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[[2018b/Member]]
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#contents
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#define go_forward OnFwd(OUT_B,40);OnFwd(OUT_C,40) //ľ¿Ê
#define turn_left1 OnFwd(OUT_B,35);OnFwd(OUT_C,-30) //º¸Àû²ó
#define turn_left2 OnFwd(OUT_B,25);OnFwd(OUT_C,-20) //º¸ÀÞ
#define turn_right1 OnFwd(OUT_C,35);OnFwd(OUT_B,-30) //±¦Àû²ó
#define turn_right2 OnFwd(OUT_C,25);OnFwd(OUT_B,-20) //±¦ÀÞ
¤Þ¤¿¡¢¹õ¤ÈÇò¤Î¶³¦Àþ¤Ë¤Ï¡Ö¹õÀþ¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡×¡¢¡Ö¹õÀþ¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡×¤È¤¤¤¦2¼ïÎà¤Î¶³¦Àþ¤¬Â¸ºß¤¹¤ë¤Î¤Ç¡¢¤³¤ì¤é¤Î¥×¥í¥°¥é¥à¤òʬ¤±¤Æ¹Í¤¨¤ë¤³¤È¤Ë¤·¤¿¡£
***º¸Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ [#eb9a7328]
Àè¤Û¤É¤â¼¨¤·¤¿¤è¤¦¤ËÇò¤È¹õ¤Î¶³¦Àþ¤ÎÌÀ¤ë¤µ¤ÎÃͤ¬45¤Ê¤Î¤Ç
#define THRESHOLD 45 //Çò¤È¹õ¤Î¶³¦Àþ¤ÎÌÀ¤ë¤µ¤ÎÃͤ¬45¤Ç¤¢¤ë¡£
¤ÈÄêµÁ¤·¤Æ¡¢°Ê²¼¤Î¤è¤¦¤Ê¥×¥í¥°¥é¥à¤òºîÀ®¤·¤¿¡£
void Lfollow_line(long max_t) //max_t¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£
long t0=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµÏ¿¤¹¤ë¡£
while (CurrentTick()-t0<=max_t) //¸½ºß¤Î»þ´Ö¤Èt0¤Î»þ´Ö¤Îº¹¤¬max_t°Ê²¼¤Î»þ¡¢°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤¹¤ë¡£{
if (SENSOR_4<THRESHOLD-11) {
turn_right1; //ÌÀ¤ë¤µ¤ÎÃͤ¬34̤Ëþ¤Î»þ¡¢turn_right1¤ÎÆ°¤¤ò¤¹¤ë¡£
}
else if (SENSOR_4<THRESHOLD-7){
turn_right2; //ÌÀ¤ë¤µ¤ÎÃͤ¬34°Ê¾å38̤Ëþ¤Î»þ¡¢turn_right2¤ÎÆ°¤¤ò¤¹¤ë¡£
}
else if (SENSOR_4<THRESHOLD+7){
go_forward; //ÌÀ¤ë¤µ¤ÎÃͤ¬38°Ê¾å52̤Ëþ¤Î»þ¡¢go_forward¤ÎÆ°¤¤ò¤¹¤ë¡£
}
else if (SENSOR_4<THRESHOLD+11){
turn_left1; //ÌÀ¤ë¤µ¤ÎÃͤ¬52°Ê¾å56̤Ëþ¤Î»þ¡¢turn_left1¤ÎÆ°¤¤ò¤¹¤ë¡£
}
else {
turn_left2; //¤½¤ì°Ê³°¤Î»þ¡¢turn_left2¤ÎÆ°¤¤ò¤¹¤ë¡£
}
***±¦Â¦¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹ [#d2668aea]
void Rfollow_line(long max_t) //max_t¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¤Î±¦Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£
long t0=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµÏ¿¤¹¤ë¡£
while (CurrentTick()-t0<=max_t) //¸½ºß¤Î»þ´Ö¤Èt0¤Î»þ´Ö¤Îº¹¤¬max_t°Ê²¼¤Î»þ¡¢°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤¹¤ë¡£{
if (SENSOR_4<THRESHOLD-11) {
turn_left1; //ÌÀ¤ë¤µ¤ÎÃͤ¬34̤Ëþ¤Î»þ¡¢turn_left1¤ÎÆ°¤¤ò¤¹¤ë¡£
}
else if (SENSOR_4<THRESHOLD-7){
turn_left2; //ÌÀ¤ë¤µ¤ÎÃͤ¬34°Ê¾å38̤Ëþ¤Î»þ¡¢turn_left2¤ÎÆ°¤¤ò¤¹¤ë¡£
}
else if (SENSOR_4<THRESHOLD+7){
go_forward; //ÌÀ¤ë¤µ¤ÎÃͤ¬38°Ê¾å52̤Ëþ¤Î»þ¡¢go_forward¤ÎÆ°¤¤ò¤¹¤ë¡£
}
else if (SENSOR_4<THRESHOLD+11){
turn_right1; //ÌÀ¤ë¤µ¤ÎÃͤ¬52°Ê¾å56̤Ëþ¤Î»þ¡¢turn_right1¤ÎÆ°¤¤ò¤¹¤ë¡£
}
else {
turn_right2; //¤½¤ì°Ê³°¤Î»þ¡¢turn_right2¤ÎÆ°¤¤ò¤¹¤ë¡£
}
**¸òº¹ÅÀ¤Îǧ¼± [#o92a7fcb]
º£¤Þ¤Ç¼¨¤·¤Æ¤¤¿¥×¥í¥°¥é¥à¤À¤±¤À¤È¸òº¹ÅÀ¤Ë¤µ¤·¤«¤«¤Ã¤Æ¤â¡¢¤½¤Î¤Þ¤Þ³Ñ¤Ë±è¤Ã¤Æ¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¤³¤È¤È¤Ê¤Ã¤Æ¤·¤Þ¤¦¤Î¤Ç¡¢¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¥×¥í¥°¥é¥à¤òºîÀ®¤·¤¿¡£ ¸òº¹ÅÀǧ¼±¤Î»ÅÁȤߤϡ¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ÎºÇÃæ¤Ë¤¢¤ëÆ°ºî¤òϢ³¤Ç²¿Éô֤«¹Ô¤Ã¤¿¾ì¹ç¡¢¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ªÎ»¤µ¤»¤ë¤È¤¤¤¦¤â¤Î¤Ç¤¢¤ë¡£¤½¤Î¥×¥í¥°¥é¥à¤¬°Ê²¼¤Î¤â¤Î¤Ç¤¢¤ë¡£
void follow_intersection(long min_t) //min_t¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¡£
long t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµÏ¿¤¹¤ë¡£
while (CurrentTick()-t1<=min_t) //¸½ºß¤Î»þ´Ö¤Èt1¤Î»þ´Ö¤Îº¹¤¬min_t°Ê²¼¤Î»þ¡¢°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤¹¤ë¡£(min_t¤Î»þ´Ö¤Ç¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¡£){
if (SENSOR_4<THRESHOLD-11) {
Off(OUT_BC);Wait(1000); //ÌÀ¤ë¤µ¤ÎÃͤ¬34̤Ëþ¤Î»þ¡¢B,C¤Î¥â¡¼¥¿¤ò1ÉôÖÄä»ß¤µ¤»¤ë¡£
}
if (SENSOR_4<THRESHOLD-7){
turn_left2; //ÌÀ¤ë¤µ¤ÎÃͤ¬34°Ê¾å38̤Ëþ¤Î»þ¡¢turn_left2¤ÎÆ°¤¤ò¤¹¤ë¡£
t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµÏ¿¤¹¤ë¡£
}
else if (SENSOR_4<THRESHOLD+7){
go_forward; //ÌÀ¤ë¤µ¤ÎÃͤ¬38°Ê¾å52̤Ëþ¤Î»þ¡¢go_forward¤ÎÆ°¤¤ò¤¹¤ë¡£
t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµÏ¿¤¹¤ë¡£
}
else if (SENSOR_4<THRESHOLD+11){
turn_right1; //ÌÀ¤ë¤µ¤ÎÃͤ¬52°Ê¾å56̤Ëþ¤Î»þ¡¢turn_right1¤ÎÆ°¤¤ò¤¹¤ë¡£
t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµÏ¿¤¹¤ë¡£
}
else {
turn_right2; //¤½¤ì°Ê³°¤Î»þ¡¢turn_right2¤ÎÆ°¤¤ò¤¹¤ë¡£
t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµÏ¿¤¹¤ë¡£
}
**¸òº¹ÅÀ¤Î²£ÃÇ [#x64b1f0f]
¸òº¹ÅÀ¤òǧ¼±¤·¤¿¸å¡¢Ä¾¿Ê¡¢º¸ÀÞ¡¢±¦ÀޤʤɤÎÆ°¤¤ò¤¹¤ëɬÍפ¬¤¢¤ë¤Î¤Ç¡¢¸òº¹ÅÀ¤ò²£ÃǤ¹¤ë¥×¥í¥°¥é¥à¤ò¹Í¤¨¤ë¡£
#define across OnFwd(OUT_B,40);OnFwd(OUT_C,40);Wait(1000)//1Éôָòº¹ÅÀ¤ò²£ÃǤ¹¤ë¡£
#define across2 OnFwd(OUT_B,40);OnFwd(OUT_C,40);Wait(400)//0.4Éôָòº¹ÅÀ¤ò²£ÃǤ¹¤ë¡£
#define across3 OnFwd(OUT_B,40);OnFwd(OUT_C,40);Wait(200)//0.2Éôָòº¹ÅÀ¤ò²£ÃǤ¹¤ë¡£
**¶õ¤´Ì¤òõ¤¹¤¿¤á¤Î¥×¥í¥°¥é¥à [#n07ded69]
#define SPEED 50
#define SPEED_SLOW 30
const float diameter = 5.45; //¥¿¥¤¥ä¤Îľ·Â(cm)
const float track = 10.35; //¥¿¥¤¥ä¤Î¥È¥ì¥Ã¥ÉÉý(cm)
const float pi = 3.1415; //±ß¼þΨ
void turnAng(long ang) // ³ÑÅÙ ang Å٤λþ·×²ó¤ê¤ÎÀû²ó¤¹¤ë¡£
long angle;
angle = track/diameter*ang;
RotateMotorEx(OUT_BC, SPEED_SLOW, angle, 100, true, true);
int searchDirection(long ang) // ¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤ËangÅÙ¤ÎÈϰϤÇõ¤¹¡£
// ¾ã³²Êª¤Þ¤Ç¤Îµ÷Î¥¤òÊÖ¤¹¡£
long angle, tacho_min=0, tacho_corr;
int d_min;
d_min=300; // ²¾¤ÎºÇ¾®ÃÍ
angle = (track/diameter)*ang;// Àû²ó³ÑÅÙ¤«¤é¥¿¥¤¥ä¤Î²óž¤ò·×»»¤¹¤ë¡£
turnAng(ang/2); // »ØÄꤵ¤ì¤¿³ÑÅÙ¤ÎȾʬ¤òÀû²ó¤¹¤ë¡£
ResetTachoCount(OUT_BC); // ³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È¤¹¤ë¡£
OnFwdSync(OUT_BC,SPEED_SLOW,-100);// È¿»þ·×²ó¤ê¤ËÀû²ó¤¹¤ë¡£
while(MotorTachoCount(OUT_B)<=angle){
if(SensorUS(S2)<d_min){
d_min=SensorUS(S2); // ²¾¤ÎºÇ¾®Ãͤò¹¹¿·¤¹¤ë¡£
tacho_min=MotorTachoCount(OUT_B);
OnFwdSyncEx(OUT_BC,SPEED_SLOW,100,RESET_NONE);
until(MotorTachoCount(OUT_B)<=tacho_min||SensorUS(S2)<=d_min);
Wait(14); //ÈùÄ´À°
Off(OUT_BC);Wait(500);
return d_min;
º£²ó¤Ï¥í¥Ü¥Ã¥È¤ò360Åٲ󞤵¤»,¶õ¤´Ì¤Î°ÌÃÖ¤òõ¤¹¡£
int d=searchDirection(360); //¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤Ë360Åٲ󞤷¡¢ºÇ¾®ÃͤÎÊý¸þ¤ò¸þ¤¯¡£
**¶õ¤´Ì¤Ë¥Ü¡¼¥ë¤ò¤¢¤Æ¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à [#yc171ea9]
#define throw
OnFwd(OUT_A,30);Wait(700);Off(OUT_A);Wait(2000); //¥¢¡¼¥à¤òÆ°¤«¤·¡¢¥Ü¡¼¥ë¤ò¶õ¤´ÌÅö¤Æ¤ë¡£
OnFwd(OUT_A,-35);Wait(700);Off(OUT_A); //¥¢¡¼¥à¤ò¤â¤È¤Î°ÌÃÖ¤ËÌ᤹¡£
**¸ú²Ì²» [#z851aaa6]
¥é¥¤¥ó¥È¥ì¡¼¥¹¥Þ¥·¥ó¤òºîÀ®¤·¤Æ¤¤¤ë»þ¤Ë¡¢¸òº¹ÅÀ¤Îǧ¼±¤¬¤¦¤Þ¤¯¹Ô¤¨¤Æ¤¤¤ë¤«¤ò³Îǧ¤¹¤ë¤¿¤á¤Ë¡¢²»¤òÍѤ¤¤¿¡£¤³¤Î²»¤Î¤ª¤«¤²¤Çºî¶È¸úΨ¤¬ÂçÉý¤Ë¾å¤¬¤Ã¤¿¡£
#define MI 659 //¥ß¤Î²»
SetSensorSound(S1);
void follow_intersection(long min_t) //min_t¤Ë¤¤¤ì¤¿»þ´Öʬ¤À¤±¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¡£
long t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµÏ¿¤¹¤ë¡£
while (CurrentTick()-t1<=min_t) //¸½ºß¤Î»þ´Ö¤Èt1¤Î»þ´Ö¤Îº¹¤¬min_t°Ê²¼¤Î»þ¡¢°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤¹¤ë¡£{
if (SENSOR_4<THRESHOLD-11) {
Off(OUT_BC);Wait(1000); //ÌÀ¤ë¤µ¤ÎÃͤ¬34̤Ëþ¤Î»þ¡¢B,C¤Î¥â¡¼¥¿¤ò1ÉôÖÄä»ß¤µ¤»¤ë¡£
}
if (SENSOR_4<THRESHOLD-7){
turn_left2; //ÌÀ¤ë¤µ¤ÎÃͤ¬34°Ê¾å38̤Ëþ¤Î»þ¡¢turn_left2¤ÎÆ°¤¤ò¤¹¤ë¡£
t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµÏ¿¤¹¤ë¡£
}
else if (SENSOR_4<THRESHOLD+7){
go_forward; //ÌÀ¤ë¤µ¤ÎÃͤ¬38°Ê¾å52̤Ëþ¤Î»þ¡¢go_forward¤ÎÆ°¤¤ò¤¹¤ë¡£
t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµÏ¿¤¹¤ë¡£
}
else if (SENSOR_4<THRESHOLD+11){
turn_right1; //ÌÀ¤ë¤µ¤ÎÃͤ¬52°Ê¾å56̤Ëþ¤Î»þ¡¢turn_right1¤ÎÆ°¤¤ò¤¹¤ë¡£
t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµÏ¿¤¹¤ë¡£
}
else {
turn_right2; //¤½¤ì°Ê³°¤Î»þ¡¢turn_right2¤ÎÆ°¤¤ò¤¹¤ë¡£
t1=CurrentTick(); //¸½ºß¤Î»þ´Ö¤òµÏ¿¤¹¤ë¡£
}
PlayTone(MI,900);Wait(1000);
PlayTone(MI,900);Wait(1000); //¥ß¤Î²»¤ò0.9ÉôֽФ¹¡£
*Á´ÂÎ¤Î¥×¥í¥°¥é¥à [#r8027741]
¤³¤ì¤Þ¤Ç¤Ëµ½Ò¤·¤Æ¤¤¿¥×¥í¥°¥é¥à¤òÁȤ߹ç¤ï¤»¤Æ¡¢Á´ÂÎ¤Î¥×¥í¥°¥é¥à¤òºîÀ®¤¹¤ë¡£
SetSensorLight(S4); //
SetSensorLowspeed(S2);//
Wait(3000);//
across2;//
Lfollow_line(2500);//
follow_intersection(400);//
across2;//
Lfollow_line(950);//
Lfollow_line(400);//
follow_intersection(400);//
Rfollow_line(8000);//
int d=searchDirection(360);//
throw; //
Lfollow_line(6000);//
follow_intersection(400);//
across3;//
across3;//
Lfollow_line(8500);//
follow_intersection(400);//
turn_left2;Wait(1000);//
Rfollow_line(26000);//
follow_intersection(400);//
across2;//
across2;//
across2;//
Rfollow_line(26500);//
follow_intersection(400);//
across2;//
across2;//
Rfollow_line(1500);//
across;//
SetSensorLight(S4); //¸÷¥»¥ó¥µ¤ò4¤ËÀܳ¤¹¤ë¡£
SetSensorLowspeed(S2);//Ķ²»ÇÈ¥»¥ó¥µ¤ò2¤ËÀܳ¤¹¤ë¡£
Wait(3000);//¥¹¥¿¡¼¥È¥Ü¥¿¥ó¤ò²¡¤·¤Æ¤«¤é¤¹¤°¤Ë¥í¥Ü¥Ã¥È¤¬Æ°¤¯¤Î¤òËɤ°¤¿¤á¤Ë¡¢3Éô֥í¥Ü¥Ã¥È¤òÄä»ß¤µ¤»¤ë¡£
across2;//0.4Éôָòº¹ÅÀ¤ò²£ÃǤ¹¤ë¡£
Lfollow_line(2500);//2.5Éô֥饤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£
follow_intersection(400);//0.4ÉäǤǸòº¹ÅÀ¤òǧ¼±¤¹¤ë¡£
across2;//0.4Éôָòº¹ÅÀ¤ò²£ÃǤ¹¤ë¡£
Lfollow_line(950);//0.95Éô֥饤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£
Lfollow_line(400);//0.4Éô֥饤¥ó¤Îº¸Â¦¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡£
follow_intersection(400);//0.4ÉäǤǸòº¹ÅÀ¤òǧ¼±¤¹¤ë¡£
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