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***float·¿´Ø¿ô¥×¥í¥°¥é¥à [#ked62cbb]
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¡¡
}
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#define Ninety GetAngle(8.25)
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#define Rotary(l) GetAngle(l) // lcmʬ²óž
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#define Turn_r RotateMotorEx(OUT_BC,35,Ninety,100,true,false); //±¦Àû²ó(¥â¡¼¥¿B¤ÈC¤ò35%¤Î¥¹¥Ô¡¼¥É¤ÇƱ´ü¤µ¤»¤º90ÅÙÁ°Å¾)
#define Turn_l RotateMotorEx(OUT_BC,-35,Ninety,100,true,false); //º¸Àû²ó(¥â¡¼¥¿B¤ÈC¤ò35%¤Î¥¹¥Ô¡¼¥É¤ÇƱ´ü¤µ¤»¤º90ÅÙ¸åž)
#define Go_F(l) RotateMotorEx(OUT_BC,25,Rotary(l),0,true,true); //lcmÁ°¿Ê(¥â¡¼¥¿B¤ÈC¤ò25%¤Î¥¹¥Ô¡¼¥É¤ÇƱ´ü¤µ¤»¤ÆlcmʬÁ°Å¾)
#define Go_B(l) RotateMotorEx(OUT_BC,-25,Rotary(l),0,true,true); //lcm¸å¿Ê(¥â¡¼¥¿B¤ÈC¤ò25%¤Î¥¹¥Ô¡¼¥É¤ÇƱ´ü¤µ¤»¤Ælcmʬ¸åž)
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#define Tozire RotateMotor(OUT_A,50,800); //¥¢¡¼¥à¤òÊĤ¸¤ë(¥â¡¼¥¿A¤ò50%¤Î¥¹¥Ô¡¼¥É¤Ç800ÅÙÁ°Å¾)
#define Hirake RotateMotor(OUT_A,-25,800); //¥¢¡¼¥à¤ò³«¤¯(¥â¡¼¥¿A¤ò25%¤Î¥¹¥Ô¡¼¥É¤Ç800ÅÙ¸åž)
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***»æ¥³¥Ã¥×±¿ÈÂ¥µ¥Ö¥ë¡¼¥Á¥ó [#a2db4042]
sub Papercop() //»æ¥³¥Ã¥×¤òǧ¼±¢ª»ý¤Á¾å¤²¤ë¢ª±¿¤Ö¢ª²¼¤í¤¹Æ°ºî¤Î¥µ¥Ö¥ë¡¼¥Á¥ó
{
SetSensorLowspeed(S1);
int n=0; //»æ¥³¥Ã¥×¤òǧ¼±¤·¤¿²ó¿ô
while(n<1){
if (SensorUS(S1)<=10){ //»æ¥³¥Ã¥×¤È¤Îµ÷Î¥¤¬10cm°ÊÆâ¤Ê¤é
Go_F(5); //»æ¥³¥Ã¥×¤ò¼è¤ê¤Ë¹Ô¤¯
Tozire;
Turn_r;
OnRev(OUT_B,50);
Wait(100); //¥µ¡¼¥¯¥ë¤Þ¤Çľ¿Ê¤Ç¤¤ë¤è¤¦Ä´Àá
Go_F(10); //¥µ¡¼¥¯¥ë¤Ë¸þ¤«¤¦
Hirake;
Go_B(10);¡ùÃÏÅÀ¤ËÌá¤ë
OnRev(OUT_C,50);
Wait(200); //PÃÏÅÀ¤Þ¤Çľ¿Ê¤Ç¤¤ë¤è¤¦Ä´Àá
Turn_l;
OnFwd(OUT_B,50);
Wait(100);
Off(OUT_B); //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]
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#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¥¸
#define Boot 11 //¡Ö»æ¥³¥Ã¥×¤ò¼è¤ê¤ËÍè¤Æ¤¯¤À¤µ¤¤¡¢¥Þ¥¹¥¿¡¼¡×¥á¥Ã¥»¡¼¥¸
(¡ÖBoot¡×¤Ï¡Öµ¯Æ°¡×¤È¤¤¤¦°ÕÌ£¡£Áê¼ê¤òµ¯Æ°¤µ¤»¤ë¤È¤¤¤¦°Õ¤«¤é)
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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¡
}
}
}
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