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&ref(2017b/Member/riko/Mission3/¥¹¥¿¥ó¥É_1.PNG,400x300,¥¹¥¿¥ó¥É_1);
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&ref(2017b/Member/riko/Mission3/¥¹¥¿¥ó¥É_2.PNG,650x250,¥¹¥¿¥ó¥É_2);
*** µ¡ÂÎ_´°À®ÈÇ_¹©É×ÅÀ£ [#h46ca2de]
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* ¥×¥í¥°¥é¥à [#j25e3fbb]
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** º¸Â¦µ¡ÂÎ¤Î¥×¥í¥°¥é¥à [#o464f4c8]
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d=searchDirection(15);
if(d>5.0){
catch_cop(700);
OnFwd(OUT_AB,SLOW);
Wait(1400);
Off(OUT_AB);
catch_cop(300);
OnFwd(OUT_AB,-SLOW);
Wait(100);
Off(OUT_AB);
}
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*** »æ¥³¥Ã¥×¤ò½Å¤Í¤ë¥×¥í¥°¥é¥à_2 [#ob6d3d88]
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¡»¿Æµ¡(±¦¤Îµ¡ÂÎ)
sub tag()
{
keep_cop();
d=searchDirection(15);
if(d>5.0){
SendRemoteNumber(CONN,MAILBOX1,SIGNALON1);
Wait(5000);
fwdDist(d-8.0);
ResetTachoCount(OUT_ABC);
RotateMotorEx(OUT_AB,-SLOW,40,0,true,true);
RotateMotor(OUT_C,SLOW,50);
SendRemoteNumber(CONN,MAILBOX1,SIGNALON2);
Wait(5000);
RotateMotor(OUT_C,SLOW,100);
ResetTachoCount(OUT_ABC);
RotateMotor(OUT_C,SLOW,720);
RotateMotorEx(OUT_AB,-SLOW,120,0,true,true);
}
}
¡»»Òµ¡(º¸¤Îµ¡ÂÎ)
sub tag()
{
int msg,counter;
ResetTachoCount(OUT_ABC);
RotateMotor(OUT_C,SLOW,1080);
RotateMotorEx(OUT_AB,-SLOW,360,0,true,true);
RotateMotor(OUT_C,-SLOW,1080);
while(counter==0){
ReceiveRemoteNumber(MAILBOX1,true,msg);
if(msg==SIGNALON) {
ResetTachoCount(OUT_ABC);
RotateMotor(OUT_C,SLOW,1080);
RotateMotorEx(OUT_AB,SLOW,120,0,true,true);
RotateMotor(OUT_C,-SLOW,1080);
counter++;
}
}
counter=0;
while(counter==0){
ReceiveRemoteNumber(MAILBOX1,true,msg);
if(msg==SIGNALON2) {
ResetTachoCount(OUT_ABC);
RotateMotor(OUT_C,SLOW,360);
RotateMotorEx(OUT_AB,SLOW,40,0,true,true);
counter++;
}
}
counter=0;
ResetTachoCount(OUT_ABC);
RotateMotor(OUT_C,SLOW,720);
RotateMotorEx(OUT_AB,-SLOW,120,0,true,true);
}
** º¸Â¦µ¡ÂÎ(»Òµ¡)¤Î¥×¥í¥°¥é¥à [#o464f4c8]
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¡»»ä¤¬²ÝÂê2¤Ç»È¤Ã¤¿¥×¥í¥°¥é¥à¤ÈƱ¤¸Éôʬ¤Ë¤Ï¥³¥á¥ó¥È¤È¤·¤Æ¡Ö¡ù¡×¤ò½ñ¤¤¤Æ¤ª¤¤Þ¤¹¡£
#define SO 392 //¡ù
#define DO 523 //¡ù
#define MI 659 //¡ù
#define SO_H 784 //¡ù
#define SI 988 //¡ù
#define DO_H 1047 //¡ù
#define MI_H 1318 //¡ù
#define RE 1175 //¡ù
#define SO_SH 1568 //¡ù
#define SIGNALON 11 //¢¨
#define SIGNALON2 12 //¢¨
#define SLOW 30 //¢¨
//¢¨
const float diameter=5.45; //¢¨
const float tread=11.3; //¢¨
const float pi=3.1415; //¢¨
//¢¨
int d; //¢¨
//¢¨
sub fwdDist(float d) //¢¨
{ //¢¨
long angle=d/(diameter*pi)*360.0; //¢¨
RotateMotorEx(OUT_AB,SLOW,angle,0,true,true); //¢¨
} //¢¨
//¢¨
sub turnAng(long ang) //¢¨
{ //¢¨
long angle=tread/diameter*ang; //¢¨
RotateMotorEx(OUT_AB,SLOW,angle,100,true,true); //¢¨
} //¢¨
//¢¨
int searchDirection(long ang) //¢¨
{ //¢¨
long tacho_min; //¢¨
int d_min=300; //¢¨
//¢¨
long angle=(tread/diameter)*ang; //¢¨
turnAng(ang/2); //¢¨
ResetTachoCount(OUT_AB); //¢¨
OnFwdSync(OUT_AB,SLOW,-100); //¢¨
while(MotorTachoCount(OUT_A)<=angle){ //¢¨
if(SensorUS(S3)<d_min){ //¢¨
d_min=SensorUS(S3); //¢¨
tacho_min=MotorTachoCount(OUT_A); //¢¨
} //¢¨
} //¢¨
OnFwdSyncEx(OUT_AB,SLOW,100,RESET_NONE); //¢¨
//¢¨
until(MotorTachoCount(OUT_A)<=tacho_min||SensorUS(S3)<=d_min); //¢¨
Wait(14); //¢¨
Off(OUT_AB); //¢¨
Wait(500); //¢¨
return d_min; //¢¨
} //¢¨
//¢¨
sub tag() //¢¨
{ //¢¨
int msg,counter; //¢¨
ResetTachoCount(OUT_ABC); //¢¨
RotateMotor(OUT_C,SLOW,1080); //¢¨
RotateMotorEx(OUT_AB,-SLOW,360,0,true,true); //¢¨
RotateMotor(OUT_C,-SLOW,1080); //¢¨
//¢¨
while(counter==0){ //¢¨
ReceiveRemoteNumber(MAILBOX1,true,msg); //¢¨
if(msg==SIGNALON) { //¢¨
ResetTachoCount(OUT_ABC); //¢¨
RotateMotor(OUT_C,SLOW,1080); //¢¨
RotateMotorEx(OUT_AB,SLOW,120,0,true,true); //¢¨
RotateMotor(OUT_C,-SLOW,1080); //¢¨
counter++; //¢¨
} //¢¨
} //¢¨
counter=0; //¢¨
ResetTachoCount(OUT_ABC); //¢¨
RotateMotor(OUT_C,SLOW,1080); //¢¨
RotateMotorEx(OUT_AB,SLOW,120,0,true,true); //¢¨
RotateMotor(OUT_C,-SLOW,1080); //¢¨
counter++; //¢¨
} //¢¨
} //¢¨
counter=0; //¢¨
//¢¨
while(counter==0){ //¢¨
while(counter==0){ //¢¨
ReceiveRemoteNumber(MAILBOX1,true,msg); //¢¨
if(msg==SIGNALON2) { //¢¨
ResetTachoCount(OUT_ABC); //¢¨
RotateMotor(OUT_C,SLOW,360); //¢¨
RotateMotorEx(OUT_AB,SLOW,40,0,true,true); //¢¨
counter++; //¢¨
} //¢¨
} //¢¨
} //¢¨
counter=0; //¢¨
ResetTachoCount(OUT_ABC); //¢¨
RotateMotor(OUT_C,SLOW,720); //¢¨
RotateMotorEx(OUT_AB,-SLOW,120,0,true,true); //¢¨
} //¢¨
sub pose_SE() //¡ù
PlayTone(MI_H,90);Wait(100); //¡ù
PlayTone(DO_H,90);Wait(100); //¡ù
PlayTone(MI_H,90);Wait(100); //¡ù
PlayTone(DO_H,90);Wait(100); //¡ù
} //¡ù
sub one_UP_SE() //¡ù
{ //¡ù
PlayTone(MI,110);Wait(120); //¡ù
PlayTone(SO_H,110);Wait(120); //¡ù
PlayTone(MI_H,110);Wait(120); //¡ù
PlayTone(DO_H,110);Wait(120); //¡ù
PlayTone(RE,110);Wait(120); //¡ù
PlayTone(SO_SH,110);Wait(120); //¡ù
} //¡ù
sub coin_SE() //¡ù
{ //¡ù
PlayTone(SI,90);Wait(100); //¡ù
PlayTone(MI_H,140);Wait(150); //¡ù
} //¡ù
sub Start_SE() //¡ù
{ //¡ù
PlayTone(MI,100);Wait(110); //¡ù
PlayTone(MI,100);Wait(250); //¡ù
PlayTone(MI,100);Wait(160); //¡ù
PlayTone(DO,90);Wait(100); //¡ù
PlayTone(MI,90);Wait(230); //¡ù
PlayTone(SO_H,90);Wait(420); //¡ù
PlayTone(SO,170);Wait(180); //¡ù
} //¡ù
#define move1 OnFwd(OUT_A,40);OnFwd(OUT_B,-35); //¡ù
#define move2 OnFwd(OUT_A,30);OnFwd(OUT_B,-20); //¡ù
#define move3 OnFwd(OUT_A,54);OnFwd(OUT_B,54); //¡ù
#define move4 OnFwd(OUT_B,30);OnFwd(OUT_A,-20); //¡ù
#define move5 OnFwd(OUT_B,40);OnFwd(OUT_A,-35); //¡ù
#define average 45 //¡ù
sub Stop_Motion() //¡ù
{ //¡ù
Wait(300); //¡ù
pose_SE(); //¡ù
Wait(1000); //¡ù
} //¡ù
sub L_Assist_line(int Assist_time) //¡ù
{ //¡ù
long ta=CurrentTick(); //¡ù
while (CurrentTick()-ta<=Assist_time){ //¡ù
if (SENSOR_2<average-11) { //¡ù
move1 //¡ù
}else if (SENSOR_2<average-7){ //¡ù
move2; //¡ù
} else if (SENSOR_2<average+7){ //¡ù
move3; //¡ù
} else if (SENSOR_2<average+11){ //¡ù
move4; //¡ù
} else { //¡ù
move5; //¡ù
} //¡ù
} //¡ù
coin_SE(); //¡ù
} //¡ù
sub R_Assist_line(int Assist_time) //¡ù
{ //¡ù
long tb=CurrentTick(); //¡ù
while (CurrentTick()-tb<=Assist_time){ //¡ù
if (SENSOR_2<average-11) { //¡ù
move5; //¡ù
} else if (SENSOR_2<average-7){ //¡ù
move4; //¡ù
} else if (SENSOR_2<average+7){ //¡ù
move3; //¡ù
} else if (SENSOR_2<average+11){ //¡ù
move2; //¡ù
} else { //¡ù
move1; //¡ù
} //¡ù
} //¡ù
coin_SE(); //¡ù
} //¡ù
sub L_line(int Assist_time,int Stop_time) //¡ù
{ //¡ù
L_Assist_line(Assist_time); //¡ù
long t1=CurrentTick(); //¡ù
while (CurrentTick()-t1<=Stop_time){ //¡ù
if (SENSOR_2<average-11) { //¡ù
move1; //¡ù
} else if (SENSOR_2<average-7){ //¡ù
move2; //¡ù
t1=CurrentTick(); //¡ù
} else if (SENSOR_2<average+7){ //¡ù
move3; //¡ù
t1=CurrentTick(); //¡ù
} else if (SENSOR_2<average+11){ //¡ù
move4; //¡ù
t1=CurrentTick(); //¡ù
} else { //¡ù
move5; //¡ù
t1=CurrentTick(); //¡ù
} //¡ù
} ¡¡¡¡¡¡¡¡¡¡¡¡ //¡ù
Off(OUT_AB); //¡ù
coin_SE(); //¡ù
} //¡ù
sub R_line(int Assist_time,int Stop_time) //¡ù
{ //¡ù
R_Assist_line(Assist_time); //¡ù
//¡ù
long t2=CurrentTick(); //¡ù
while (CurrentTick()-t2<=Stop_time){ //¡ù
if (SENSOR_2<average-11) { //¡ù
move5; //¡ù
} else if (SENSOR_2<average-8){ //¡ù
move4; //¡ù
t2=CurrentTick(); //¡ù
} else if (SENSOR_2<average+6){ //¡ù
move3; //¡ù
t2=CurrentTick(); //¡ù
} else if (SENSOR_2<average+11){ //¡ù
move2; //¡ù
t2=CurrentTick(); //¡ù
} else { //¡ù
move1; //¡ù
t2=CurrentTick(); //¡ù
} //¡ù
} //¡ù
Off(OUT_AB); //¡ù
coin_SE(); //¡ù
} //¡ù
sub White_to_Black(int blight,int A_speed,int B_speed) //¡ù
{ //¡ù
while (SENSOR_2>blight){ //¡ù
OnFwd(OUT_A,A_speed); //¡ù
OnFwd(OUT_B,B_speed); //¡ù
} //¡ù
Off(OUT_AB); //¡ù
} //¡ù
sub Black_to_White(int blight,int A_speed,int B_speed) //¡ù
{ //¡ù
while (SENSOR_2<blight){ //¡ù
OnFwd(OUT_A,A_speed); //¡ù
OnFwd(OUT_B,B_speed); //¡ù
} //¡ù
Off(OUT_AB); //¡ù
} //¡ù
sub Start_Set() //¡ù
{ //¡¤Ë¤Æ²òÀâ
Start_SE(); //¡¤Ë¤Æ²òÀâ
move3; //¡¤Ë¤Æ²òÀâ
Wait(600); //¡¤Ë¤Æ²òÀâ
White_to_Black(48,30,5); //¡¤Ë¤Æ²òÀâ
} //¡¤Ë¤Æ²òÀâ
sub catch_cop(long ang1) //¢¨
{ //¢¨
ResetTachoCount(OUT_C); //¢¨
RotateMotor(OUT_C,-SLOW,ang1); //¢¨
} //¢¨
//¢¨
sub release_cop(long ang2) //¢¨
{ //¢¨
ResetTachoCount(OUT_C); //¢¨
RotateMotor(OUT_C,SLOW,ang2); //¢¨
} //¢¨
//¢¨
sub release_ball() //¢¨
{ //¢¨
ResetTachoCount(OUT_ABC); //¢¨
OnFwd(OUT_AB,SLOW); //¢¨
Wait(700); //¢¨
Off(OUT_AB); //¢¨
ResetTachoCount(OUT_C); //¢¨
RotateMotor(OUT_C,-SLOW,50); //¢¨
OnFwd(OUT_C,-20); //¢¨
Wait(1000); //¢¨
OnFwd(OUT_AB,-SLOW); //¢¨
Wait(700); //¢¨
Off(OUT_AB); //¢¨
} //¢¨
//¢¨
sub keep_cop() //¢¨
{ //¢¨
ResetTachoCount(OUT_C); //¢¨
RotateMotor(OUT_C,-SLOW,50); //¢¨
OnFwd(OUT_C,-20); //¢¨
} //¢¨
task main()
{
SetSensorLight(S2); //¸÷¥»¥ó¥µ¡¼¤Îµ¯Æ°
SetSensorLowspeed(S3); //Ķ²»ÇÈ¥»¥ó¥µ¡¼¤Îµ¯Æ°
Start_Set(); //¡¤Ë¤Æ²òÀâ
R_line(300,150); //¡¤Ë¤Æ²òÀâ
d=searchDirection(15); //¢¨
if(d>5.0){ //¢¨
catch_cop(700); //¢¨
OnFwd(OUT_AB,SLOW); //¢¨
Wait(1400); //¢¨
Off(OUT_AB); //¢¨
catch_cop(300); //¢¨
OnFwd(OUT_AB,-SLOW); //¢¨
Wait(100); //¢¨
Off(OUT_AB); //¢¨
} //¢¨
ResetTachoCount(OUT_A); //¢¨
RotateMotor(OUT_A,-SLOW,370); //¢¨
ResetTachoCount(OUT_A); //¢¨(¥â¡¼¥¿¡¼A¤Î²óž³ÑÅÙ¤ò¥ê¥»¥Ã¥È)
RotateMotor(OUT_A,-SLOW,370); //¢¨(¥â¡¼¥¿¡¼A¤ò370Åٲ󞤵¤»¤ë¡£)
OnFwd(OUT_AB,SLOW); //¢¨
Wait(600); //¢¨
Off(OUT_AB); //¢¨
catch_cop(40); //¢¨
OnFwd(OUT_C,-SLOW); //¢¨
Wait(1000); //¢¨
Off(OUT_C); //¢¨
OnFwd(OUT_AB,-SLOW); //¢¤Ë¤Æ²òÀâ
Wait(1000); //¢¤Ë¤Æ²òÀâ
Off(OUT_AB); //¢¤Ë¤Æ²òÀâ
White_to_Black(33,35,15); //¢¤Ë¤Æ²òÀâ
Black_to_White(48,35,15); //¢¤Ë¤Æ²òÀâ
White_to_Black(33,40,25); //¢¤Ë¤Æ²òÀâ
Black_to_White(48,-30,0); //¢¤Ë¤Æ²òÀâ
White_to_Black(33,-30,0); //¢¤Ë¤Æ²òÀâ
Black_to_White(50,0,-30); //¢¤Ë¤Æ²òÀâ
White_to_Black(33,35,30); //¢¤Ë¤Æ²òÀâ
Black_to_White(48,35,30); //¢¤Ë¤Æ²òÀâ
release_cop(50); //¢¨
tag(); //¢¨
release_cop(50); //¢¨(»æ¥³¥Ã¥×¤ò¤Ï¤Ê¤¹)
tag(); //¢¨(»æ¥³¥Ã¥×¤ò½Å¤Í¤ë)
keep_cop(); //¢¨
tag(); //¢¨
tag(); //¢¨(»æ¥³¥Ã¥×¤ò½Å¤Í¤ë)
OnFwd(OUT_AB,-SLOW); //¢¨
Wait(1000); //¢¨
Off(OUT_AB); //¢¨
}
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sub Start_Set() //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤ë°Ù¤Î¥×¥í¥°¥é¥à
{
Start_SE(); //¥¹¥¿¡¼¥È¤ÎSE
move3; //½é¤á¤Î¥é¥¤¥ó¤Î°Ï¤¤¤«¤é½Ð¤ë°Ù¤Î¥×¥í¥°¥é¥à
Wait(600);
White_to_Black(48,30,5); //¤³¤Î¥×¥í¥°¥é¥à¤Ç¥é¥¤¥ó¤Î¶³¦Àþ¤ò³Î¼Â¤Ëõ¤·Åö¤Æ¤ë¤³¤È¤¬¤Ç¤¤ë
}
Start_Set();
R_line(300,150);
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*** º¸Â¦µ¡ÂÎ¤Î¥×¥í¥°¥é¥à¤Î²òÀ⢠[#nf966642]
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OnFwd(OUT_AB,-SLOW);
Wait(1000);
Off(OUT_AB);
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White_to_Black(33,35,15);
Black_to_White(48,35,15);
White_to_Black(33,40,25);
Black_to_White(48,-30,0);
White_to_Black(33,-30,0);
Black_to_White(50,0,-30);
White_to_Black(33,35,30);
Black_to_White(48,35,30);
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#define SO 392 //¡ù
#define DO 523 //¡ù
#define MI 659 //¡ù
#define SO_H 784 //¡ù
#define SI 988 //¡ù
#define DO_H 1047 //¡ù
#define MI_H 1318 //¡ù
#define RE 1175 //¡ù
#define SO_SH 1568 //¡ù
sub pose_SE() //¡ù
PlayTone(MI_H,90);Wait(100); //¡ù
PlayTone(DO_H,90);Wait(100); //¡ù
PlayTone(MI_H,90);Wait(100); //¡ù
PlayTone(DO_H,90);Wait(100); //¡ù
} //¡ù
sub one_UP_SE() //¡ù
{ //¡ù
PlayTone(MI,110);Wait(120); //¡ù
PlayTone(SO_H,110);Wait(120); //¡ù
PlayTone(MI_H,110);Wait(120); //¡ù
PlayTone(DO_H,110);Wait(120); //¡ù
PlayTone(RE,110);Wait(120); //¡ù
PlayTone(SO_SH,110);Wait(120); //¡ù
} //¡ù
sub coin_SE() //¡ù
{ //¡ù
PlayTone(SI,90);Wait(100); //¡ù
PlayTone(MI_H,140);Wait(150); //¡ù
} //¡ù
sub Start_SE() //¡ù
{ //¡ù
PlayTone(MI,100);Wait(110); //¡ù
PlayTone(MI,100);Wait(250); //¡ù
PlayTone(MI,100);Wait(160); //¡ù
PlayTone(DO,90);Wait(100); //¡ù
PlayTone(MI,90);Wait(230); //¡ù
PlayTone(SO_H,90);Wait(420); //¡ù
PlayTone(SO,170);Wait(180); //¡ù
} //¡ù
#define FAST 50 //¢¨
#define SLOW 30 //¢¨
#define CONN 1 //¢¨
#define SIGNALON1 11 //¢¨
#define SIGNALON2 12 //¢¨
//¢¨
const float diameter=5.45; //¢¨
const float tread=11.3; //¢¨
const float pi=3.1415; //¢¨
//¢¨
int d; //¢¨
//¢¨
sub keep_cop() //¢¨
{ //¢¨
ResetTachoCount(OUT_C); //¢¨
RotateMotor(OUT_C,-SLOW,50); //¢¨
OnFwd(OUT_C,-20); //¢¨
} //¢¨
//¢¨
sub fwdDist(float d) //¢¨
{ //¢¨
long angle=d/(diameter*pi)*360.0; //¢¨
RotateMotorEx(OUT_AB,SLOW,angle,0,true,true); //¢¨
} //¢¨
//¢¨
sub turnAng(long ang) //¢¨
{ //¢¨
long angle=tread/diameter*ang; //¢¨
RotateMotorEx(OUT_AB,SLOW,angle,100,true,true); //¢¨
} //¢¨
//¢¨
int searchDirection(long ang) //¢¨
{ //¢¨
long tacho_min; //¢¨
int d_min=300; //¢¨
//¢¨
long angle=(tread/diameter)*ang; //¢¨
turnAng(ang/2); //¢¨
ResetTachoCount(OUT_AB); //¢¨
OnFwdSync(OUT_AB,SLOW,-100); //¢¨
while(MotorTachoCount(OUT_A)<=angle){ //¢¨
if(SensorUS(S3)<d_min){ //¢¨
d_min=SensorUS(S3); //¢¨
tacho_min=MotorTachoCount(OUT_A); //¢¨
} //¢¨
} //¢¨
OnFwdSyncEx(OUT_AB,SLOW,100,RESET_NONE); //¢¨
//¢¨
until(MotorTachoCount(OUT_A)<=tacho_min||SensorUS(S3)<=d_min); //¢¨
Wait(14); //¢¨
Off(OUT_AB); //¢¨
Wait(500); //¢¨
return d_min; //¢¨
} //¢¨
//¢¨
sub tag() //¢¨
{ //¢¨
keep_cop(); //¢¨
d=searchDirection(15); //¢¨
//¢¨
if(d>5.0){ //¢¨
SendRemoteNumber(CONN,MAILBOX1,SIGNALON1); //¢¨
Wait(5000); //¢¨
fwdDist(d-8.0); //¢¨
ResetTachoCount(OUT_ABC); //¢¨
RotateMotorEx(OUT_AB,-SLOW,40,0,true,true); //¢¨
RotateMotor(OUT_C,SLOW,50); //¢¨
//¢¨
SendRemoteNumber(CONN,MAILBOX1,SIGNALON2); //¢¨
Wait(5000); //¢¨
RotateMotor(OUT_C,SLOW,100); //¢¨
ResetTachoCount(OUT_ABC); //¢¨
RotateMotor(OUT_C,SLOW,720); //¢¨
RotateMotorEx(OUT_AB,-SLOW,120,0,true,true); //¢¨
} //¢¨
} //¢¨
//¢¨
sub catch_cop(long ang1) //¢¨
{ //¢¨
ResetTachoCount(OUT_C); //¢¨
RotateMotor(OUT_C,-SLOW,ang1); //¢¨
} //¢¨
//¢¨
sub release_cop(long ang2) //¢¨
{ //¢¨
ResetTachoCount(OUT_C); //¢¨
RotateMotor(OUT_C,SLOW,ang2); //¢¨
} //¢¨
//¢¨
sub release_ball() //¢¨
{ //¢¨
ResetTachoCount(OUT_ABC); //¢¨
OnFwd(OUT_AB,SLOW); //¢¨
Wait(700); //¢¨
Off(OUT_AB); //¢¨
ResetTachoCount(OUT_C); //¢¨
RotateMotor(OUT_C,-SLOW,50); //¢¨
OnFwd(OUT_C,-20); //¢¨
Wait(1000); //¢¨
OnFwd(OUT_AB,-SLOW); //¢¨
Wait(700); //¢¨
Off(OUT_AB); //¢¨
} //¢¨
#define move1 OnFwd(OUT_A,40);OnFwd(OUT_B,-35); //¡ù
#define move2 OnFwd(OUT_A,30);OnFwd(OUT_B,-20); //¡ù
#define move3 OnFwd(OUT_A,54);OnFwd(OUT_B,54); //¡ù
#define move4 OnFwd(OUT_B,30);OnFwd(OUT_A,-20); //¡ù
#define move5 OnFwd(OUT_B,40);OnFwd(OUT_A,-35); //¡ù
#define average 45 //¡ù
sub Stop_Motion() //¡ù
{ //¡ù
Wait(300); //¡ù
pose_SE(); //¡ù
Wait(1000); //¡ù
} //¡ù
sub L_Assist_line(int Assist_time) //¡ù
{ //¡ù
long ta=CurrentTick(); //¡ù
while (CurrentTick()-ta<=Assist_time){ //¡ù
if (SENSOR_2<average-11) { //¡ù
move1 //¡ù
}else if (SENSOR_2<average-7){ //¡ù
move2; //¡ù
} else if (SENSOR_2<average+7){ //¡ù
move3; //¡ù
} else if (SENSOR_2<average+11){ //¡ù
move4; //¡ù
} else { //¡ù
move5; //¡ù
} //¡ù
} //¡ù
coin_SE(); //¡ù
} //¡ù
sub R_Assist_line(int Assist_time) //¡ù
{ //¡ù
long tb=CurrentTick(); //¡ù
while (CurrentTick()-tb<=Assist_time){ //¡ù
if (SENSOR_2<average-11) { //¡ù
move5; //¡ù
} else if (SENSOR_2<average-7){ //¡ù
move4; //¡ù
} else if (SENSOR_2<average+7){ //¡ù
move3; //¡ù
} else if (SENSOR_2<average+11){ //¡ù
move2; //¡ù
} else { //¡ù
move1; //¡ù
} //¡ù
} //¡ù
coin_SE(); //¡ù
} //¡ù
sub L_line(int Assist_time,int Stop_time) //¡ù
{ //¡ù
L_Assist_line(Assist_time); //¡ù
long t1=CurrentTick(); //¡ù
while (CurrentTick()-t1<=Stop_time){ //¡ù
if (SENSOR_2<average-11) { //¡ù
move1; //¡ù
} else if (SENSOR_2<average-7){ //¡ù
move2; //¡ù
t1=CurrentTick(); //¡ù
} else if (SENSOR_2<average+7){ //¡ù
move3; //¡ù
t1=CurrentTick(); //¡ù
} else if (SENSOR_2<average+11){ //¡ù
move4; //¡ù
t1=CurrentTick(); //¡ù
} else { //¡ù
move5; //¡ù
t1=CurrentTick(); //¡ù
} //¡ù
} ¡¡¡¡¡¡¡¡¡¡¡¡ //¡ù
Off(OUT_AB); //¡ù
coin_SE(); //¡ù
} //¡ù
sub R_line(int Assist_time,int Stop_time) //¡ù
{ //¡ù
R_Assist_line(Assist_time); //¡ù
//¡ù
long t2=CurrentTick(); //¡ù
while (CurrentTick()-t2<=Stop_time){ //¡ù
if (SENSOR_2<average-11) { //¡ù
move5; //¡ù
} else if (SENSOR_2<average-8){ //¡ù
move4; //¡ù
t2=CurrentTick(); //¡ù
} else if (SENSOR_2<average+6){ //¡ù
move3; //¡ù
t2=CurrentTick(); //¡ù
} else if (SENSOR_2<average+11){ //¡ù
move2; //¡ù
t2=CurrentTick(); //¡ù
} else { //¡ù
move1; //¡ù
t2=CurrentTick(); //¡ù
} //¡ù
} //¡ù
Off(OUT_AB); //¡ù
coin_SE(); //¡ù
} //¡ù
sub White_to_Black(int blight,int A_speed,int B_speed) //¡ù
{ //¡ù
while (SENSOR_2>blight){ //¡ù
OnFwd(OUT_A,A_speed); //¡ù
OnFwd(OUT_B,B_speed); //¡ù
} //¡ù
Off(OUT_AB); //¡ù
} //¡ù
sub Black_to_White(int blight,int A_speed,int B_speed) //¡ù
{ //¡ù
while (SENSOR_2<blight){ //¡ù
OnFwd(OUT_A,A_speed); //¡ù
OnFwd(OUT_B,B_speed); //¡ù
} //¡ù
Off(OUT_AB); //¡ù
} //¡ù
#define reverse_move OnFwd(OUT_A,-54);OnFwd(OUT_B,-50); //¡¤Ë¤Æ²òÀâ
//¡¤Ë¤Æ²òÀâ
sub reverse_Start_Set() //¡¤Ë¤Æ²òÀâ
{ //¡¤Ë¤Æ²òÀâ
reverse_move; //¡¤Ë¤Æ²òÀâ
Start_SE(); //¡¤Ë¤Æ²òÀâ
Wait(2000); //¡¤Ë¤Æ²òÀâ
White_to_Black(48,20,35); //¡¤Ë¤Æ²òÀâ
} //¡¤Ë¤Æ²òÀâ
task main()
{
SetSensorLight(S2); //¸÷¥»¥ó¥µ¡¼¤Îµ¯Æ°
SetSensorLowspeed(S3); //Ķ²»ÇÈ¥»¥ó¥µ¡¼¤Îµ¯Æ°
reverse_Start_Set(); //¡¤Ë¤Æ²òÀâ
L_line(1300,110); //¡¤Ë¤Æ²òÀâ
ResetTachoCount(OUT_A); //¢¨
RotateMotor(OUT_A,-SLOW,150); //¢¨
ResetTachoCount(OUT_A); //¢¨(¥â¡¼¥¿¡¼A¤Î²óž³ÑÅÙ¤ò¥ê¥»¥Ã¥È)
RotateMotor(OUT_A,-SLOW,150); //¢¨(¥â¡¼¥¿¡¼A¤ò¡Ý150ÅÙ²óž)
d=searchDirection(15); //¢¨
if(d>5.0){ //¢¨
catch_cop(600); //¢¨
OnFwd(OUT_AB,SLOW); //¢¨
Wait(1000); //¢¨
Off(OUT_AB); //¢¨
catch_cop(500); //¢¨
OnFwd(OUT_AB,-SLOW); //¢¨
Wait(400); //¢¨
Off(OUT_AB); //¢¨
} //¢¨
ResetTachoCount(OUT_B); //¢¨
RotateMotor(OUT_B,-SLOW,110); //¢¨
ResetTachoCount(OUT_B); //¢¨(¥â¡¼¥¿¡¼B¤Î²óž³ÑÅÙ¤ò¥ê¥»¥Ã¥È)
RotateMotor(OUT_B,-SLOW,110); //¢¨(¥â¡¼¥¿¡¼B¤ò¡Ý110ÅÙ²óž)
release_ball(); //¢¨
RsetTachoCount(OUT_A); //¢¨
RotateMotor(OUT_A,-SLOW,130); //¢¨
tag(); //¢¨
RsetTachoCount(OUT_A); //¢¨(¥â¡¼¥¿¡¼A¤Î²óž³ÑÅÙ¤ò¥ê¥»¥Ã¥È)
RotateMotor(OUT_A,-SLOW,130); //¢¨(¥â¡¼¥¿¡¼A¤ò¡Ý130ÅÙ²óž)
tag(); //¢¨(»æ¥³¥Ã¥×¤ò½Å¤Í¤ë)
OnFwd(OUT_AB,-SLOW); //¢¤Ë¤Æ²òÀâ
Wait(1000); //¢¤Ë¤Æ²òÀâ
Off(OUT_AB); //¢¤Ë¤Æ²òÀâ
White_to_Black(48,35,25); //¢¤Ë¤Æ²òÀâ
L_line(300,130); //¢¤Ë¤Æ²òÀâ
Black_to_White(48,0,-30); //¢¤Ë¤Æ²òÀâ
White_to_Black(33,0,-30); //¢¤Ë¤Æ²òÀâ
d=searchDirection(15); //¢¨
if(d>5.0){ //¢¨
catch_cop(600); //¢¨
OnFwd(OUT_AB,SLOW); //¢¨
Wait(1000); //¢¨
Off(OUT_AB); //¢¨
catch_cop(500); //¢¨
OnFwd(OUT_AB,-SLOW); //¢¨
Wait(400); //¢¨
Off(OUT_AB); //¢¨
} //¢¨
White_to_Black(33,-30,-30); //£¤Ë¤Æ²òÀâ
L_line(150,130); //£¤Ë¤Æ²òÀâ
Black_to_White(48,30,30); //£¤Ë¤Æ²òÀâ
release_ball(); //£¤Ë¤Æ²òÀâ
ResetTachoCount(OUT_A); //¢¨
RotateMotor(OUT_A,-SLOW,130); //¢¨
tag(); //¢¨
ResetTachoCount(OUT_C); //¢¨
RotateMotor(OUT_C,-SLOW,1100); //¢¨
ResetTachoCount(OUT_A); //¢¨(¥â¡¼¥¿¡¼A¤Î²óž³ÑÅÙ¤ò¥ê¥»¥Ã¥È)
RotateMotor(OUT_A,-SLOW,130); //¢¨(¥â¡¼¥¿¡¼A¤ò¡Ý130ÅÙ²óž)
tag(); //¢¨(»æ¥³¥Ã¥×¤ò½Å¤Í¤ë)
ResetTachoCount(OUT_C); //¢¨(¥â¡¼¥¿¡¼C¤Î²óž³ÑÅÙ¤ò¥ê¥»¥Ã¥È)
RotateMotor(OUT_C,-SLOW,1100); //¢¨(¥â¡¼¥¿¡¼C¤ò¡Ý1100ÅÙ²óž)
White_to_Black(33,-30,-30); //¤¤Ë¤Æ²òÀâ
Black_to_White(48,-30,-30); //¤¤Ë¤Æ²òÀâ
White_to_Black(33,-30,-30); //¤¤Ë¤Æ²òÀâ
OnFwd(OUT_AB,SLOW); //¤¤Ë¤Æ²òÀâ
Wait(300); //¤¤Ë¤Æ²òÀâ
Off(OUT_AB); //¤¤Ë¤Æ²òÀâ
ResetTachoCount(OUT_C); //¤¤Ë¤Æ²òÀâ
RotateMotor(OUT_C,SLOW,1200); //¤¤Ë¤Æ²òÀâ
}
*** ±¦Â¦µ¡ÂÎ¤Î¥×¥í¥°¥é¥à¤Î²òÀâ¡ [#e122a2ce]
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#define reverse_move OnFwd(OUT_A,-54);OnFwd(OUT_B,-50);
sub reverse_Start_Set()
{
reverse_move;
Start_SE();
Wait(2000);
White_to_Black(48,20,35);
}
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reverse_Start_Set();
L_line(1300,110);
&ref(2017b/Member/riko/Mission3/,400x300,);
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OnFwd(OUT_AB,-SLOW);
Wait(1000);
Off(OUT_AB);
White_to_Black(48,35,25);
L_line(300,130);
Black_to_White(48,0,-30);
White_to_Black(33,0,-30);
&ref(2017b/Member/riko/Mission3/,400x300,);
&ref(2017b/Member/riko/Mission3/±¦Â¦µ¡ÂÎ¤Î¥×¥í¥°¥é¥à¤Î²òÀâ¢.PNG,400x300,±¦Â¦µ¡ÂÎ¤Î¥×¥í¥°¥é¥à¤Î²òÀâ¢);
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White_to_Black(33,-30,-30);
L_line(150,130);
Black_to_White(48,30,30);
release_ball();
&ref(2017b/Member/riko/Mission3/,400x300,);
&ref(2017b/Member/riko/Mission3/±¦Â¦µ¡ÂÎ¤Î¥×¥í¥°¥é¥à¤Î²òÀâ£.PNG,400x300,±¦Â¦µ¡ÂÎ¤Î¥×¥í¥°¥é¥à¤Î²òÀâ£);
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White_to_Black(33,-30,-30);
Black_to_White(48,-30,-30);
White_to_Black(33,-30,-30);
OnFwd(OUT_AB,SLOW);
Wait(300);
Off(OUT_AB);
ResetTachoCount(OUT_C);
RotateMotor(OUT_C,SLOW,1200);
&ref(2017b/Member/riko/Mission3/,400x300,);
&ref(2017b/Member/riko/Mission3/±¦Â¦µ¡ÂÎ¤Î¥×¥í¥°¥é¥à¤Î²òÀâ¤.PNG,400x300,±¦Â¦µ¡ÂÎ¤Î¥×¥í¥°¥é¥à¤Î²òÀâ¤);
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* È¿¾Ê¡¦´¶ÁÛ [#w4d930a0]
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** »æ¥³¥Ã¥×¤ò½Å¤Í¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à [#nb2d92f2]
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