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²ÝÂê2([[2016a/Member/ngtrz/Mission2:http://yakushi.shinshu-u.ac.jp/robotics/?2016a%2FMember%2Fngtrz%2FMission2]]»²¾È)ƱÍÍ¡¢º£²ó¤â¿Ê¤ß¤¿¤¤µ÷Î¥¤«¤é¥¿¥¤¥ä¤Î²óž³Ñ¤ò·×»»¤¹¤ëfloat·¿¤Î´Ø¿ô¤ò»È¤Ã¤¿¥×¥í¥°¥é¥à¤òÍѤ¤¤Þ¤·¤¿¡£ float GetAngle(float d) /* d¤Ë¤Ï¿Ê¤ß¤¿¤¤µ÷Î¥¤¬Æþ¤ë */ { const float diameter=5.45; //¥¿¥¤¥ä¤Îľ·Â(Ñ) const float pi=3.1415; //±ß¼þΨ(¦Ð) float ang =d/(diameter*pi)*360.0; //³ÑÅÙ¤ò·×»»¤¹¤ë return ang; //³ÑÅÙ¤òÊÖ¤¹¡¡ } ¡¦90¡ë²óž 90¡ë²óž¤Ë¤Ä¤¤¤Æ¤â»ä¤Î²ÝÂê2¤Î¥Ú¡¼¥¸¤Ç¾Ò²ð¤·¤Æ¤¤¤ë¤Î¤Ç¤½¤Á¤é¤ò»²¾È¤·¤Æ¤¯¤À¤µ¤¤¡£ 90¡ë²óž¤ÎÄêµÁ¤Ï°Ê²¼¤ÎÄ̤ê¤Ç¤¹¡£ #define Ninety GetAngle(8.25) ¡¦&ruby(¥¨¥ë){l};cm¿Ê¤à lcm¿Ê¤à¤Ë¤Ä¤¤¤Æ¤â»ä¤Î²ÝÂê2¤Î¥Ú¡¼¥¸(2cm¤È¤Ê¤Ã¤Æ¤¤¤Þ¤¹¤¬lcm¤Ëľ¤»¤Ðº£²ó¤ÈƱ¤¸¤¯¤Ê¤ê¤Þ¤¹)¤Ç¾Ò²ð¤·¤Æ¤¤¤ë¤Î¤Ç¤½¤Á¤é¤ò»²¾È¤·¤Æ¤¯¤À¤µ¤¤¡£ lcm¿Ê¤à¤ÎÄêµÁ¤Ï°Ê²¼¤ÎÄ̤ê¤Ç¤¹¡£ #define Rotary(l) GetAngle(l) // lcmʬ²óž ***ÄêµÁ [#z14a82fd] Àè¤Û¤É¤Î¡Ö90¡ë²óž¡×¡¢¡Ölcm¿Ê¤à¡×ÄêµÁ¤ò¸µ¤Ë¡Ö±¦Àû²ó¡×¡¢¡Öº¸Àû²ó¡×¡¢¡ÖÁ°¿Ê¡×¡¢¡Ö¸å¿Ê¡×¤òÄêµÁ¤·¤Þ¤·¤¿¡£ #define Turn_r RotateMotorEx(OUT_BC,35,Ninety,100,true,false); 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//PÃÏÅÀ¤Þ¤Çľ¿Ê¤Ç¤¤ë¤è¤¦Ä´Àá Go_B(5); //¥¹¥ì¡¼¥Ö¤¬ÃÖ¤¤¤¿»æ¥³¥Ã¥×¤Ë¤Ö¤Ä¤«¤é¤Ê¤¤¤è¤¦¤Ë¤¹¤ë¤¿¤á¤Ë²¼¤¬¤ë n++; //ǧ¼±²ó¿ô¤òÁý¤ä¤¹ Off(OUT_BC); //ÂÔµ¡ }else{ OnFwd(OUT_BC,50); //»æ¥³¥Ã¥×¤òõ¤¹ } } n=0; //²ó¿ô¥ê¥»¥Ã¥È } ***¥á¥¤¥ó¥×¥í¥°¥é¥à [#p4999229] ¥¹¥ì¡¼¥Ö¤ÈÄÌ¿®¤¹¤ë¤Ë¤¢¤¿¤ê¡¢°Ê²¼¤òÄêµÁ¤·¤Þ¤·¤¿¡£ #define CONN 1 //¥¹¥ì¡¼¥Ö¤ÎÀܳÈÖ¹æ #define Boot 11 //¡Ö»æ¥³¥Ã¥×¤ò¼è¤ê¤Ë¹Ô¤Ã¤Æ¤¯¤À¤µ¤¤¡¢¥Þ¥¹¥¿¡¼¡×¥á¥Ã¥»¡¼¥¸ (¡ÖBoot¡×¤Ï¡Öµ¯Æ°¡×¤È¤¤¤¦°ÕÌ£¡£Áê¼ê¤òµ¯Æ°¤µ¤»¤ë¤È¤¤¤¦°Õ¤«¤é) °Ê²¼¤¬¥á¥¤¥ó¥×¥í¥°¥é¥à¤Ç¤¹¡£ task main() { Go_F(25); //RÃÏÅÀ¤Þ¤Ç¿Ê¤à Turn_r; //RÃÏÅÀ±¦Àû²ó OnFwd(OUT_C,50); Wait(100); Off(OUT_C); //Àþ(ÀÖ)¤Ë±è¤Ã¤Æ¿Ê¤á¤ë¤è¤¦Ä´Àá Go_F(15); OnRev(OUT_C,50); Wait(100); Off(OUT_C); //P¤È¡ù¤ò·ë¤ÖÀþ(ÀÄ)¤òľ¿Ê¤Ç¤¤ë¤è¤¦Ä´Àá Turn_l; Off(OUT_BC); OnFwd(OUT_B,50); Wait(100); Off(OUT_B); //P¤È¡ù¤ò·ë¤ÖÀþ(ÀÄ)¤òľ¿Ê¤Ç¤¤ë¤è¤¦Ä´Àá Go_B(8); //¡ùÃÏÅÀ¤Þ¤Ç¸å¿Ê Off(OUT_BC); //ÂÔµ¡ int x=0; //¥á¥Ã¥»¡¼¥¸¤¬Á÷¤é¤ì¤Æ¤¤¿²ó¿ô while(x<6){ //»æ¥³¥Ã¥×¤Ï6¸Ä¤¢¤ë¤¿¤á6²ó·«¤êÊÖ¤¹ int msg; //¼õ¤±¼è¤Ã¤¿Ãͤò³ÊǼ¤¹¤ëÊÑ¿ô ReceiveRemoteNumber(MAILBOX1,true,msg); //MAILBOX1¤ÎÃͤò¼õ¤±¼è¤êmsg¤Ë³ÊǼ //true¤ò»ØÄꤹ¤ë¤È¥á¡¼¥ë¥Ü¥Ã¥¯¥¹¤¬¶õ¤Ë if(msg == Boot){ //¤â¤·¥á¥Ã¥»¡¼¥¸¤¬Á÷¤é¤ì¤Æ¤¤¿¤é Wait(1000); //¥¹¥ì¡¼¥Ö¤È¤Ö¤Ä¤«¤é¤Ê¤¤¤è¤¦¤ËÂÔµ¡¤·¤Æ Papercop(); x++; //¥á¥Ã¥»¡¼¥¸¤¬Á÷¤é¤ì¤Æ¤¤¿²ó¿ô¤òÁý¤ä¤¹ }else{ Off(OUT_BC); //Á÷¤é¤ì¤Æ¤³¤Ê¤¤¸Â¤ê¤ÏÂÔµ¡ } } } *¥í¥Ü¥³¥ó·ë²Ì [#c8f2c065] *¹Í»¡¡¦´¶ÁÛ [#nc98ef6a]