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#contents
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#define CONN 1¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÀѤ߾夲¥í¥Ü¥Ã¥È¤È¤ÎÀܳÈÖ¹æ
int a;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥È¥ì¡¼¥¹¤·¤Æ¸òº¹ÅÀȽÃǤ˻Ȥ¦
long t;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡¡¡//»þ´Ö¤ò¬¤ë¤¿¤á¤Ë»È¤¦
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sub sound_up() //SOUND_UP¤òÌĤ餹¡£
{
PlaySound(SOUND_UP);
}
¢¹õÀþ¤Î±¦Â¦¡¢º¸Â¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¡£´ðËܤθòº¹ÅÀ¤ÎȽÊÌÊýË¡¤Ï[[²ÝÂê2:http://yakushi.shinshu-u.ac.jp/robotics/?2017a%2FMember%2Fkk%2FMission2]]¤Î¤â¤Î¤È°ì½ï¤Ç¤¢¤ë¤¬¡¢²ÝÂê2¤Î¥×¥í¥°¥é¥à¤¬½ÐÍè¤Î°¤¤¤â¤Î¤À¤Ã¤¿¤Î¤Ç¡¢º£²ó¤Ï¥µ¥Ö¥ë¡¼¥Á¥ó¤Î½ñ¤Êý¤òÊѹ¹¤·¤Æ¤¤¤ë¡£°ú¿ô£øÉðÊÆâ¤Ê¤é¥È¥ì¡¼¥¹¤Ï½ªÎ»¤·¤Ê¤¤¤¬¡¢£øÉäò±Û¤¨¤Æ¤«¤éµ¡ÂΤ¬µÞ³ÑÅ٤Ƕʤ¬¤ë¤Èµ¡ÂΤÏÄä»ß¤¹¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£
sub migi_susumu(int x) //¹õÀþ¤Î±¦Â¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¡£x¤Ï½Ðȯ¤¹¤ë¸òº¹ÅÀ¤Î¶Ê¤¬¤ê»Ï¤á¤ä¸íǧ¤·¤ä¤¹¤¤¥«¡¼¥Ö¤òĶ¤¨¤ëÂçÂΤÎÉÿô¤òÆþ¤ì¤ë¡£
{
t=CurrentTick();
while(CurrentTick()-t<x){
a=0;
while(a<=3){
if(SENSOR_1>=55){ //º¸
OnFwd(OUT_A,30);
OnRev(OUT_C,30);
}else if(SENSOR_1>
OnFwd(OUT_A,30);
Off(OUT_C);
}else if(SENSOR_1>=45){
OnFwd(OUT_C,30);
Off(OUT_A);
}else{ //±¦
OnFwd(OUT_C,30);
OnRev(OUT_A,30);
a=a+1;
}
}
}
sound_up();
}
sub hidari_susumu(int y) //¹õÀþ¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤¹¤ë¡£y¤Ï¾å¤Îx¤ÈƱ¤¸¡£
{
t=CurrentTick();
while(CurrentTick()-t<y){
a=0;
while(a<=3){
if(SENSOR_1>=55){ //±¦
OnFwd(OUT_C,30);
OnRev(OUT_A,30);
}else if(SENSOR_1>=50){
OnFwd(OUT_C,30);
Off(OUT_A);
}else if(SENSOR_1>=45){
OnFwd(OUT_A,30);
Off(OUT_C);
}else{ //º¸
OnFwd(OUT_A,30);
OnRev(OUT_C,30);
a=a+1;
}
}
}
sound_up();
}
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sub chousei() //¹õÀþ¤Î±¦Â¦¤ò¥È¥ì¡¼¥¹¤·¤Æ¤¤¤¿¤È¤¤Ë»È¤¦
{
OnFwd(OUT_A,35);¡¡¡¡¡¡¡¡¡¡¡¡ //Á°¤ò¸þ¤¯
OnRev(OUT_C,35);
Wait(600);
OnFwd(OUT_AC,30);¡¡¡¡¡¡¡¡¡¡ //¸òº¹ÅÀ¤ò±Û¤¨¤ë
Wait(400);
}
sub chousei_2() ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¹õÀþ¤Îº¸Â¦¤ò¥È¥ì¡¼¥¹¤·¤Æ¤¤¤¿¤È¤¤Ë»È¤¦¡£¤ä¤Ã¤Æ¤¤¤ë¤³¤È¤Ïchousei()¤ÈƱ¤¸
{
OnFwd(OUT_C,30);
OnRev(OUT_A,30);
Wait(750);
OnFwd(OUT_AC,30);
Wait(500);
}
¤S(Q)¦¤«¤éR¤ËÍ褿µ¡ÂΤòT¤ÎÁ°¤ÇÄä»ß¤µ¤»¤ë¡£
sub s_t() //S¦¤«¤éR¤ËÍ褿µ¡ÂΤòT¤ÎÁ°¤ÇÄä»ß¤µ¤»¤ë¡£
{
OnFwd(OUT_C,20);¡¡¡¡¡¡¡¡ //T¤ò¸þ¤¯
OnFwd(OUT_A,10);
Wait(600);
OnFwd(OUT_AC,30);
Wait(950);
Off(OUT_AC);
Wait(400);
sound_up();
}
sub q_t() //Q¦¤«¤éR¤ËÍ褿µ¡ÂΤòT¤ÎÁ°¤ÇÄä»ß¤µ¤»¤ë¡£
{
OnRev(OUT_A,15);¡¡¡¡¡¡¡¡ //T¤ò¸þ¤¯
OnFwd(OUT_C,40);
Wait(230);
OnFwd(OUT_AC,30);
Wait(600);
sound_up();
}
¥T¤Ë´Ì¤òÃÖ¤¤¤¿¸å¡¢¸åÂष¤ÆÀû²ó¡¢±ß¸ÌSR¤ò¸«¤Ä¤±½Ð¤·¡¢S¤Þ¤Ç¿Ê¤à¡£
sub hukki_s()
{
OnRev(OUT_AC,40);
Wait(950);
OnFwd(OUT_C,35);¡¡¡¡¡¡¡¡¡¡¡¡//¤³¤Î´Ö¤ËľÀþRT¤ò±Û¤¨¡¢¸÷¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤Ê¤¤¤è¤¦¤Ë¤¹¤ë
OnRev(OUT_A,10);
Wait(1000);
while(SENSOR_1>=50){¡¡¡¡¡¡¡¡//¸÷¥»¥ó¥µ¡¼¤Ë¤è¤Ã¤Æ¡¢¹õÀþ(±ß¸ÌSR)¤¬¤¯¤ë¤Þ¤ÇÀû²ó¤·Â³¤±¤ë¡£
OnFwd(OUT_C,30);
OnRev(OUT_A,10);
}
Off(OUT_AC);
hidari_susumu(1000);¡¡¡¡¡¡¡¡//S¤Þ¤Ç¥È¥ì¡¼¥¹¤¹¤ë
sound_up();
}
¦ÃÏÅÀF¤Î´Ì¤ò¼è¤Ã¤¿¸å¡¢Àû²ó¤·¤Æ±ß¸ÌQR¤ò¸«¤Ä¤±½Ð¤·¡¢ÃÏÅÀR¤Þ¤Ç¿Ê¤à¡£
sub hukki_r()
{
OnFwd(OUT_C,30); //¤³¤Î´Ö¤ËľÀþEF¤ò±Û¤¨¡¢¸÷¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤Ê¤¤¤è¤¦¤Ë¤¹¤ë
OnRev(OUT_A,10);
Wait(3000);
while(SENSOR_1>=50){ //¸÷¥»¥ó¥µ¡¼¤Ë¤è¤Ã¤Æ¡¢¹õÀþ(±ß¸ÌQR)¤¬¤¯¤ë¤Þ¤ÇÀû²ó¤·Â³¤±¤ë¡£
OnFwd(OUT_C,30);
OnRev(OUT_A,10);
}
Off(OUT_AC);
hidari_susumu(1500); //R¤Þ¤Ç¥È¥ì¡¼¥¹¤¹¤ë
sound_up();
}
task main()¤ò½ñ¤¯
task main()
{
SetSensorLight(S1);
OnFwd(OUT_AC,30); //A¤«¤é½Ð¤ë¤¿¤á¾¯¤·Ä¾¿Ê¤¹¤ë
Wait(600);
migi_susumu(1500); //ÃÏÅÀE¡¢´Ì¤ò¼è¤ë
migi_susumu(1500); //ÃÏÅÀP
migi_susumu(1500); //ÃÏÅÀS
chousei();
migi_susumu(2000); //ÃÏÅÀR
s_t(); //ÃÏÅÀT¤Ë´Ì¤òÃÖ¤¯
RemoteStartProgram(CONN,"taiki.rxe"); //ÀѤ߾夲¥í¥Ü¥Ã¥È¤Ë¹ç¿Þ¤òÁ÷¤ë¡£¤³¤ÎÉôʬ¤ò¥µ¥Ö¥ë¡¼¥Á¥ó¤Ë¤·¤Æ¤ª¤¯¤ÈÊØÍø¤À¤Ã¤¿¡£
hukki_s(); //ÃÏÅÀS
chousei_2();
hidari_susumu(2000); //ÃÏÅÀP
Off(OUT_AC); ¡¡//¥Ö¥ì¤ò¤Ê¤¯¤¹¤¿¤á¤Ë¥â¡¼¥¿¡¼¤Î²óž¤ò»ß¤á¤ë¡¢¤Þ¤¿¤·¤Ð¤é¤¯ÂÔµ¡¤¹¤ë
Wait(20000);
OnFwd(OUT_C,30); ¡¡//ÃÏÅÀF¤ÎÊý¸þ¤Ø¸þ¤¡¢¤Þ¤Ã¤¹¤°¿Ê¤à
OnRev(OUT_A,30);
Wait(900);
OnFwd(OUT_AC,30);
Wait(1900);
sound_up(); ¡¡ //F¤Î´Ì¤ò¼è¤Ã¤¿¹ç¿Þ
hukki_r(); //ÃÏÅÀR
q_t(); //ÃÏÅÀT¤Ë´Ì¤òÃÖ¤¯
OnRev(OUT_A,10);
RemoteStartProgram(CONN,"tumu.rxe"); //ÀѤ߾夲¥í¥Ü¥Ã¥È¤Ë¹ç¿Þ¤òÁ÷¤ë¤Ë¹ç¿Þ¤òÁ÷¤ë
hukki_s(); //ÃÏÅÀS
chousei_2();
hidari_susumu(2000); //ÃÏÅÀP
OnFwd(OUT_AC,30); //µ¡ÂΤò¹õÀþ¤Îº¸Â¦¤«¤é±¦Â¦¤ËÊѤ¨¤ë
Wait(600);
Off(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÂÔµ¡
Wait(15000);
migi_susumu(1500); //ÃÏÅÀE
migi_susumu(28000); //ÃÏÅÀQ
migi_susumu(1500); //ÃÏÅÀP
chousei();
migi_susumu(2000); //ÃÏÅÀS
chousei();
migi_susumu(2000); //ÃÏÅÀR
s_t(); //ÃÏÅÀT¤Ë´Ì¤òÃÖ¤¯
OnFwd(OUT_A,30); //ÀѤ߾夲¥í¥Ü¥Ã¥È¤Ï´Ì¤òÀѤà°ÌÃÖ¤¬´Ì¤òÃÖ¤¤¤¿°ÌÃÖ¤è¤ê¤âÁ°¤Ë¤Ê¤ë¡£¤¢¤Þ¤ê¤ËÁ°¤Ë¿Ê¤ó¤Ç¤·¤Þ¤¦¤È¡¢¥´¡¼¥ë¤«¤é³°¤ì¤¿°ÌÃ֤˴̤òÀѤ߾夲¤Æ¤·¤Þ¤¦¤Î¤Ç¡¢¾¯¤·¤À¤±´Ì¤òT¤è¤ê¤âÁ°¿Ê¤µ¤»¤ë¡£
OnFwd(OUT_C,35);
Wait(500);
RemoteStartProgram(CONN,"tumu2.rxe");¡¡¡¡//ÀѤ߾夲¥í¥Ü¥Ã¥È¤Ë¹ç¿Þ¤òÁ÷¤ë
OnRev(OUT_AC,30); //T¤è¤ê¤âÁ°¿Ê¤·¤¿Ê¬¡¢¸åÂह¤ë
Wait(500);
hukki_s(); //ÃÏÅÀS
chousei_2();
hidari_susumu(2000); //ÃÏÅÀP
chousei_2();
hidari_susumu(2000); ¡¡//ÃÏÅÀQ
chousei_2();
Off(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÂÔµ¡
Wait(15000);
hidari_susumu(2000); //ÃÏÅÀR
hidari_susumu(1500);¡¡¡¡¡¡¡¡¡¡//ÃÏÅÀT
Off(OUT_AC);
OnRev(OUT_AC,30);¡¡¡¡¡¡¡¡¡¡¡¡//´Ì¤«¤éÎ¥¤ì¤ë
Wait(1500);
}
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