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*¥×¥í¥°¥é¥à [#kea5af38]
ľÀÜ¥×¥í¥°¥é¥à¤ò½ñ¤¤¤¿¤Î¤Ï¼«Ê¬¤Ç¤Ï¤Ê¤¤¤¬¤ï¤«¤ë¸Â¤ê¾Ü¤·¤¯ÀâÌÀ¤¹¤ë
**¥Þ¥¯¥í ¥Þ¥¹¥¿¡¼Â¦(¥¿¥¤¥ä¤òÆ°¤«¤¹Êý) [#wb9a2135]
ÄêµÁ¤·¤¿¤¬·ë¶É»È¤ï¤Ê¤«¤Ã¤¿¤â¤Î¤â¤¢¤ë¤Î¤Ç»È¤Ã¤¿¤â¤Î¤òÀâÌÀ
 #define SPEED 55
 #define SPEED_SLOW 45
 #define SPEED_CURVE 45
 #define SPEED_FAST 55
 #define THRESHOLD 38
 #define OnRL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL);
 #define go_forward OnRL(SPEED_FAST,SPEED_FAST);
 #define turn_right_high OnRL(-30,SPEED_CURVE);
 #define turn_right_low OnRL (0,SPEED_CURVE);
 #define turn_left_high OnRL(SPEED_CURVE,-30);
 #define turn_left_low OnRL (SPEED_CURVE,0);
 #define CONN 1   
 #define SIGNAL_CATCH 11   ¡¡¡¡¡¡//¥³¥Ã¥×¤ò¤Ä¤«¤à
 #define SIGNAL_RELEASE 12   ¡¡¡¡//¥³¥Ã¥×¤òÎ¥¤¹
 #define SIGNAL_UP 13 ¡¡¡¡¡¡¡¡¡¡// ¥¢¡¼¥à¤ò¾å¤²¤ë¡¡
 #define SIGNAL_UP1 14  ¡¡¡¡¡¡¡¡//¥¢¡¼¥à¤ò¾å¤²¤ë
 #define SIGNAL_DOWN 15¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥à¤ò²¼¤²¤ë

**¶õ¤­´Ì¤òõ¤¹¥×¥í¥°¥é¥à [#u0f10117]
¤³¤ì¤Ï¼ø¶È¤ÇÀèÀ¸¤«¤é¤â¤é¤Ã¤¿¥×¥ê¥ó¥È¤ò»²¹Í¤Ë¤·¤¿
 const float diameter = 5.45;¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¿¥¤¥ä¤Îľ·Â
 const float track = 10.35;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¿¥¤¥ä¤Î¥É¥ì¥Ã¥ÉÉý
 const float pi = 3.1415;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±ß¼þΨ
 
 void fwdDist(float d)¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//µ÷Î¥£äÁ°¿Ê
 {
     long angle = d/(diameter*pi)*360.0;¡¡¡¡¡¡//³ÑÅÙ¤ò·×»»¤¹¤ë
     RotateMotorEx(OUT_BC, SPEED_SLOW, angle, 0, true, true);¡¡¡¡¡¡//³ÑÅÙ¤ò»ØÄꤷ¤Æ¥â¡¼¥¿¡¼¤ò²óž
 }
 
 void turnAng(long ang)¡¡¡¡¡¡//³ÑÅÙangÅÙ»þ·×²ó¤êÀû²ó
 {
    long angle = track/diameter * ang;¡¡¡¡¡¡¡¡//ɬÍפʥ¿¥¤¥ä¤Î²óž³ÑÅÙ
     RotateMotorEx(OUT_BC, SPEED_SLOW, angle, 100, true,true);¡¡¡¡¡¡
 }
 
 int searchDirection(long ang)¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤ËangÅÙ¤ÎÈϰϤÇõ¤·¾ã³²Êª¤Þ¤Ç¤Îµ÷Î¥¤òÊÖ¤¹
 ¡¡¡¡
 {
     long tacho_min;¡¡¡¡¡¡¡¡//ºÇ¤â¶á¤¤µ÷Î¥¤ò¼Â¸½¤¹¤ë¥¿¥¤¥ä¤Î²óž¿ô
     int d_min = 300;¡¡¡¡¡¡¡¡//ºÇ¤â¶á¤¤µ÷Î¥¤Î²¾¤ÎºÇ¾®ÃÍ
     long angle = (track/diameter)*ang;¡¡¡¡//Àû²ó³ÑÅÙ¤«¤é¥¿¥¤¥ä¤Î²óž¤ò·×»»
     turnAng(ang/2);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//»ØÄꤵ¤ì¤¿³ÑÅÙ¤ÎȾʬ¤òÀû²ó
     ResetTachoCount(OUT_BC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//³ÑÅÙ·×»»¤ò¥ê¥»¥Ã¥È
     OnFwdSync(OUT_BC,SPEED_SLOW,-100);¡¡¡¡¡¡//È¿»þ·×²ó¤ê¤ËÀû²ó
     while(MotorTachoCount(OUT_B)<=angle){
      if(SensorUS(S3)<d_min){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸½ºß¤Îµ÷Î¥¤¬²¾¤ÎºÇ¾®Ãͤè¤ê¾®¤µ¤¤¾ì¹ç
       d_min = SensorUS(S3);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²¾¤ÎºÇ¾®Ãͤò¹¹¿·
       tacho_min = MotorTachoCount(OUT_B);¡¡¡¡//¤³¤Î»þ¤Î¥¿¥¤¥ä¤Î²óž¿ô¤òµ­Ï¿
       }
      }
     OnFwdSyncEx(OUT_BC,SPEED_SLOW,100,RESET_NONE);
     until(MotorTachoCount(OUT_B)<=tacho_min || SensorUS(S3)<=d_min);
     Wait(14);
     Off(OUT_BC);
     Wait(500);
     return d_min;
 }

**¶è´Ö­¢¤Ç»ÈÍѤ¹¤ë¥Þ¥¯¥í [#be1537a4]
90¡ëÀû²ó¤¹¤ë»þ¤Ë»ÈÍѤ·¤¿¡£
 #define Ninety  15.9/(diameter*pi)*360.0¡¡¡¡¡¡¡¡¡¡//90¡ëÀû²ó¤òNinety¤È̿̾
 #define usetu RotateMotorEx(OUT_BC,40,Ninety,100,true,false);¡¡¡¡¡¡¡¡//90¡ëÀû²ó¤¹¤ë¤è¤¦¥¿¥¤¥ä¤ò²óž

**¥á¥¤¥ó¥¿¥¹¥¯¡¡¥Þ¥¹¥¿¡¼Â¦ [#h4bbed47]
 task main()
 {
     SetSensorLight(S2);
     RotateMotor(OUT_BC,35,315);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
     Wait(1000);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¶è´Ö­¡¤ÎÉôʬ¡¢¥¹¥¿¡¼¥ÈÃÏÅÀ¤«¤é¥³¥Ã¥×¤Þ¤Ç°ÜÆ°
     RotateMotor(OUT_BC,35,320);
     Wait(1000);
     SendRemoteNumber(CONN,MAILBOX1,SIGNAL_CATCH);¡¡¡¡¡¡//¥³¥Ã¥×¤ò¤Ä¤«¤à»ØÎá¤òÁ÷¤ë
     Wait(2000);
     Wait(1000);
     RotateMotor(OUT_C,55,180);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¶è´Ö­¢¤ÎÉôʬ¡¢90¡ëÄø±¦¤ËÀû²ó¤¹¤ë
     RotateMotor(OUT_B,-55,310);
     Wait(1000);
     RotateMotor(OUT_BC,35,260);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÃÏÅÀX¤Ë¥Ô¥ó¥Ý¥ó¶Ì¤òÃÖ¤¯¤¿¤á¤ËÁ°¿Ê
     SendRemoteNumber(CONN,MAILBOX1,SIGNAL_UP);¡¡¡¡¡¡¡¡//¥¢¡¼¥à¤ò¾å¤²¤ë»ØÎá¤òÁ÷¤ë
      Wait(2000);
¡¡¡¡¡¡¢­ÃÏÅÀX¤«¤éÃÏÅÀY¤Ø°ÜÆ°(¶è´Ö­£­¤¤ÎÉôʬ)
     RotateMotor(OUT_C,-55,360);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡
     RotateMotor(OUT_BC,55,600);
     RotateMotor(OUT_B,-55,330);
     RotateMotor(OUT_C,55,50);
     RotateMotor(OUT_BC,55,900);

     SendRemoteNumber(CONN,MAILBOX1,SIGNAL_DOWN);¡¡¡¡¡¡//¥¢¡¼¥à¤ò²¼¤²¤ë»ØÎá¤òÁ÷¤ë
      Wait(1500);
     SendRemoteNumber(CONN,MAILBOX1,SIGNAL_RELEASE);¡¡¡¡//¥³¥Ã¥×¤òÎ¥¤¹»ØÎá¤òÁ÷¤ë
     Wait(2000);

¤³¤ì¤Ç¶è´Ö­¡¡Á¶è´Ö­¤¤Þ¤Ç½ªÎ»¡£°Ê¹ßÆó¸ÄÌܤΥ³¥Ã¥×¤ò±¿¤Ö¤ï¤±¤Ç¤¹¤¬¤Ç¤­¤Ê¤«¤Ã¤¿¤Î¤ÇÃæÅÓȾü¤Ê¥×¥í¥°¥é¥à¤È¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤Æ¤¤¤ë¤Î¤Ç¤¢¤Þ¤êµ¤¤Ë¤·¤Ê¤¤¤Ç¤¯¤À¤µ¤¤¡£
     SendRemoteNumber(CONN,MAILBOX1,SIGNAL_UP);
     Wait(2000);
     RotateMotor(OUT_BC,-55,100);
     OnFwd(OUT_B,55);
     OnFwd(OUT_C,55);
     Wait(1000);
     Off(OUT_BC);
     SetSensorLowspeed(S3);
      int d = searchDirection(60);
     if (d > 5){
        fwdDist(d-5.0);
       }
      
 }

**¥Þ¥¯¥í¡¡¥¹¥ì¡¼¥Ö¦(¥¢¡¼¥à¤ò)Æ°¤«¤¹Êý [#c94fe07a]
¥Þ¥¹¥¿¡¼Â¦¤ÈƱ¤¸
 #define SIGNAL_CATCH 11   
 #define SIGNAL_RELEASE 12   
 #define SIGNAL_UP 13  
 #define SIGNAL_UP1 14  
 #define SIGNAL_DOWN 15 

¥Þ¥¹¥¿¡¼Â¦¤«¤é¥á¥Ã¥»¡¼¥¸¤¬Á÷¤é¤ì¤Æ¤­¤¿¤È¤­ifʸ¤ò»È¤Ã¤Æ¥¹¥ì¡¼¥Ö¦¤Î¹ÔÆ°¤òÀ°Íý¤·¤¿
 task main()
 {
     int msg;
     while(true){
     ReceiveRemoteNumber(MAILBOX1,true,msg);¡¡¡¡
     if (msg == SIGNAL_CATCH) {¡¡¡¡¡¡¡¡//¥³¥Ã¥×¤ò¤Ä¤«¤à
         OnFwd(OUT_C,40);
          Wait(800);
          Off(OUT_C);
       }else{
      if (msg == SIGNAL_RELEASE) {¡¡¡¡//¥³¥Ã¥×¤òÎ¥¤¹
         RotateMotor(OUT_C,-20,38);
        }else if 
       (msg == SIGNAL_UP) {¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥à¤ò¾å¤²¤ë
          RotateMotor(OUT_B,-45,120);
       }else if
        (msg == SIGNAL_DOWN) {¡¡¡¡¡¡//¥¢¡¼¥à¤ò²¼¤²¤ë
        RotateMotor(OUT_B,45,94);
      }else if
         (msg == SIGNAL_UP1) {¡¡¡¡¡¡//¥¢¡¼¥à¤ò¾å¤²¤ë
         OnFwd(OUT_B,-50);
          Wait(1000);
          Off(OUT_B);
     }
 }
 }
 } 

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