マスター #define CONN 1//スレーブの番号を割り振り #define AGERU RemoteStartProgram(CONN,"ageru.rxe");Wait(4500); //アームの上げるのを定義 #define SAGERU RemoteStartProgram(CONN,"sageru.rxe");Wait(3000); //アームの下げるのを定義 #define TUKAMU RemoteStartProgram(CONN,"tukamu.rxe");Wait(3500); //アームで掴むのを定義 #define HANASU RemoteStartProgram(CONN,"hanasu.rxe");Wait(3000); //アームで放すのを定義 #define MODOSU RemoteStartProgram(CONN,"modosu.rxe");Wait(3000); //アームを開きもとに戻す #define KUZUSU TUKAMU;AGERU;OnRev(OUT_BC,10);Wait(1000);Off(OUT_BC);OnFwd(OUT_B,15);OnRev(OUT_C,15);Wait(1500);Off(OUT_BC);OnFwd(OUT_BC,10);Wait(1000);Off(OUT_BC);Wait(3000);SAGERU;HANASU;TUKAMU;AGERU;OnRev(OUT_BC,10);Wait(1000);Off(OUT_BC);OnFwd(OUT_C,15);OnRev(OUT_B,15);Wait(1600);Off(OUT_BC);OnFwd(OUT_BC,10);Wait(1300);Off(OUT_BC);Wait(1000);SAGERU;HANASU; #define BLACK 40 #define LITTLE_BLACK 47 #define LITTLE_WHITE 53 #define WHITE 65 #define LEFT OnFwd(OUT_B,30);OnRev(OUT_C,30);Wait(1);Off(OUT_BC); #define LITTLE_LEFT OnFwd(OUT_B,35);OnFwd(OUT_C,20);Wait(1);Off(OUT_BC); #define LITTLE_RIGHT OnFwd(OUT_B,20);OnFwd(OUT_C,35);Wait(1);Off(OUT_BC); #define RIGHT OnFwd(OUT_C,30);OnRev(OUT_B,30);Wait(1);Off(OUT_BC); #define FRONT OnFwd(OUT_BC,25);Wait(1);Off(OUT_AC); #define LINE_LEFT if (SENSOR_1 < BLACK) {LEFT;KAZU += 3;} else if (SENSOR_1 < LITTLE_BLACK) {LITTLE_LEFT;KAZU += 1;} else if (SENSOR_1 > WHITE) {RIGHT;KAZU -= 1;} else if (SENSOR_1 > LITTLE_WHITE) {LITTLE_RIGHT;KAZU -= 3;} else {FRONT;KAZU *= 0;} #define LINE_RIGHT if (SENSOR_1 < BLACK) {RIGHT;KAZU += 3;} else if (SENSOR_1 < LITTLE_BLACK) {LITTLE_RIGHT;KAZU += 1;} else if (SENSOR_1 > WHITE) {LEFT;KAZU -= 1;}else if (SENSOR_1 > LITTLE_WHITE) {LITTLE_LEFT;KAZU -= 3;} else {FRONT;KAZU *= 0;} task main() { SetSensorLight(S1); //光センサを定義 int KAZU=0; int n = 0; long t0 = CurrentTick(); // until(BluetoothStatus(CONN)==NO_ERR); //つながるまで待機 RemotePlayTone(1,440,1000);Wait(1500); //最初に音を鳴らす MODOSU; //最初に念のため開いておく while(n < 1){ if (SENSOR_1 < BLACK){OnFwd(OUT_C,25);OnFwd(OUT_B,20);Wait(700);Off(OUT_BC);n++;Off(OUT_BC);Wait(1);} else {OnFwd(OUT_BC,20);Wait(1);Off(OUT_BC);} } n = 0; //黒を感知するまで進む//線を超えるために進む while(n < 1){ if (SENSOR_1 < LITTLE_WHITE){OnFwd(OUT_C,35);OnFwd(OUT_B,20);Wait(100);Off(OUT_BC);n++;Off(OUT_BC);Wait(1);} else {OnFwd(OUT_B,40);OnFwd(OUT_C,20);Wait(1);Off(OUT_BC);} } n = 0; //黒を感知するまで曲がる repeat(2000){LINE_RIGHT;};KAZU *= 0; while(KAZU < 300){LINE_RIGHT;}; PlaySound(SOUND_DOUBLE_BEEP); //十字の交差点を感知 OnFwd(OUT_C,30);OnRev(OUT_B,30);Wait(1200); //右に曲がる OnFwd(OUT_BC,15);Wait(300);Off(OUT_BC); repeat(2000){LINE_RIGHT;};KAZU *= 0; while(KAZU < 200){LINE_RIGHT;}; PlaySound(SOUND_DOUBLE_BEEP); //円との交差点を感知 KUZUSU; //缶を崩す OnFwd(OUT_BC,15);Wait(200);Off(OUT_BC); OnRev(OUT_BC,15);Wait(200);Off(OUT_BC); OnFwd(OUT_C,15);OnRev(OUT_B,30);Wait(200);Off(OUT_BC); OnFwd(OUT_B,15);OnRev(OUT_C,15);Wait(200);Off(OUT_BC); //ぐちゃぐちゃやって整える Wait(1000); SAGERU;TUKAMU; //引きずるために掴む Wait(2000); OnFwd(OUT_B,40);OnFwd(OUT_C,30);Wait(3000);Off(OUT_BC); //円を超えるために進む repeat(3000){LINE_RIGHT};KAZU *= 0; while(KAZU < 200){LINE_RIGHT}; PlaySound(SOUND_DOUBLE_BEEP); //十字の交差点を感知 /* OnFwd(OUT_C,20);OnRev(OUT_B,20);//右に曲がる Wait(2500); Off(OUT_BC); repeat(1500){LINE_RIGHT}; KAZU *= 0; while(KAZU < 100){LINE_RIGHT}; PlaySound(SOUND_DOUBLE_BEEP);//十字の交差点を感知 while(n < 1){ if (SENSOR_1 < BLACK){OnFwd(OUT_BC,20);Wait(1);Off(OUT_BC);} else{n++;Off(OUT_BC);Wait(1);} } n = 0; //白を感知するまで進む OnFwd(OUT_BC,25); Wait(700); Off(OUT_BC); MODOSU;*/ /*TUKAMU;AGERU; OnRev(OUT_BC,20);Wait(2000);Off(OUT_BC); OnFwd(OUT_B,30);OnRev(OUT_C,30); Wait(1000); Off(OUT_BC); OnFwd(OUT_BC,20);Wait(2000);Off(OUT_BC); SAGERU;HANASU; TUKAMU;AGERU; OnRev(OUT_BC,20);Wait(2000);Off(OUT_BC); OnFwd(OUT_C,30);OnRev(OUT_B,30); Wait(1000); Off(OUT_BC); OnFwd(OUT_BC,20);Wait(2000);Off(OUT_BC); SAGERU;HANASU;MODOSU;*/ /*repeat(1000){LINE_RIGHT}; KAZU *= 0; while(KAZU < 100){LINE_RIGHT}; PlaySound(SOUND_DOUBLE_BEEP);//円との交差点を感知 / † はなす } task main(){ OnFwd(OUT_A,1c0); Wait(500); Off(OUT_A); } 苦し紛れにつくったやつ #define CONN 1//スレーブの番号を割り振り #define AGERU RemoteStartProgram(CONN,"ageru.rxe");Wait(4500); //アームの上げるのを定義 #define SAGERU RemoteStartProgram(CONN,"sageru.rxe");Wait(3000); //アームの下げるのを定義 #define TUKAMU RemoteStartProgram(CONN,"tukamu.rxe");Wait(3500); //アームで掴むのを定義 #define HANASU RemoteStartProgram(CONN,"hanasu.rxe");Wait(3000); //アームで放すのを定義 #define MODOSU RemoteStartProgram(CONN,"modosu.rxe");Wait(3000); //アームを開きもとに戻す #define KUZUSU TUKAMU;AGERU;OnRev(OUT_BC,30);Wait(1000);Off(OUT_BC);OnFwd(OUT_B,30);OnRev(OUT_C,30);Wait(1500);Off(OUT_BC);OnFwd(OUT_BC,30);Wait(1000);Off(OUT_BC);Wait(3000);SAGERU;HANASU;TUKAMU;AGERU;OnRev(OUT_BC,30);Wait(1000);Off(OUT_BC);OnFwd(OUT_C,30);OnRev(OUT_B,30);Wait(2000);Off(OUT_BC);OnFwd(OUT_BC,30);Wait(1300);Off(OUT_BC);Wait(1000);SAGERU; task main() { MODOSU; RemotePlayTone(1,440,1000);Wait(1500); //最初に音を鳴らす OnFwd(OUT_BC,30); Wait(4000); Off(OUT_BC); KUZUSU; //缶を崩す OnFwd(OUT_BC,15);Wait(200);Off(OUT_BC); OnRev(OUT_BC,15);Wait(200);Off(OUT_BC); OnFwd(OUT_C,15);OnRev(OUT_B,30);Wait(200);Off(OUT_BC); OnFwd(OUT_B,15);OnRev(OUT_C,15);Wait(200);Off(OUT_BC); //ぐちゃぐちゃやって整える SAGERU;TUKAMU; //引きずるために掴む OnFwd(OUT_B,30); OnFwd(OUT_C,35); Wait(4000); Off(OUT_BC); OnFwd(OUT_C,30); Wait(500); Off(OUT_C); HANASU; MODOSU; }