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#define THRESHOLD 45 //Çò¤È¹õ¤ÎÃæ´Ö¤ÎÈ¿¼ÍΨ
#define SPEED_Fast 60 // ®¤¤¥¹¥Ô¡¼¥É
#define SPEED_Slow 50 // ÃÙ¤¤¥¹¥Ô¡¼¥É
#define OnLR(speedR,speedL) OnRev(OUT_A,speedR);OnRev(OUT_B,speedL); //AB¤ÎÆ°ºîƱ»þ»ØÄê
/*
task pitagora() //¥Ü¡¼¥ë¤ò¼è¤Ã¤¿¤È¤¤Î¥á¥É¥ì¡¼
{
//while(true)
//{
PlayTone(1175,130);
Wait(150);
PlayTone(1318,130);
Wait(300);
PlayTone(1175,140);
Wait(160);
PlayTone(1318,130);
Wait(300);
PlayTone(1568,140);
Wait(160);
PlayTone(1480,130);
Wait(300);
PlayTone(1175,130);
Wait(160);
PlayTone(1318,130);
Wait(300);
PlayTone(988,130);
Wait(150);
PlayTone(880,140);
Wait(310);
PlayTone(988,130);
Wait(150);
PlayTone(1046,140);
Wait(310);
PlayTone(1109,130);
Wait(150);
PlayTone(1175,140);
Wait(460);
PlayTone(1175,130);
Wait(310);
PlayTone(1175,130);
Wait(150);
PlayTone(1318,130);
Wait(310);
PlayTone(1175,130);
Wait(150);
PlayTone(1318,130);
Wait(310);
PlayTone(1568,130);
Wait(150);
PlayTone(1480,130);
Wait(310);
PlayTone(1175,130);
Wait(150);
PlayTone(1318,130);
Wait(310);
PlayTone(1175,130);
Wait(150);
PlayTone(1318,130);
Wait(300);
PlayTone(1175,140);
Wait(160);
PlayTone(1318,130);
Wait(300);
PlayTone(2093,140);
Wait(160);
PlayTone(1975,130);
Wait(300);
PlayTone(1568,140);
Wait(160);
PlayTone(1760,130);
Wait(300);
PlayTone(1175,130);
Wait(150);
PlayTone(1318,140);
Wait(310);
PlayTone(1175,130);
Wait(150);
PlayTone(1318,140);
Wait(310);
PlayTone(1568,130);
Wait(150);
PlayTone(1480,140);
Wait(310);
PlayTone(1175,130);
Wait(150);
PlayTone(1318,130);
Wait(310);
PlayTone(988,130);
Wait(150);
PlayTone(880,440);
Wait(460);
PlayTone(1318,130);
Wait(310);
PlayTone(1318,130);
Wait(150);
PlayTone(1175,440);
Wait(770);
PlayTone(1175,130);
Wait(150);
PlayTone(1318,130);
Wait(300);
PlayTone(1175,140);
Wait(160);
PlayTone(1318,130);
Wait(300);
PlayTone(1568,140);
Wait(160);
PlayTone(1480,130);
Wait(300);
PlayTone(1175,140);
Wait(160);
PlayTone(1318,130);
Wait(300);
PlayTone(1175,130);
Wait(160);
PlayTone(1318,130);
Wait(300);
PlayTone(1175,130);
Wait(150);
PlayTone(1318,140);
Wait(310);
PlayTone(2093,130);
Wait(150);
PlayTone(1975,140);
Wait(310);
PlayTone(1568,130);
Wait(150);
PlayTone(1760,140);
Wait(310);
PlayTone(1175,130);
Wait(150);
PlayTone(1318,130);
Wait(310);
PlayTone(1175,130);
Wait(150);
PlayTone(1318,130);
Wait(310);
PlayTone(1568,130);
Wait(150);
PlayTone(1480,130);
Wait(310);
PlayTone(1175,130);
Wait(150);
PlayTone(1318,130);
Wait(310);
PlayTone(1046,130);
Wait(150);
PlayTone(1175,130);
Wait(300);
PlayTone(1046,140);
Wait(160);
PlayTone(1175,130);
Wait(300);
PlayTone(1397,140);
Wait(160);
PlayTone(1318,130);
Wait(300);
PlayTone(1046,140);
Wait(160);
PlayTone(1175,130);
Wait(300);
PlayTone(932,130);
Wait(160);
PlayTone(1046,130);
Wait(300);
PlayTone(932,130);
Wait(150);
PlayTone(1046,140);
Wait(310);
PlayTone(1244,130);
Wait(150);
PlayTone(1175,140);
Wait(310);
PlayTone(1046,130);
Wait(150);
PlayTone(988,140);
Wait(310);
PlayTone(880,130);
Wait(150);
PlayTone(784,1050);
Wait(1380);
PlayTone(1397,440);
Wait(460);
PlayTone(1318,130);
Wait(300);
PlayTone(1318,140);
Wait(160);
PlayTone(1480,130);
Wait(150);
PlayTone(1318,130);
Wait(150);
PlayTone(1480,140);
Wait(160);
PlayTone(1568,440);
Wait(460);
PlayTone(1175,130);
Wait(300);
PlayTone(988,130);
Wait(160);
PlayTone(1046,130);
Wait(300);
PlayTone(1046,130);
Wait(150);
PlayTone(1175,140);
Wait(160);
PlayTone(1109,130);
Wait(150);
PlayTone(1175,130);
Wait(150);
PlayTone(988,440);
Wait(770);
PlayTone(1397,130);
Wait(150);
PlayTone(1318,130);
Wait(310);
PlayTone(1318,130);
Wait(150);
PlayTone(1480,130);
Wait(150);
PlayTone(1318,140);
Wait(160);
PlayTone(1480,130);
Wait(150);
PlayTone(1568,440);
Wait(460);
PlayTone(1175,130);
Wait(310);
PlayTone(988,130);
Wait(150);
PlayTone(1046,130);
Wait(310);
PlayTone(1046,130);
Wait(150);
PlayTone(1175,130);
Wait(150);
PlayTone(1109,130);
Wait(150);
PlayTone(1175,140);
Wait(160);
PlayTone(988,440);
Wait(760);
PlayTone(1175,140);
Wait(160);
PlayTone(1318,130);
Wait(300);
PlayTone(1175,130);
Wait(150);
PlayTone(1318,140);
Wait(310);
PlayTone(1568,130);
Wait(150);
PlayTone(1480,140);
Wait(310);
PlayTone(1175,130);
Wait(150);
PlayTone(1318,140);
Wait(310);
PlayTone(1175,130);
Wait(150);
PlayTone(1318,130);
Wait(310);
PlayTone(1175,130);
Wait(150);
PlayTone(1318,130);
Wait(310);
PlayTone(1568,130);
Wait(150);
PlayTone(1480,130);
Wait(310);
PlayTone(1175,130);
Wait(150);
PlayTone(1318,130);
Wait(310);
PlayTone(1175,130);
Wait(150);
PlayTone(1318,130);
Wait(310);
PlayTone(1175,130);
Wait(150);
PlayTone(1318,130);
Wait(300);
PlayTone(1568,140);
Wait(160);
PlayTone(1480,130);
Wait(300);
PlayTone(1175,140);
Wait(160);
PlayTone(1318,130);
Wait(300);
PlayTone(1175,140);
Wait(160);
PlayTone(1318,130);
Wait(300);
PlayTone(1175,130);
Wait(160);
PlayTone(1318,130);
Wait(300);
PlayTone(2093,130);
Wait(150);
PlayTone(1975,140);
Wait(460);
PlayTone(1568,140);
Wait(1230);
// }
//}
//task pitagora_owari()
//{
PlayTone(1175,130);
Wait(150);
PlayTone(1318,130);
Wait(310);
PlayTone(1175,130);
Wait(150);
PlayTone(1318,130);
Wait(310);
PlayTone(2093,130);
Wait(150);
PlayTone(1975,130);
Wait(460);
PlayTone(1568,280);
Wait(300);
//}
}
*/
sub line_trace(int sensor_light_lv) //¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥»¥¹
{
if (sensor_light_lv < THRESHOLD-8)
{
OnRev(OUT_B,SPEED_Fast);
OnRev(OUT_A,-SPEED_Fast);
}
else if (sensor_light_lv < THRESHOLD-5)
{
OnRev(OUT_B,SPEED_Slow);
}
else if (sensor_light_lv < THRESHOLD +5)
{
OnRev(OUT_AB,50);
}
else if (sensor_light_lv < THRESHOLD+8)
{
OnRev(OUT_A,SPEED_Slow);
}
else
{
OnRev(OUT_A,SPEED_Fast);
OnRev(OUT_B,-SPEED_Fast);
}
}
sub go_forward_intersection() //¸òº¹ÅÀ¤òÄ̲᤹¤ë¢¤ÎÁàºî
{
OnRev(OUT_AB,SPEED_Slow);
Wait(410);
Off(OUT_AB);
}
sub turn_r_intersection() //¸òº¹ÅÀ¤Î±¦¤Ë¼ÖÂΤò¸þ¤«¤»¤ë
{
OnLR(60,-60);
Wait(450);
}
sub turn_l_intersection() // ¸òº¹ÅÀ¤Îº¸¤Ë¼ÖÂΤò¸þ¤«¤»¤ë
{
OnLR(-60,60);
Wait(450);
} //¥Ü¡¼¥ë¤ò¼è¤ëÆ°ºî
sub arm_lock()
{
Off(OUT_ABC);
OnRev(OUT_AB,25);
OnFwd(OUT_C,-12);
Wait(3200);
Off(OUT_ABC);
}
sub arm_unlock() //¥¢¡¼¥à¤ò¾å¤²¡¢¥Ü¡¼¥ë¤ò¼«Í³¤Ë¤¹¤ë
{
OnFwd(OUT_C,30);
}
long intersection_judgment(long t0) //Sensor¤ÎÃͤ¬34(Ǥ°Õ¤ÎÈ¿¼ÍΨ)°Ê¾å¤Î¤È¤¡¢°ú¿ô¤Ë¸½ºß¤Î»þ¹ï¤òÂåÆþ¤·ÊÖ¤¹¡£¤½¤ì°Ê³°¤ÏÊѹ¹¤»¤º°ú¿ô¤òÊÖ¤¹¡£
{
if (SENSOR_1 > 34)
{
t0 = CurrentTick();
}
return t0 ;
}
task main()
{
SetSensorLight(S1); // ¥é¥¤¥È¥»¥ó¥µ¡¼¤ÎÄêµÁ
SetSensorLowspeed(S2); //Ķ²»ÇÈ¥»¥ó¥µ¡¼¤ÎÄêµÁ
int intersection_count = 0; //¸òº¹ÅÀ¤Î¥«¥¦¥ó¥ÈÊÑ¿ô¤ÎÄêµÁ
int count_look=0; //¥Ü¡¼¥ë¤òÄϤó¤Ç¤¤¤ë¤«¤ÎÊÑ¿ô¤ÎÄêµÁ
long t0 = CurrentTick(); //»þ´Ö¤òµ²±¤¹¤ëÊÑ¿ô¤ÎÄêµÁ
RotateMotor(OUT_AB,SPEED_Slow,-1000); //¥¹¥¿¡¼¥ÈÃÏÅÀ¤«¤éÁ°¿Ê¤¹¤ë
while(CurrentTick()-t0 < 6000) //Á°¿Ê¤«¤é6ÉäۤɡÊ̵¾ò·ï¡Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¤³¤È¤Ç¡¢³Î¼Â¤ËÀþ¾å¤Ë¾è¤ë
{
line_trace(SENSOR_1); //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¸Æ¤Ó½Ð¤¹
}
t0 = CurrentTick(); // ¸òº¹ÅÀ¤ÎȽÄê¤ò»Ï¤á¤ë¤¿¤á¤Ë¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È
while(true)
{
//NumOut(0,0,SensorUS(S2) , true);
while(CurrentTick()-t0 < 410) //»ØÄꤷ¤¿È¿¼ÍΨ¡Êintersection_judgment¤Ë¤è¤ë½èÍý¡Ë¤¬¡¢410(Ǥ°Õ¤Î»þ´Ö)Ϣ³¤Ç¤Ê¤±¤ì¤Ð¡¢·«¤êÊÖ¤¹
{
line_trace(SENSOR_1);
t0=intersection_judgment(t0);
}
PlaySound(SOUND_UP); //¥ë¡¼¥×¤òÈ´¤±¤¿¡Ê¸òº¹ÅÀ¤Î½èÍý¤¬»Ï¤Þ¤ë¡Ë¤È¤¡¢²»¤òÌĤ餹
Off(OUT_AB); //¼ÖÂΤÎÄä»ß
Wait(1000);
intersection_count +=1; //¸òº¹ÅÀ¤ò¥«¥¦¥ó¥È¤¹¤ë
if (intersection_count <=4 ) //¸òº¹ÅÀ¤¬4²ó°ÊÆâ¤Î¤È¤¤Î½èÍý
if (intersection_count <=5 ) //¸òº¹ÅÀ¤¬5²ó°ÊÆâ¤Î¤È¤¤Î½èÍý
{
turn_r_intersection(); //¢¤Î½èÍý
go_forward_intersection(); //£¤Î½èÍý
t0 = CurrentTick(); //¥¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È
while(CurrentTick()-t0 < 1000) //¤¤Î½èÍý¡Ê1Éô֥饤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¡Ë
{
line_trace(SENSOR_1);
}
if (intersection_count ==2) //2²ó¤á¤Î¸òº¹ÅÀ¤Î¤È¤
{
RotateMotor(OUT_AB,SPEED_Slow,500); //¸å¤í¤Ë¡ÊÀµ³Î¤Ë¡Ë²¼¤¬¤ë
while(SensorUS(S2)<=20) //Ķ²»ÇÈ¥»¥ó¥µ¡¼¤¬20cm°ÊÆâ¤Î¤È¤¥ë¡¼¥×
{
OnRevSync(OUT_AB,40,0); //Àµ³Î¤ËÁ°¿Ê
}
arm_lock(); //¥Ü¡¼¥ë¤Î¼èÆÀ
//start pitagora ; //¥á¥í¥Ç¥£¤òή¤¹
}
}
else if (intersection_count ==5 ) //¾å¤Î¥×¥í¥°¥é¥à¤Îgo_forward_intersection¤Ë¾ò·ï¼°¡Öif (intersection_count !=5 )¡×¤ò¤Ä¤±¤ì¤Ð¡¢¥³¥ó¥Ñ¥¯¥È¤Ë¤Ï¤Ê¤ë¤¬¡¢¥·¥å¡¼¥È¤Î½èÍý¤ÏÄ´À᤬ɬÍפʤΤÇʬΥ
else if (intersection_count ==6 ) //¾å¤Î¥×¥í¥°¥é¥à¤Îgo_forward_intersection¤Ë¾ò·ï¼°¡Öif (intersection_count !=6 )¡×¤ò¤Ä¤±¤ì¤Ð¡¢¥³¥ó¥Ñ¥¯¥È¤Ë¤Ï¤Ê¤ë¤¬¡¢¥·¥å¡¼¥È¤Î½èÍý¤ÏÄ´À᤬ɬÍפʤΤÇʬΥ
{
turn_l_intersection();
t0 = CurrentTick();
while(CurrentTick()-t0 < 1500) //¥é¥¤¥ó¥È¥ì¡¼¥¹¤Ç¥é¥¤¥ó¤Ë³Î¼Â¤Ë¾è¤ë
{
line_trace(SENSOR_1);
}
Off(OUT_AB); //Á°¿Ê¤·¤Ê¤¬¤é¡¢¥Ü¡¼¥ë¤òÎ¥¤·¡¢´·À¤Ë¤è¤Ã¤Æ¥·¥å¡¼¥È¤¹¤ë
OnRevSync(OUT_AB,40,0);
arm_unlock();
Wait(1500);
Off(OUT_ABC);
break; //¥×¥í¥°¥é¥à¤Î½ªÎ»
}
t0 = CurrentTick();
}
}
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