2015a/Member/KTY/Mission1 の履歴差分(No.3)

• 履歴一覧
• 現在との差分 を表示
• ソース を表示
• 2015a/Member/KTY/Mission1 へ行く。
  • 1 (2015-06-05 (金) 07:41:11)
  • 2 (2015-06-05 (金) 08:12:01)
  • 3 (2015-06-10 (水) 02:28:36)
  • 4 (2015-06-11 (木) 12:14:54)
  • 5 (2015-06-11 (木) 14:53:35)

• 追加された行はこの色です。
• 削除された行はこの色です。

*目次 [#udb32381]
#contents

*ロボットの説明 [#h1d59244]
**アーム [#aff5ab44]
部品
-モータ
-光センサ
-タッチセンサ

部品
+モータ
+光センサ
+タッチセンサ

&ref(./2015032908080001.jpg,50%);
*プログラム [#g65ef00a]

***ペンの上げ下げ [#ac202703]
 #define onecm RotateMotorEx(OUT_BC,50,18,0,true,true);
 #define twocm RotateMotorEx(OUT_BC,50,37,0,true,true);
 #define threecm RotateMotorEx(OUT_BC,50,56,0,true,true);
 #define fourcm RotateMotorEx(OUT_BC,50,77,0,true,true);
 #define fivecm RotateMotorEx(OUT_BC,50,99,0,true,true);
 #define sevencm RotateMotorEx(OUT_BC,50,142,0,true,true);
 #define eightcm RotateMotorEx(OUT_BC,50,163,0,true,true);
 #define tencm RotateMotorEx(OUT_BC,50,204,0,true,true);
 #define fifteencm RotateMotorEx(OUT_BC,50,308,0,true,true);
 #define left45 RotateMotorEx(OUT_BC,50,201,0,true,true);Off(OUT_BC);Wait(300);RotateMotorEx(OUT_BC,50,88,-100,true,true);Off(OUT_BC);Wait(300);RotateMotorEx(OUT_BC,-50,203,0,true,true);
 #define left90 RotateMotorEx(OUT_BC,50,203,0,true,true);Off(OUT_BC);Wait(300);RotateMotorEx(OUT_BC,50,184,-100,true,true);Off(OUT_BC);Wait(300);RotateMotorEx(OUT_BC,-50,187,0,true,true);
 #define right45 RotateMotorEx(OUT_BC,50,190,0,true,true);Off(OUT_BC);Wait(300);RotateMotorEx(OUT_BC,50,93,100,true,true);Off(OUT_BC);Wait(300);RotateMotorEx(OUT_BC,-50,192,0,true,true);
 #define right90   RotateMotorEx(OUT_BC,50,183,0,true,true);Off(OUT_BC);Wait(300);RotateMotorEx(OUT_BC,50,185,100,true,true);Off(OUT_BC);Wait(300);RotateMotorEx(OUT_BC,-50,188,0,true,true);
 #define up RotateMotor(OUT_A,-40,90);Off(OUT_A);Wait(500);
 #define down RotateMotor(OUT_A,40,90);Off(OUT_A);Wait(500);
 #define b_onecm RotateMotorEx(OUT_BC,-50,18,0,true,true);
 #define b_twocm RotateMotorEx(OUT_BC,-50,37,0,true,true);
 #define b_threecm RotateMotorEx(OUT_BC,-50,56,0,true,true);
 #define b_fourcm RotateMotorEx(OUT_BC,-50,77,0,true,true);
 #define b_fivecm RotateMotorEx(OUT_BC,-50,99,0,true,true);
 #define b_sevencm RotateMotorEx(OUT_BC,-50,142,0,true,true);
 #define b_eightcm RotateMotorEx(OUT_BC,-50,163,0,true,true);
 #define b_tencm RotateMotorEx(OUT_BC,-50,204,0,true,true);
 #define b_fifteencm RotateMotorEx(OUT_BC,-50,308,0,true,true); 
 
 task main()
 {
  OnFwd(OUT_BC,70);
  down;
  fifteencm;
  up;
  
  b_fourcm;
  right90;
  b_twocm;
  down;
  fourcm;
  up;
  b_twocm;
  right90;
  sevencm;
  left90;
  b_twocm;
  down;
  fourcm;
  up;//ここまでが草冠// 
 
  twocm;
  right90;
  fourcm;
 
  RotateMotorEx(OUT_BC,50,183,0,true,true);
  Off(OUT_BC);
  Wait(300);
  RotateMotorEx(OUT_BC,50,190,100,true,true);
  Off(OUT_BC);
  Wait(300);
  RotateMotorEx(OUT_BC,-50,188,0,true,true);
 
  b_fifteencm;
  
  down;//ここから月//
  fifteencm;
  up;
  right90;
  down;
  fourcm;
  up;
  onecm;
  right90;
  down;
  fifteencm;
  up;
 
  b_fivecm;
  right90;
  down;
  fourcm;
  up;
  onecm;
  right90;
  fivecm;
  onecm;
  right90;
  down;
  fourcm;
  up; 
  onecm;//ここまで月// 
 
  threecm;
  threecm;
  right90;
  b_threecm;
  b_threecm;
 
  down;//ここから右上部分//
  threecm;
  up;
  left90;
  b_fourcm;
  down;
  eightcm;
  up;
  b_fourcm;
  right45;
  b_threecm;
  down;
  onecm;
  up;
  twocm;
  down;
  eightcm;
  up;
  b_sevencm;
  right90;
  b_threecm;
  down;
  onecm;
  up;
  twocm;
  down;
  eightcm;
  up;
  b_eightcm;
  left45;
  fourcm;
  right90;
  b_fivecm;
  b_onecm;
  down;
  tencm;
  up;//ここまで右上部分// 
 
  b_fivecm;
  left90;
  twocm;
 
  down;//ここから右下部分//
  eightcm;
  up;
 
  b_fourcm;
  left45;
  b_fourcm;
  onecm;
  down;
  twocm;
  up;
  threecm;
  down;
  threecm;
  up;
  b_threecm;
  right90;
  b_fourcm;
  down;
  twocm;
  up;
  threecm;
  down;
  threecm;
  up;
 
  fifteencm;
 }