[[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)

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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]
*¥í¥Ü¥Ã¥È¡¢¤Þ¤¿¤Ï¤½¤ÎÆ°ºî¤ÎÀâÌÀ [#h9193c48]
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#ref(2014b/Member/arisyka/Mission3/IMG_3870.JPG,20%)
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**¥¢¡¼¥à [#y4bd3434]
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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]
¥¢¡¼¥à¤òÆ°¤«¤¹¤¿¤á¤Ë»È¤Ã¤¿ÄêµÁ¤Ï°Ê²¼¤Î¤è¤¦¤Ç¤¢¤ë¡£
 #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;

 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
 }

#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);
¤³¤³¤ÎÄêµÁ¤Ï¥¢¡¼¥àÁ´ÂΤÎÆ°¤­¤òÄêµÁ¤·¤Æ¤¤¤ë¡£(¾å¤Î¼Ì¿¿¤Î­¡¤Î¥â¡¼¥¿¡¼¤Ë¤è¤ëÆ°¤­)
 #define DOWN RotateMotor(OUT_A,SPEED3,105);¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò²¼¤²¤ë
 #define UP RotateMotor(OUT_A,-SPEED5,105);  ¡¡//¥¢¡¼¥àÁ´ÂΤò¾å¤²¤ë
 #define LDown RotateMotor(OUT_A,SPEED3,25);¡¡¡¡
 #define LUp RotateMotor(OUT_A,-SPEED2,25);
 #define Little LDown;Wait(2000);LUp;          //¥Ü¡¼¥ë¤ò¥ì¡¼¥ë¤Ë³Î¼Â¤Ë¤Î¤»¤ë¤¿¤á¤ÎÆ°¤­

#ref(2014b/Member/arisyka/Mission3/arm¥ë¡¼¥×2.gif,45%)

#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°¤­
¤³¤³¤ÎÄêµÁ¤Ï¥¢¡¼¥à¤Î¥Ï¥µ¥ßÉôʬ¤ÎÆ°¤­¤òÄêµÁ¤·¤Æ¤¤¤ë¡£(¾å¤Î¼Ì¿¿¤Î­¢¤Î¥â¡¼¥¿¡¼¤Ë¤è¤ëÆ°¤­)
 #define Catch RotateMotor(OUT_B,-SPEED4,105);¡¡¡¡//¥¢¡¼¥à¤Ç¤Ä¤«¤à
 #define Separate RotateMotor(OUT_B,SPEED4,105);  //¥¢¡¼¥à¤òÎ¥¤¹

 task main ()
 {
 OnFwd(OUT_A,10);
 Wait(1500);
 Catch;	¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò²¼¤²¡¢»æ¥³¥Ã¥×¤ò¤Ä¤«¤à
#ref(2014b/Member/arisyka/Mission3/catch&separate.gif,40%)

 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;
**¥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¡£

 OnRev(OUT_A,35);
 Wait(2000); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò¾å¤²¤ë(¸µ¤Î°ÌÃÖ¤ËÌ᤹)
 Wait(500);
 }
¥ì¡¼¥ë¤òÆ°¤«¤¹¤¿¤á¤Ë»È¤Ã¤¿Æ°ºî¤Ï¾åµ­¤Ë½ñ¤¤¤¿¥¢¡¼¥à¤ÎÄêµÁ¤ÈƱ¤¸¤â¤Î¤ò»ÈÍѤ·¤¿¡£

**¥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(1²óÌÜ)
 #define Return1 RotateMotor(OUT_C,-SPEED3,25);¡¡ //¥ì¡¼¥ë¤òÌ᤹

 #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);
 #define Into2 RotateMotor(OUT_C,SPEED4,30);¡¡¡¡¡¡//¥Ü¡¼¥ë¤òÆþ¤ì¤ë(2²óÌÜ)
 #define Return2 RotateMotor(OUT_C,-SPEED4,15);¡¡ //¥ì¡¼¥ë¤òÌ᤹

 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);
*¥×¥í¥°¥é¥à [#ec7cd753]
º£²ó»ÈÍѤ¹¤ë¥×¥í¥°¥é¥à¤Ï¾åµ­¤Ë¤â¼¨¤·¤¿¥¢¡¼¥àŽ¥¥ì¡¼¥ë¤ÎÆ°ºî¤Î¥×¥í¥°¥é¥à¤Î¾¤Ë¡¢Ä¶²»ÇÈ¥»¥ó¥µ¤òÍøÍѤ·¤¿Æ°ºî¤Î¥×¥í¥°¥é¥à¡¢Bluetooth¤òÍøÍѤ·¤¿¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£

 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);
 }
**Ķ²»ÇÈ¥»¥ó¥µ¤òÍøÍѤ·¤¿Æ°¤­ [#l3e463dd]
¤³¤³¤Ç¾Ò²ð¤·¤Æ¤¤¤ë¥×¥í¥°¥é¥à¤ÏÇÛ¤é¤ì¤¿¥×¥ê¥ó¥È¤Ë½ñ¤«¤ì¤Æ¤¤¤ë»²¹Í¤Î¥×¥í¥°¥é¥à¤È¤Û¤ÜƱ¤¸¤â¤Î¤Ç¤¢¤ë¡£



**¥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);
 task main()
 {
 int d = searchDirection(120);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤Ë 120 ÅÙ¤ÎÈϰϤÇõ¤·¡¢¾ã³²Êª¤Þ¤Ç¤Îµ÷Î¥¤òÊÖ¤¹
 if(d > ¡û){
 fwdDist(d-¡û);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
 else {fwdDist(d-¡û);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//»æ¥³¥Ã¥×¤ÎÊý¸þ¤òõ¤·¤¿¸å²»¤òÌĤ餷¡¢Á°¸å¤ÎÆ°¤­¤Ç¡û­Ñ¼êÁ°¤ÇÄä»ß
 PlaySound(SOUND_UP);
 }

**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°¤­¤Ç15­Ñ¼êÁ°¤ÇÄä»ß
 PlaySound(SOUND_UP);
**Bluetooth¤òÍøÍѤ·¤¿¥×¥í¥°¥é¥à [#x935b665]
2¤Ä¤ÎNXC¤¬Bluetooth¤Ç¤Ä¤Ê¤¬¤Ã¤Æ¤¤¤ë¾õÂ֤Ǥ¢¤ë¤³¤È¤òÁ°Äó¤ÇÏäò¿Ê¤á¤ë¡£
¤³¤³¤Ç¤Ï¥Þ¥¹¥¿¡¼Â¦¤«¤é¥¹¥ì¡¼¥Ö¦¤Ë»Ø¼¨¤ò½Ð¤¹¥×¥í¥°¥é¥à¤ò¾Ò²ð¤¹¤ë¡£¡¡

 turn_right_here;
 Wait(200);
 #define CONN 1 ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¹¥ì¡¼¥Ö(ÄÌ¿®Áê¼ê)¤ÎÀܳÈÖ¹æ

 RemoteStartProgram(CONN, "arm time1.rxe");¡¡¡¡//¥¹¥ì¡¼¥Ö¤Î¡Öarm time1¡×¤Î¥×¥í¥°¥é¥à¤òµ¯Æ°¡¡
 }
 task main()
 {
 until (BluetoothStatus(CONN) == NO_ERR);¡¡¡¡//Àܳ¤Ç¤­¤ë¤Þ¤ÇÂÔµ¡

**angle move2 [#j2aa6be8]
 task main() {
 SetSensorLowspeed(S1);
 until (BluetoothStatus(CONN) == NO_ERR);
 //¥Þ¥¹¥¿¡¼Â¦¤Î¥×¥í¥°¥é¥à//

 int angle = GetAngle(20);
 RotateMotor(OUT_BC,-SPEED,angle);
 OnFwd(OUT_B,-SPEED);
 OnFwd(OUT_C,SPEED);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸å¤í¤Ë20­Ñ¸å¿Ê¤·¤¿¸å¡¢180ÅÙÀû²ó¤·¤Æ60­ÑÁ°¿Ê
 Wait(1500);
 angle += GetAngle(60);
 RotateMotor(OUT_BC,SPEED,angle);
 RemoteStartProgram(CONN, "¡Á.rxe");¡¡¡¡¡¡¡¡¡¡//¥¹¥ì¡¼¥Ö¤Î¡Ö¡Á¡×¤Î¥×¥í¥°¥é¥à¤òµ¯Æ°
 }¡¡

 int d = searchDirection(120);
 if(d > 15){
 fwdDist(d-15.0);}
 else {fwdDist(d-15);}
 PlaySound(SOUND_UP);
µÕ¤Ë¥¹¥ì¡¼¥Ö¦¤«¤é¥Þ¥¹¥¿¡¼Â¦¤Ë»Ø¼¨¤ò½Ð¤¹¾ì¹ç¤ÏÀܳÈÖ¹æ¤ò0¤ÈÊѹ¹¤¹¤ë¡£

 turn_right_here;
 Wait(200);
**ÌäÂêÅÀ¡¦²þÁ±ÅÀ [#l23eb6c6]
¥¢¡¼¥à¤ä¥ì¡¼¥ë¤ÎÆ°ºî¤ò¤¹¤ë¥×¥í¥°¥é¥à¤Ç¡¢»Ï¤á¤ÏÁ´¤Æ³ÑÅÙ¤ò»ØÄꤵ¤»¤Æ¥â¡¼¥¿¡¼¤òÆ°¤«¤·¤Æ¤¤¤¿¤¬¡¢¥â¡¼¥¿¡¼¤¬¤½¤Î³ÑÅÙ¤ò¤Ô¤Ã¤¿¤ê²ó¤é¤Ê¤¤¸Â¤êÆ°¤­Â³¤±¤ë¡¢¤¹¤Ê¤ï¤Á¾¤ÎÉôÉÊÅù¤Ç¤Ò¤Ã¤«¤«¤Ã¤Æ¤¤¤¿¤é¤½¤ÎÆ°ºî¤Ï½ª¤ï¤é¤Ê¤¤¤«¤é¼¡¤ÎÆ°ºî¤Ë°Ü¤êÊѤï¤é¤Ê¤¤¤³¤È¤¬ÅÓÃæ¤ÇȽÌÀ¤·¤¿¤¿¤á¡¢¤Ê¤ë¤Ù¤¯³ÑÅÙ»ØÄê¤ò¤»¤º¤Ë½ÐÎϤȻþ´Ö¤Ç¥â¡¼¥¿¡¼¤òÆ°¤«¤·¡¢³Î¼Â¤ËÆ°ºî¤ò¤µ¤»¤ë¤è¤¦¤Ë²þÁ±¤·¤¿¡£

 RemoteStartProgram(CONN, "arm time2.rxe");
º£¤Þ¤Ç¾Ò²ð¤·¤Æ¤­¤¿¥×¥í¥°¥é¥à¤òÊ£¿ô¤Î¥×¥í¥°¥é¥à¤Ëʬ¤±¡¢Bluetooth¤òÍøÍѤ¹¤ë¤³¤È¤ÇÁ´¤Æ·Ò¤®¹ç¤ï¤»¤è¤¦¤È»î¤ß¤¿¤¬¡¢¥Þ¥¹¥¿¡¼Â¦¤«¤é¥¹¥ì¡¼¥Ö¦¤Ë¥×¥í¥°¥é¥à¤ò»Ø¼¨½Ð¤¹¤³¤È¤ÏÀ®¸ù¤·¤¿¤â¤Î¤Î¡¢Â³¤±¤Æ¥¹¥ì¡¼¥Ö¦¤«¤é¥Þ¥¹¥¿¡¼Â¦¤Î¥×¥í¥°¥é¥à¤òµ¯Æ°¤µ¤»¤è¤¦¤È¤¹¤ë¤È¥Þ¥¹¥¿¡¼Â¦¤¬È¿±þ¤·¤Æ¤¯¤ì¤Ê¤¤ÌäÂ꤬µ¯¤­¤¿¡£¥Þ¥¹¥¿¡¼Â¦¤È¥¹¥ì¡¼¥Ö¦¤ÎNXC¤òÊѤ¨¤Æ¤ß¤¿¤ê¡¢¥×¥í¥°¥é¥à¤ò¾¯¤·¤À¤±ÊѤ¨¤Æ¤ß¤¿¤ê¤·¤Æ»î¤·¤¿¤â¤Î¤Î¡¢È¿±þ¤·¤Ê¤¤¤³¤È¤ËÊѤï¤ê¤Ï¤Ê¤«¤Ã¤¿¤¿¤á¡¢¥Þ¥¹¥¿¡¼Â¦¤Î¥×¥í¥°¥é¥à¤ò1¤Ä¤Ë¤Þ¤È¤á¤Æ¡¢¥¹¥ì¡¼¥Ö¦¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤·¤Æ¤¤¤ë»þ¤ÏWait¤òÍøÍѤ·¤ÆÂÔµ¡¤µ¤»¡¢¥¹¥ì¡¼¥Ö¦¤Î¥×¥í¥°¥é¥à¤¬½ª¤ï¤ì¤Ð¥Þ¥¹¥¿¡¼Â¦¤Î¼¡¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤µ¤»¤ë¤è¤¦Êѹ¹¤·¤¿¡£

**¥¹¥ì¡¼¥Ö¦ [#p93594c5]
***¥¢¡¼¥àÆ°ºî¡Êarm time¡Ë [#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);  
 #define LDown RotateMotor(OUT_A,SPEED3,25);
 #define LUp RotateMotor(OUT_A,-SPEED2,25);

**angle move3 [#h9f89ef8]
 task main() {
 SetSensorLowspeed(S1);
 until (BluetoothStatus(CONN) == NO_ERR);
 #define Catch RotateMotor(OUT_B,-SPEED4,105);
 #define Separate RotateMotor(OUT_B,SPEED4,105); 

 int angle = GetAngle(20);
 RotateMotor(OUT_BC,-SPEED,angle);
 OnFwd(OUT_B,-SPEED);
 OnFwd(OUT_C,SPEED);
 task main ()
 {
 OnFwd(OUT_A,10);
 Wait(1500);
 angle += GetAngle(60);
 RotateMotor(OUT_BC,SPEED,angle);
 Catch;	¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò²¼¤²¡¢»æ¥³¥Ã¥×¤ò¤Ä¤«¤à

 int d = searchDirection(120);
 turn_right_here;
 Wait(600);
 if(d > 15){
 fwdDist(d);}
 else {fwdDist(d);}
 PlaySound(SOUND_UP);
 OnRev(OUT_A,50);
 Wait(3500);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò¾å¤²¡¢¥ì¡¼¥ë¤Î¾å¤Ë¥Ü¡¼¥ë¤ò¤Î¤»¤ë
 Wait(2000);

 RemoteStartProgram(CONN, "rail1.rxe");
 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);
 }

**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);
***¥ì¡¼¥ëÆ°ºî¡Êrail¡Ë [#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;
 }

 int d = searchDirection(120);
 turn_right_here;
 Wait(600);
 if(d > 15){
 fwdDist(d);}
 else {fwdDist(d);}
 PlaySound(SOUND_UP);
 #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);

 RemoteStartProgram(CONN, "rail2.rxe");
 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);
 }

**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));
**¥Þ¥¹¥¿¡¼Â¦ [#wa6a612a]
¾åµ­¤Î¥×¥í¥°¥é¥à¤ÎÀâÌÀ¤ÇÍøÍѤ·¤¿ÄêµÁ¤Ë¥×¥é¥¹¤¹¤ë¡£
 #define turn_right_here OnFwd(OUT_B,SPEED_SLOW);OnFwd(OUT_C,-SPEED_SLOW);  //±¦Àû²ó

 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");
 }
 }
***ËÜÈÖÍѤËÍÑ°Õ¤·¤¿¥×¥í¥°¥é¥à [#ne735f23]

**ex [#f70778d9]
 task main() {
 SetSensorLowspeed(S1);
 until (BluetoothStatus(CONN) == NO_ERR);
 OnFwd(OUT_BC,50);

 OnFwd(OUT_BC,50);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//100cmÁ°¤ËÁ°¿Ê¤¹¤ë
 Wait(5500);
 turn_right_here;

 int d1 = searchDirection(120);¡¡¡¡¡¡¡¡¡¡//»æ¥³¥Ã¥×¤ÎÊý¸þ¤òõ¤¹
 if(d1 > 15){
 fwdDist(d1-15.0);}
 else {fwdDist(d1-15);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ºÇÄãÃͤòȯ¸«¤·¤¿¤é²»¤òÌĤ餷¡¢Á°¸å¤ÎÆ°¤­¤Ç15­Ñ¼êÁ°¤ÇÄä»ß
 PlaySound(SOUND_UP);

 turn_right_here;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥à¤¬ÄϤá¤ë°ÌÃ֤ޤǥí¥Ü¥Ã¥ÈÁ´ÂΤòÀû²ó¤µ¤»¤ë
 Wait(2500);
 RemoteStartProgram(CONN, "arm time.rxe");

 RemoteStartProgram(CONN, "arm time.rxe");¡¡//¥¹¥ì¡¼¥Ö¤Î¡Öarm time¡×¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤µ¤»¤ë
 Off(OUT_BC);

 Wait(10000);
 Wait(10000);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¹¥ì¡¼¥Ö¦¤Î¥×¥í¥°¥é¥à¼Â¹ÔÃæ¤Î¤¿¤áÂÔµ¡
 Wait(10000);
 Wait(10000);

 int angle1 = GetAngle(20);
 RotateMotor(OUT_BC,-SPEED,angle1);
 OnFwd(OUT_B,-SPEED);
 OnFwd(OUT_C,SPEED);
 RotateMotor(OUT_BC,-SPEED,angle1);¡¡¡¡¡¡¡¡//20cm¸å¿Ê¤¹¤ë
 OnFwd(OUT_B,-SPEED);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
 OnFwd(OUT_C,SPEED);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//180ÅÙ²óž
 Wait(1500);
 angle1 += GetAngle(60);
 RotateMotor(OUT_BC,SPEED,angle1);
 RotateMotor(OUT_BC,SPEED,angle1);¡¡¡¡¡¡¡¡//60cmÁ°¿Ê¤¹¤ë

 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;
 turn_right_here;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÈùÄ´À°
 Wait(600);
 if(d3 > 15){
 fwdDist(d3);}
 else {fwdDist(d3);}
 else {fwdDist(d3);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤¿¤é¡¢Î¥¤ì¤Æ¤¤¤ëµ÷Î¥¤À¤±Á°¿Ê(¥ì¡¼¥ë¤Î²¼¤Ë»æ¥³¥Ã¥×¤ò»ý¤Ã¤Æ¤¤¤¯¤¿¤á¤ÎÆ°ºî)
 PlaySound(SOUND_UP);
 RemoteStartProgram(CONN, "rail1.rxe");
 RemoteStartProgram(CONN, "rail.rxe");¡¡//¥¹¥ì¡¼¥Ö¤Î¡Örail¡×¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤µ¤»¤ë
 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");
 RemoteStartProgram(CONN, "rail.rxe");
 }

**ex2 [#gb9319b5]
***ºÇ½ªÅª¤Ë»ÈÍѤ·¤¿¥×¥í¥°¥é¥à [#sb4129f9]
ËÜÈÖ¤ÇsearchDirection¤¬¾å¼ê¤¯ºîÆ°¤·¤Ê¤«¤Ã¤¿¤¿¤á¡¢ºÇ½ª¼êÃʤȤ·¤ÆĶ²»ÇÈ¥»¥ó¥µ¤òÍøÍѤ»¤º¤Ë¥Ü¡¼¥ë¤ÎÆþ¤Ã¤¿»æ¥³¥Ã¥×¤Î¤È¤³¤í¤Þ¤Ç¹Ô¤«¤»¡¢Ê̤λ楳¥Ã¥×¤Ë¥Ü¡¼¥ë¤òÆþ¤ì¤ë¤È¤³¤í¤Þ¤Ç¡¢¤Û¤ÜOnFwd¤ò»È¤Ã¤Æ°ÜÆ°¤µ¤»¤¿¡£

 task main() {
 SetSensorLowspeed(S1);
 until (BluetoothStatus(CONN) == NO_ERR);
 OnFwd(OUT_BC,50);
 Wait(5500);
 turn_right_here;
 Wait(5500);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//100cm¤Û¤ÉÁ°¿Ê¤¹¤ë

 turn_right_here;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥à¤¬ÄϤá¤ë°ÌÃÖ¤Þ¤ÇÀû²ó¤¹¤ë
 Wait(2000);
 RemoteStartProgram(CONN, "arm time.rxe");

 RemoteStartProgram(CONN, "arm time.rxe");¡¡//¥¹¥ì¡¼¥Ö¤Î¡Örail¡×¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤µ¤»¤ë
 Off(OUT_BC);

 Wait(10000);
 Wait(10000);
 Wait(10000);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¹¥ì¡¼¥Ö¦¤Î¥×¥í¥°¥é¥à¼Â¹ÔÃæ¤Î¤¿¤áÂÔµ¡

 OnFwd(OUT_B,-SPEED);
 OnFwd(OUT_C,SPEED);
 Wait(700);
 Wait(700);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Ê̤λ楳¥Ã¥×¤ò¥ì¡¼¥ë²¼¤Ë»ý¤Ã¤Æ¤¤¤¯¤¿¤á¤Î¥×¥í¥°¥é¥à
 OnFwd(OUT_BC,50);
 Wait(4000);
 RemoteStartProgram(CONN, "rail.rxe");

 RemoteStartProgram(CONN, "rail.rxe");¡¡¡¡¡¡¡¡//¥¹¥ì¡¼¥Ö¤Î¡Örail¡×¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤µ¤»¤ë
 Off(OUT_BC);
 }

*¥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);
¤³¤Î¥×¥í¥°¥é¥à¤ÇËÜÈÖ¤Ï1¤Ä¤Î¥Ü¡¼¥ë¤Î°ÜÆ°¤ËÀ®¸ù¤¹¤ë¤³¤È¤¬½ÐÍ褿¡£

 #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
*´¶ÁÛ [#f09587f0]
¥í¥Ü¥Ã¥È¡¦¥×¥í¥°¥é¥à¤ÎÀ½ºî¤¬º£¤Þ¤Ç¤ÈÈæ¤Ùʪ¤Ë¤Ê¤é¤Ê¤¤¤Û¤ÉÂçÊѤǡ¢¤·¤«¤â»þ´Ö¤ò¤«¤±¤¿Ê¬¡¢Á´Éô¤¬Á´Éô·ë²Ì¤Ë¤Ê¤ë¤È¤Ï¸Â¤é¤Ê¤¤¤³¤È¤ò»×¤¤ÃΤ餵¤ì¤¿µ¤¤¬¤·¤¿¡£¥×¥í¥°¥é¥à¤ÎÎ̤¬Â¿¤¯¤Ê¤ì¤Ð¤Ê¤ë¤Û¤É¥ß¥¹¤¬µ¯¤³¤ê¤ä¤¹¤¤¡¢¤Þ¤¿Ê£»¨¤Ê¥×¥í¥°¥é¥à¤Ê¤Û¤É1¤Ä1¤Ä¤Á¤ã¤ó¤ÈÍý²ò¤·¤Æ³Îǧ¤·¤Ê¤¤¤È¤¤¤±¤Ê¤¤¤³¤È¤Ëµ¤¤Å¤«¤µ¤ì¤¿¡£¤³¤ì¤«¤é¤â¥í¥Ü¥Ã¥È¤òÀ½ºî¤·¤Æ¥×¥í¥°¥é¥à¤òºî¤Ã¤Æ¤¤¤¯µ¡²ñ¤¬¤¢¤ë¤Î¤Ç¡¢¤³¤Î¥¼¥ß¤Ç³Ø¤ó¤À¤³¤È¤ò³è¤«¤·¤Æ¤¤¤­¤¿¤¤¤È»×¤¦¡£

 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);
 }


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