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#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); } } } } *È¿¾Ê¤È´¶ÁÛ [#a749baa3] ¥×¥í¥°¥é¥à¤ÎÂçÂΤϤ®¤ê¤®¤ê¤Ë´°À®¤·¤¿¤È¤¤¤¦¤ï¤±¤Ç¤Ï¤Ê¤¤¤Î¤ÇÄ´À°¤Ê¤É¤Ë¤½¤³¤½¤³¤Î»þ´Ö¤ò½¼¤Æ¤é¤ì¤¿¤È»×¤¦¤¬¤Ê¤«¤Ê¤«°ÂÄꤷ¤ÆÀ®¸ù¤¹¤ë¤³¤È¤¬¤Ç¤¤Ê¤¤¤Þ¤ÞËÜÈÖ¤ò·Þ¤¨¤¿¡£ËÜÈ֤Ǥϣ±¡¤£²²óÌܤǤϽé¤á¤Î¥³¥Ã¥×¤ò¤Ä¤«¤à»þÅÀ¤Ç¼ºÇÔ¤·¤Æ¤·¤Þ¤¤²¿¤â¤Ç¤¤Ê¤«¤Ã¤¿¡£¤·¤«¤·µã¤¤Î£³²óÌܤǤϤ¦¤Þ¤¯¥³¥Ã¥×¤òÄϤߥԥó¥Ý¥ó¶Ì¤ò±¿¤Ù¤¿¡£»ÄÇ°¤Ê¤¬¤é°ì¸Ä¤·¤«¤Ï¤¤¤é¤Ê¤«¤Ã¤¿¤¬¥³¥Ã¥×¤Ï¤Á¤ã¤ó¤ÈÃÖ¤¯¤³¤È¤¬¤Ç¤¤¿¡£Îý½¬¤Ç¤â¥Ô¥ó¥Ý¥ó¶Ì¤¬¤¦¤Þ¤¯Íî¤ÁÃ夫¤º³ä¤ê¤Ð¤·¤Î°Ï¤¤¤«¤é½Ð¤Æ¤·¤Þ¤¦¤³¤È¤Î¤Û¤¦¤¬Â¿¤«¤Ã¤¿¤Î¤Ç¤½¤³¤â²þÁ±¤Ç¤¤¿¤é¤è¤«¤Ã¤¿¡£¤Þ¤¿¡¢Ä¶²»ÇÈ¥»¥ó¥µ¡¼¤¬¤¦¤Þ¤¯µ¡Ç½¤»¤º¡¢±þÍѤǤ¤Æ¤¤¤Ê¤«¤Ã¤¿¤Î¤¬¥Á¡¼¥à¤Î¼ÂÎÏÉÔ¤ò´¶¤¸¤¿¡£¤â¤Ã¤È»þ´Ö¤ò¤«¤±¤Æ¤Ç¤¤Ê¤¤¸¶°ø¤òõ¤ë¤³¤È¤¬½Ð¤ì¤Ð¤è¤«¤Ã¤¿¤¬¡¢¤Ê¤«¤Ê¤«»þ´ÖŪ¤Ë¤â¸·¤·¤«¤Ã¤¿¡£ º£¤Þ¤Ç¤Î²ÝÂê¤ò¿¶¤êÊ֤äƴ¶¤¸¤¿¤³¤È¤ÏÀµ³Î¤Ê¥í¥Ü¥Ã¥È¤òºî¤ë¤Ë¤Ï¥×¥í¥°¥é¥ß¥ó¥°¤ò²¿¤È¤«¤¹¤ë¤è¤ê¤â¡¢¤É¤ì¤Û¤ÉÎɤ¤¥í¥Ü¥Ã¥È¤ò¤Ä¤¯¤ë¤«¤¬½ÅÍפÀ¤È´¶¤¸¤¿¡£¤Ê¤¼¤Ê¤é¡¢¤É¤ì¤Û¤É¤Þ¤È¤â¤Ê¥×¥í¥°¥é¥à¤ò¤«¤¤¤Æ²¿ÅÙ¤âÈùÄ´À°¤·¤Æ¤â¥í¥Ü¥Ã¥È¤¬¤â¤í¤«¤Ã¤¿¤ê¡¢ÊªÍýŪ¤ËÆ°¤«¤·¤Ë¤¯¤«¤Ã¤¿¤ê¡¢¤½¤â¤½¤â¤½¤Îµ¡¹½¤Ç¤è¤¤¥×¥í¥°¥é¥à¤¬½ñ¤±¤Ê¤«¤Ã¤¿¤ê¤Ê¤É¤È¤¤¤Ã¤¿¥í¥Ü¥Ã¥È¤òºî¤Ã¤Æ¤·¤Þ¤Ã¤¿¾ì¹ç¡¢¤É¤ì¤Û¤É´èÄ¥¤Ã¤Æ¥×¥í¥°¥é¥à¤ò½ñ¤¤¤Æ¤â¤¦¤Þ¤¯¤¤¤«¤º»þ´Ö¤Î̵Â̤À¤È»×¤¦¤«¤é¤À¡£ºÇ½é¤Î¥í¥Ü¥Ã¥Èºî¤ê¤Ç¤½¤Î¤¢¤È¤Î²ÝÂê¤ÎÌÜɸãÀ®¤ËÂ礤¯±Æ¶Á¤¬½Ð¤ë¤È»×¤¦¡£¤È¤Ï¤¤¤Ã¤Æ¤â¤â¤Á¤í¤ó¥×¥í¥°¥é¥ß¥ó¥°¤â½ÅÍפǡ¢¤ï¤«¤ê¤ä¤¹¤¯¥³¥ó¥Ñ¥¯¥È¤Ë¤·¤Æ¤¤¤¯¤³¤È¤¬´Î¤Ç¤¢¤Ã¤¿¡£¤³¤ì¤Ï¤³¤ì¤«¤é¤ÎÀ¸³è¤ÎÃæ¤Ç¥â¥Î¤ò³Ð¤¨¤ë¤È¤¡¢ÅÁ¤¨¤ë¤È¤¡¢À°Íý¤¹¤ë¤È¤¤Ê¤É¤µ¤Þ¤¶¤Þ¤Ê¾ìÌ̤ˤĤʤ¬¤Ã¤Æ¤¯¤ë¤È»×¤Ã¤¿¡£ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡¡¡ ¡¡ ¡¡ ¡¡ ¡¡¡¡ ¡¡ ¡¡ ¡¡ ¡¡¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡ ¡¡¡¡