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#define SO 392
#define DO 523
#define MI 659
#define SO_H 784
#define SI 988
#define DO_H 1047
#define MI_H 1318
#define RE 1175
#define SO_SH 1568
#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);
/*ResetTachoCount(OUT_AB);
RotateMotorEx(OUT_AB,-SLOW,120,0,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);
}
sub pose_SE()
{
PlayTone(MI_H,90);Wait(100);
PlayTone(DO_H,90);Wait(100);
PlayTone(MI_H,90);Wait(100);
PlayTone(DO_H,90);Wait(100);
}
sub one_UP_SE()
{
PlayTone(MI,110);Wait(120);
PlayTone(SO_H,110);Wait(120);
PlayTone(MI_H,110);Wait(120);
PlayTone(DO_H,110);Wait(120);
PlayTone(RE,110);Wait(120);
PlayTone(SO_SH,110);Wait(120);
}
sub coin_SE()
{
PlayTone(SI,90);Wait(100);
PlayTone(MI_H,140);Wait(150);
}
sub Start_SE()
{
PlayTone(MI,100);Wait(110);
PlayTone(MI,100);Wait(250);
PlayTone(MI,100);Wait(160);
PlayTone(DO,90);Wait(100);
PlayTone(MI,90);Wait(230);
PlayTone(SO_H,90);Wait(420);
PlayTone(SO,170);Wait(180);
}
#define move1 OnFwd(OUT_A,40);OnFwd(OUT_B,-35);
#define move2 OnFwd(OUT_A,30);OnFwd(OUT_B,-20);
#define move3 OnFwd(OUT_A,54);OnFwd(OUT_B,54);
#define move4 OnFwd(OUT_B,30);OnFwd(OUT_A,-20);
#define move5 OnFwd(OUT_B,40);OnFwd(OUT_A,-35);
#define average 45
sub Stop_Motion()
{
Wait(300);
pose_SE();
Wait(1000);
}
sub L_Assist_line(int Assist_time)
{
long ta=CurrentTick();
while (CurrentTick()-ta<=Assist_time){
if (SENSOR_2<average-11) {
move1
}else if (SENSOR_2<average-7){
move2;
} else if (SENSOR_2<average+7){
move3;
} else if (SENSOR_2<average+11){
move4;
} else {
move5;
}
}
coin_SE();
}
sub R_Assist_line(int Assist_time)
{
long tb=CurrentTick();
while (CurrentTick()-tb<=Assist_time){
if (SENSOR_2<average-11) {
move5;
} else if (SENSOR_2<average-7){
move4;
} else if (SENSOR_2<average+7){
move3;
} else if (SENSOR_2<average+11){
move2;
} else {
move1;
}
}
coin_SE();
}
sub L_line(int Assist_time,int Stop_time)
{
L_Assist_line(Assist_time);
long t1=CurrentTick();
while (CurrentTick()-t1<=Stop_time){
if (SENSOR_2<average-11) {
move1;
} else if (SENSOR_2<average-7){
move2;
t1=CurrentTick();
} else if (SENSOR_2<average+7){
move3;
t1=CurrentTick();
} else if (SENSOR_2<average+11){
move4;
t1=CurrentTick();
} else {
move5;
t1=CurrentTick();
}
}
Off(OUT_AB);
coin_SE();
}
sub R_line(int Assist_time,int Stop_time)
{
R_Assist_line(Assist_time);
long t2=CurrentTick();
while (CurrentTick()-t2<=Stop_time){
if (SENSOR_2<average-11) {
move5;
} else if (SENSOR_2<average-8){
move4;
t2=CurrentTick();
} else if (SENSOR_2<average+6){
move3;
t2=CurrentTick();
} else if (SENSOR_2<average+11){
move2;
t2=CurrentTick();
} else {
move1;
t2=CurrentTick();
}
}
Off(OUT_AB);
coin_SE();
}
sub White_to_Black(int blight,int A_speed,int B_speed)
{
while (SENSOR_2>blight){
OnFwd(OUT_A,A_speed);
OnFwd(OUT_B,B_speed);
}
Off(OUT_AB);
}
sub Black_to_White(int blight,int A_speed,int B_speed)
{
while (SENSOR_2<blight){
OnFwd(OUT_A,A_speed);
OnFwd(OUT_B,B_speed);
}
Off(OUT_AB);
}
sub Start_Set()
{
Start_SE();
move3;
Wait(600);
White_to_Black(48,30,5);
}
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);
SetSensorLowspeed(S3);
Start_Set();
R_line(300,150);
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);
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);
Wait(1000);
Off(OUT_AB);
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);
release_cop(50);
tag();
keep_cop();
tag();
OnFwd(OUT_AB,-SLOW);
Wait(1000);
Off(OUT_AB);
}
&ref(2017b/Member/riko/Mission3/,400x300,);