì¡¼¥ë¤Î¾å¤Ë¥Ü¡¼¥ë¤ò¤Î¤»¤ë
Wait(2000);
OnFwd(OUT_A,10);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
Wait(3500);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò²¼¤²¡¢»æ¥³¥Ã¥×¤òÃÖ¤¯
Separate;
OnRev(OUT_A,35);
Wait(2000); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò¾å¤²¤ë(¸µ¤Î°ÌÃÖ¤ËÌ᤹)
Wait(500);
}
**rail [#u382c2a1]
#define SPEED1 45
#define SPEED2 60
#define SPEED3 10
#define SPEED4 30
#define SPEED5 50
float GetAngle(float d)
{
const float diameter=5.45;
const float pi=3.1415;
float ang = d/(diameter*pi)*360.0;
return ang;
}
#define Into1 RotateMotor(OUT_C,SPEED3,20); //¥Ü¡¼¥ë¤òÆþ¤ì¤ë
#define Return1 RotateMotor(OUT_C,-SPEED3,25);
#define Into2 RotateMotor(OUT_C,SPEED4,30);
#define Return2 RotateMotor(OUT_C,-SPEED4,15);
task main(){
OnFwd(OUT_C,15);
Wait(1000);
Wait(3000); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥ì¡¼¥ë¤ò·¹¤±¡¢4¤Ä¤ÎÆâ2¤Ä¤À¤±¥Ü¡¼¥ë¤ò»æ¥³¥Ã¥×¤ËÆþ¤ì¤ë
OnRev(OUT_C,30);
Wait(500);
Wait(5000);
OnFwd(OUT_C,25);
Wait(1000);
Wait(3000); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥ì¡¼¥ë¤ò·¹¤±¡¢¥ì¡¼¥ë¤Ë»Ä¤Ã¤Æ¤¤¤ë¥Ü¡¼¥ë¤ò»æ¥³¥Ã¥×¤ËÆþ¤ì¤ë
OnRev(OUT_C,30);
Wait(2500);
}