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*¥×¥í¥°¥é¥à [#b8919fb0]
**ÄêµÁ [#cb8e16a6]
#define GO 10
#define STOP 99
#define ready 20
#define speed 35
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**´Ø¿ô [#r57b3ff8]
void move1() {
int msg = STOP;
Off(OUT_B);
RotateMotorEx(OUT_AC,speed,850,0,true,true);
RotateMotorEx(OUT_AC,speed,850,0,true,true);¡¡¡¡¡¡//Á°¿Ê
while (msg != GO) { //¥á¥Ã¥»¡¼¥¸¤ò¼õ¿®
while (msg != GO) { ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿®¹æ£±¤ò¼õ¿®¤¹¤ë¤Þ¤ÇÂԤäƤí
Off(OUT_ABC);
Wait(1);
ReceiveRemoteNumber(MAILBOX1,true,msg);
}
}
void move2() {
RotateMotor(OUT_C,speed,-320);
RotateMotor(OUT_C,speed,-320);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²óž¤·¤Æ´Ì¤ÎÊý¤ò¸þ¤±
OnFwd(OUT_AC,1);
Wait(1);
}
void move3(){
RotateMotorEx(OUT_AC,speed,-200,0,true,true);
RotateMotorEx(OUT_AC,speed,-200,0,true,true);¡¡¡¡¡¡//´Ì¤Ë¶á¤Å¤±
}
void catch(){
long t = 0;
SetSensorLowspeed(S4);
SendResponseNumber(MAILBOX1,ready); //¥á¥Ã¥»¡¼¥¸¤òÁ÷¿®
SendResponseNumber(MAILBOX1,ready); ¡¡//¿®¹æ£²¤òÁ÷¿®
while(true) {
if (SensorUS(S4) >= 30 && t <= 500){
while(true) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //ÀÖ³°Àþ¤¬È¿±þ¤¹¤ë¤«¡¢°ìÄê»þ´Ö¤¿¤Ã
if (SensorUS(S4) >= 30 && t <= 500){¡¡¡¡¡¡//¤¿¤éÏÓ¤ò¹ß¤í¤»
t++;
Wait(1);
} else {
RotateMotor(OUT_B,80,140);
break;
}
}
OnFwd(OUT_B,10);
}
void move4() {
OnFwd(OUT_AC,1);
Wait(1);
RotateMotorEx(OUT_AC,speed,600,0,true,true);
RotateMotorEx(OUT_AC,speed,600,0,true,true);¡¡¡¡¡¡//¸åÂष¤í
Off(OUT_B);
}
void AfterCatch() {
RotateMotor(OUT_C,speed,-340);
RotateMotor(OUT_C,speed,-340);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//µ¢¤ì
OnFwd(OUT_AC,1);
Wait(1);
RotateMotorEx(OUT_AC,speed,-900,0,true,true);
}
**¥¿¥¹¥¯¥á¥¤¥ó [#c5fd46f5]
task main()
{
move1();
move2();
move3();
catch();
move4();
AfterCatch();
}
*Æ°¤Êý [#mb819146]
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