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º£²ó¤â²ÝÂꣲ¤Î»þ¤ÈƱÍͤˡֹõ¤ÈÇò¤Î¶­³¦Àþ¤ò¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë¡×¤È¤¤¤¦¥×¥í¥°¥é¥à¤òÀ©ºî¤·¤¿¡£¤¿¤À¡¢º£²ó¤Î²ÝÂê¤Ç¤Ï¡¢Àè¤Û¤É¤â½ñ¤¤¤¿Ä̤ê¸÷¥»¥ó¥µ¤ò£²¤Ä»È¤Ã¤Æ¤¤¤ë¤¿¤á¡¢¤è¤ê´Êñ¤Ë¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¦¤³¤È¤¬¤Ç¤­¤¿¡£º£²ó¤Ï¸÷¥»¥ó¥µ¤òÃÏÌ̤ȶᤤ°ÌÃÖ¤ËÀßÃÖ¤·¤Æ¤¤¤ë¤¿¤á
ÌÀ¤ë¤µ¤ÎÃͤ¬3Ãʳ¬¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¦¤³¤È¤¬¤Ç¤­¤¿¡£
    #define go_forward OnFwd(OUT_A,40);OnFwd(OUT_C,40)  //ľ¿Ê,A¤Ï°ìÈÖ±¦¤Î¥â¡¼¥¿,C¤Ï°ìÈÖº¸¤Î¥â¡¼¥¿
    #define turn_left1 OnFwd(OUT_A,35);OnFwd(OUT_C,-30)  //º¸Àû²ó
    #define turn_right1 OnFwd(OUT_C,35);OnFwd(OUT_A,-30) //±¦Àû²ó
Çò¤È¹õ¤Î¶­³¦Àþ¤ÎÌÀ¤ë¤µ¤ÎÃͤ¬50¤À¤Ã¤¿¤Î¤Ç
    #define THRESHOLD 50

#define go_forward OnFwd(OUT_A,40);OnFwd(OUT_C,40)  //ľ¿Ê,A¤Ï°ìÈÖ±¦¤Î¥â¡¼¥¿,C¤Ï°ìÈÖº¸¤Î¥â¡¼¥¿
#define turn_left1 OnFwd(OUT_A,35);OnFwd(OUT_C,-30)  //º¸Àû²ó
#define turn_right1 OnFwd(OUT_C,35);OnFwd(OUT_A,-30) //±¦Àû²ó
¤ÈÄêµÁ¤·¤Æ°Ê²¼¤Î¤è¤¦¤Ê¥×¥í¥°¥é¥à¤òºîÀ®¤·¤¿¡£
***¸òº¹ÅÀ¤òǧ¼±¤¹¤ë¥é¥¤¥ó¥È¥ì¡¼¥¹ [#g6bfc511]
 void Lfollow_line(long min_t) //min_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<=min_t) //¸½ºß¤Î»þ´Ö¤Èt0¤Î»þ´Ö¤Îº¹¤¬min_t°Ê²¼¤Î»þ¡¢°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤¹¤ë¡£{
         if ((SENSOR_1<THRESHOLD-7)&&(SENSOR_4<THRESHOLD-11)){
              Off(OUT_AC);Wait(1000); //S1¤ÎÌÀ¤ë¤µ¤ÎÃͤ¬43̤Ëþ¤«¤ÄS4ÌÀ¤ë¤µ¤ÎÃͤ¬39̤Ëþ¤Î»þ¡¢¥í¥Ü¥Ã¥È¤¬Ää»ß¤¹¤ë¡£
         }
    else if (SENSOR_1<THRESHOLD-7){
            turn_left1; //ÌÀ¤ë¤µ¤ÎÃͤ¬43̤Ëþ¤Î»þ¡¢turn_left1¤ÎÆ°¤­¤ò¤¹¤ë¡£
        } 
    else if (SENSOR_1<THRESHOLD+7){  
            go_forward;¡¡//ÌÀ¤ë¤µ¤ÎÃͤ¬43°Ê¾å57̤Ëþ¤Î»þ¡¢go_forward¤ÎÆ°¤­¤ò¤¹¤ë¡£
        } 
    else {
            turn_right1; //¤½¤ì°Ê³°¤Î»þ¡¢turn_right1¤ÎÆ°¤­¤ò¤¹¤ë¡£
         }  
    }
***¸òº¹ÅÀ¤ò²£ÃǤ¹¤ë¥×¥í¥°¥é¥à [#u785261f]
    #define follow_intersection ResetTachoCount(OUT_AC);RotateMotor(OUT_AC,30,100);
    #define follow_intersection2 ResetTachoCount(OUT_AC);RotateMotor(OUT_AC,30,300);
¤³¤Î¥×¥í¥°¥é¥à¤Ï¸òº¹ÅÀ¤ò²£ÃǤ¹¤ë¤¿¤á¤ËÍѤ¤¤ë¡£2¼ïÎฺߤ¹¤ë¤Î¤Ïfollow_intersection¤Î¥×¥í¥°¥é¥à¤ò3²óÂǤĤΤò¾Êά¤¹¤ë¤¿¤á¤ËÍѤ¤¤¿¤Î¤ÇÆä˿¼¤¤°ÕÌ£¤Ï¤Ê¤¤¡£
***¸òº¹ÅÀ¤òǧ¼±¤·¤¿¸å¸åÂह¤ë¥×¥í¥°¥é¥à [#s832d5d2]
    #define Mfollow_intersection ResetTachoCount(OUT_AC);RotateMotor(OUT_AC,-30,210);
¤³¤Î¥×¥í¥°¥é¥à¤ÏÀĤΥܡ¼¥ë¤òÄϤि¤á¤Îµ÷Î¥¤ò¼è¤ë¤¿¤á¤ËÍѤ¤¤ë¡£
***¸òº¹ÅÀ¤òǧ¼±¤·¤Ê¤¤¥é¥¤¥ó¥È¥ì¡¼¥¹ [#qca2b6e4]
 void follow_line(long min_t) //min_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<=min_t) //¸½ºß¤Î»þ´Ö¤Èt0¤Î»þ´Ö¤Îº¹¤¬min_t°Ê²¼¤Î»þ¡¢°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤¹¤ë¡£{
         if (SENSOR_1<THRESHOLD-7){
            turn_left1; //ÌÀ¤ë¤µ¤ÎÃͤ¬43̤Ëþ¤Î»þ¡¢turn_left1¤ÎÆ°¤­¤ò¤¹¤ë¡£
        }
    else if (SENSOR_1<THRESHOLD+7){  
            go_forward; //ÌÀ¤ë¤µ¤ÎÃͤ¬43°Ê¾å57̤Ëþ¤Î»þ¡¢go_forward¤ÎÆ°¤­¤ò¤¹¤ë¡£
        } 
    else {
            turn_right1; //¤½¤ì°Ê³°¤Î»þ¡¢turn_right1¤ÎÆ°¤­¤ò¤¹¤ë¡£
         }  
    }
    

**´Ì¤òǧ¼±¤·¡¢´Ì¤Ë¶á¤Å¤¯¤¿¤á¤Î¥×¥í¥°¥é¥à¡ÊÀÖ¤¤¥Ü¡¼¥ë¤ò¤Ä¤«¤ó¤À»þ¡Ë [#qb69c2fe]
***´Ì¤òǧ¼±¤¹¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à [#ya1ed339]
   
   #define SPEED 50
   #define SPEED_SLOW 30
   #define SPEED_MSLOW -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
    {
    long angle;
    angle = track/diameter*ang;
    RotateMotorEx(OUT_AC, 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;
    angle = (track/diameter)*ang;// Àû²ó³ÑÅÙ¤«¤é¥¿¥¤¥ä¤Î²óž¤ò·×»»¤¹¤ë¡£
    turnAng(ang/2);              // Àû²ó³ÑÅÙ¤«¤é¥¿¥¤¥ä¤Î²óž¤ò·×»»¤¹¤ë¡£
    ResetTachoCount(OUT_AC);     // ³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È¤¹¤ë¡£
    OnFwdSync(OUT_AC,SPEED_SLOW,-100);
    while(MotorTachoCount(OUT_A)<=angle){
    if(SensorUS(S2)<d_min){
    d_min=SensorUS(S2);          // ²¾¤ÎºÇ¾®Ãͤò¹¹¿·¤¹¤ë¡£
    tacho_min=MotorTachoCount(OUT_A);
    }
    }
    OnFwdSyncEx(OUT_AC,SPEED_SLOW,100,RESET_NONE);
    until(MotorTachoCount(OUT_A)<=tacho_min||SensorUS(S2)<=d_min);
    Wait(14);                   //ÈùÄ´À°
    Off(OUT_AC);Wait(500);
    return d_min;
    ResetTachoCount(OUT_AC);    // ³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È¤¹¤ë¡£
    }

¤³¤ì¤ò¥¯¥ê¥Ã¥¯¤¹¤ë¤È¥×¥í¥°¥é¥à¤Î»ÅÁȤߤ¬Ê¬¤«¤ë¤È»×¤¤¤Þ¤¹¡£[[¶õ¤­´Ì¤òǧ¼±¤¹¤ë»ÅÁȤß>http://yakushi.shinshu-u.ac.jp/robotics/?plugin=ref&page=2018b%2FMember%2FJerry%2FMission2&src=%B6%F5%A4%AD%B4%CC%A4%F2%C7%A7%BC%B1%A4%B9%A4%EB%BB%C5%C1%C8%A4%DF.jpg]]


***´Ì¤Ë¶á¤Å¤¯¤¿¤á¤Î¥×¥í¥°¥é¥à [#k02ee8ec]
 void fwdDist(float d) //µ÷Î¥ d cm Á°¿Ê¤¹¤ë¡£
    {
    long angle;
    angle = d/(diameter*pi)*360.0 ;   //³ÑÅÙ¤ò·×»»¤¹¤ë¡£
    RotateMotorEx(OUT_AC,SPEED_SLOW,angle,0,true,true);
    }
¤³¤Î¥×¥í¥°¥é¥à¤Ë¤è¤ê¡¢¤µ¤­¤Û¤É¤ÎsearchDirection()¤È¤¤¤¦´Ø¿ô¤Ë¤è¤Ã¤ÆÆÀ¤é¤ì¤¿d_min (cm) ¤ÎÃͤÎʬ¤À¤±¥í¥Ü¥Ã¥È¤¬Á°¿Ê¤¹¤ë¡£¤Þ¤¿¡¢¤³¤Î¥×¥í¥°¥é¥à¤Î¥â¡¼¥¿¤òµÕ²óž¤·²¼µ­¤Î¤è¤¦¤Ê¥×¥í¥°¥é¥à¤ò¤Ä¤¯¤ë¤³¤È¤Çd_min (cm) ¤À¤±¥í¥Ü¥Ã¥È¤ò¸åÂव¤»¡¢´Ì¤òõ¤·»Ï¤á¤¿°ÌÃÖ¤Þ¤ÇÌá¤ë¤³¤È¤¬²Äǽ¤È¤Ê¤ë¡£
 void MfwdDist(float d) //µ÷Î¥ d cm ¸åÂह¤ë¡£
    {
    long angle;
    angle = d/(diameter*pi)*360.0 ;   ////³ÑÅÙ¤ò·×»»¤¹¤ë¡£
    RotateMotorEx(OUT_AC,SPEED_MSLOW,angle,0,true,true);
    }
**´Ì¤òǧ¼±¤·¡¢´Ì¤Ë¶á¤Å¤¯¤¿¤á¤Î¥×¥í¥°¥é¥à¡ÊÀĤ¤¥Ü¡¼¥ë¤ò¤Ä¤«¤ó¤À»þ¡Ë [#v2bf3074]
***´Ì¤òǧ¼±¤¹¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à [#t550e9de]
 void turnAng2(long ang2)¡¡//³ÑÅÙ ang2 Å٤λþ·×²ó¤ê¤ÎÀû²ó
    {
    long angle2;
    angle2 = track/diameter*ang2;
    RotateMotorEx(OUT_AC, SPEED_SLOW, angle2, 100, true, true);   
    }
 
 int e_searchDirection(long ang2)¡¡//¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤Ëang2ÅÙ¤ÎÈϰϤÇõ¤¹¡£
                                   // ¾ã³²Êª¤Þ¤Ç¤Îµ÷Î¥¤òÊÖ¤¹¡£
    {
    long angle2, tacho_min2=0, tacho_corr2;
    int e_min;                     //²¾¤ÎºÇ¾®ÃÍ
    e_min=300;
    angle2 = (track/diameter)*ang2; //Àû²ó³ÑÅÙ¤«¤é¥¿¥¤¥ä¤Î²óž¤ò·×»»¤¹¤ë¡£
    turnAng2(ang2/2);               //»ØÄꤵ¤ì¤¿³ÑÅÙ¤ÎȾʬ¤òÀû²ó¤¹¤ë¡£
    ResetTachoCount(OUT_AC);        //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È¤¹¤ë¡£
    OnFwdSync(OUT_AC,SPEED_SLOW,-100); //È¿»þ·×²ó¤ê¤ËÀû²ó¤¹¤ë¡£
    while(MotorTachoCount(OUT_A)<=angle2){
    if(SensorUS(S2)<e_min){
    e_min=SensorUS(S2);             //²¾¤ÎºÇ¾®Ãͤò¹¹¿·¤¹¤ë¡£
    tacho_min2=MotorTachoCount(OUT_A);
    }
    }
    OnFwdSyncEx(OUT_AC,SPEED_SLOW,100,RESET_NONE);
    until(MotorTachoCount(OUT_A)<=tacho_min2||SensorUS(S2)<=e_min);
    Wait(14);                       ÈùÄ´À°
    Off(OUT_AC);Wait(500);
    return e_min;
    ResetTachoCount(OUT_AC);        //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È¤¹¤ë¡£
    }

¤³¤ì¤ò¥¯¥ê¥Ã¥¯¤¹¤ë¤È¥×¥í¥°¥é¥à¤Î»ÅÁȤߤ¬Ê¬¤«¤ë¤È»×¤¤¤Þ¤¹¡£[[¶õ¤­´Ì¤òǧ¼±¤¹¤ë»ÅÁȤß>http://yakushi.shinshu-u.ac.jp/robotics/?plugin=ref&page=2018b%2FMember%2FJerry%2FMission2&src=%B6%F5%A4%AD%B4%CC%A4%F2%C7%A7%BC%B1%A4%B9%A4%EB%BB%C5%C1%C8%A4%DF.jpg]]

***´Ì¤Ë¶á¤Å¤¯¤¿¤á¤Î¥×¥í¥°¥é¥à [#k000b718]
    void e_fwdDist(float e) //µ÷Î¥ e cm Á°¿Ê¤¹¤ë¡£
    {
    long angle2;
    angle2 = e/(diameter*pi)*360.0 ;   //³ÑÅÙ¤ò·×»»¤¹¤ë¡£
    RotateMotorEx(OUT_AC,SPEED_SLOW,angle2,0,true,true);
    }
¤³¤Î¥×¥í¥°¥é¥à¤Ë¤è¤ê¡¢¤µ¤­¤Û¤É¤Îe_searchDirection()¤È¤¤¤¦´Ø¿ô¤Ë¤è¤Ã¤ÆÆÀ¤é¤ì¤¿e_min (cm) ¤ÎÃͤÎʬ¤À¤±¥í¥Ü¥Ã¥È¤¬Á°¿Ê¤¹¤ë¡£¤Þ¤¿¡¢¤³¤Î¥×¥í¥°¥é¥à¤Î¥â¡¼¥¿¤òµÕ²óž¤·²¼µ­¤Î¤è¤¦¤Ê¥×¥í¥°¥é¥à¤ò¤Ä¤¯¤ë¤³¤È¤Çe_min (cm) ¤À¤±¥í¥Ü¥Ã¥È¤ò¸åÂव¤»¡¢´Ì¤òõ¤·»Ï¤á¤¿°ÌÃÖ¤Þ¤ÇÌá¤ë¤³¤È¤¬²Äǽ¤È¤Ê¤ë¡£
 void e_MfwdDist(float e)¡¡//µ÷Î¥ e cm ¸åÂह¤ë¡£
    {
    long angle2;
    angle2 = e/(diameter*pi)*360.0 ;   //³ÑÅÙ¤ò·×»»¤¹¤ë¡£
    RotateMotorEx(OUT_AC,SPEED_MSLOW,angle2,0,true,true);
    }
**¥Ü¡¼¥ë¤òÄϤि¤á¤Î¥×¥í¥°¥é¥à¡Ê»Òµ¡¤Ø¤ÎÌ¿Îá¡Ë [#kdc79699]
 void Ball_catch()
    {
    RemoteStartProgram(1,"Last(S1).rxe"); //»Òµ¡Æâ¤Ë¤¢¤ëLast(S1)¤È¤¤¤¦¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤¹¤ë¤è¤¦¤ËÌ¿Î᤹¤ë¡£
    while(msg != 11) //»Òµ¡¤«¤é¡Ö11¡×¤È¤¤¤¦¥á¥Ã¥»¡¼¥¸¤¬Íè¤ë¤Þ¤ÇÂԤġ£{
    ReceiveRemoteNumber(MAILBOX1,true,msg); //¥á¡¼¥ë¥Ü¥Ã¥¯¥¹£±¤ò¶õ¤Ë¤¹¤ë¡£¢«»Òµ¡¤«¤é¤Î¥á¥Ã¥»¡¼¥¸¤¬¿Æµ¡¤Î±¬ÌÚµ¤¤ò˸¤²¤ë¤Î¤òËɤ°¤¿¤á¡£
    }
    Wait(3000);
    }
¥Ü¡¼¥ë¤òÄϤàÆ°ºî¼«ÂΤϻҵ¡¤¬¹Ô¤¦¤¿¤á¡¢¤³¤Î¥×¥í¥°¥é¥à¤Ï»Òµ¡¤Ë¸þ¤«¤Ã¤Æ¿Æµ¡¤¬¡Ö¥Ü¡¼¥ë¤òÄϤá¡×¤ÈÌ¿Î᤹¤ë¤è¤¦¤Ê¥×¥í¥°¥é¥à¤È¤Ê¤Ã¤Æ¤¤¤ë¡£»Òµ¡¤Î¥×¥í¥°¥é¥ß¥ó¥°¤¬½ªÎ»¤·¤¿¤³¤È¤òÃΤ餻¤ë¤¿¤á¤Î¹ç¿Þ¤È¤·¤Æmsg¤È¤¤¤¦ÊÑ¿ô¤òÍѤ¤¤ë¡£
¥Ü¡¼¥ë¤òÄϤàÆ°ºî¼«ÂΤϻҵ¡¤¬¹Ô¤¦¤¿¤á¡¢¤³¤Î¥×¥í¥°¥é¥à¤Ï»Òµ¡¤Ë¸þ¤«¤Ã¤Æ¿Æµ¡¤¬¡Ö¥Ü¡¼¥ë¤òÄϤá¡×¤ÈÌ¿Î᤹¤ë¤è¤¦¤Ê¥×¥í¥°¥é¥à¤È¤Ê¤Ã¤Æ¤¤¤ë¡£»Òµ¡¤Î¥×¥í¥°¥é¥ß¥ó¥°¤¬½ªÎ»¤·¤¿¤³¤È¤òÃΤ餻¤ë¤¿¤á¤Î¹ç¿Þ¤È¤·¤Æmsg¤È¤¤¤¦ÊÑ¿ô¤òÍѤ¤¤ë¡£¤Þ¤¿¡¢»Òµ¡¤ÎÀܳÈÖ¹æ¤Ï1¤ÈÄêµÁ¤·¤Æ¤¤¤ë¡£
    int msg;// »Òµ¡¤Î¥×¥í¥°¥é¥à¤¬½ªÎ»¤·¤¿¤³¤È¤òÃΤ餻¤ë¤¿¤á¤Î¹ç¿Þ¡£
    #define CONN 1  // »Òµ¡¤ÎÀܳÈÖ¹æ
**¥Ü¡¼¥ë¤òÄϤि¤á¤Î¥×¥í¥°¥é¥à¡Ê»Òµ¡¤¬Æ°¤¯¡Ë [#ba95a8da]
   Last(S1)
    #define Ball_catch ResetTachoCount(OUT_B);RotateMotor(OUT_B,-25,75);¡¡//ÅÅÃÓ»ÄÎ̤ˤè¤é¤º¡¢¾ï¤Ë°ìÄê¤ÎÆ°¤­¤ò¤¹¤ë¡£
    task main()
    {
    Ball_catch;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ü¡¼¥ë¤òÄϤࡣ
    SendResponseNumber(MAILBOX1,11);¡¡//¿Æµ¡¤Ë¡Ö11¡×¤È¤¤¤¦¥á¥Ã¥»¡¼¥¸¤òÁ÷¤ë¡£
    Wait(1000);
    }
**¥Ü¡¼¥ë¤òÊü½Ð¤¹¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à¡Ê»Òµ¡¤Ø¤ÎÌ¿Îá¡Ë [#s71877b2]
 void Ball_release()
    {
    RemoteStartProgram(1,"Last(S2).rxe"); //»Òµ¡Æâ¤Ë¤¢¤ëLast(S1)¤È¤¤¤¦¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤¹¤ë¤è¤¦¤ËÌ¿Î᤹¤ë¡£
    while(msg != 12) //»Òµ¡¤«¤é¡Ö12¡×¤È¤¤¤¦¥á¥Ã¥»¡¼¥¸¤¬Íè¤ë¤Þ¤ÇÂԤġ£{
    ReceiveRemoteNumber(MAILBOX1,true,msg);  //¥á¡¼¥ë¥Ü¥Ã¥¯¥¹£±¤ò¶õ¤Ë¤¹¤ë¡£¢«»Òµ¡¤«¤é¤Î¥á¥Ã¥»¡¼¥¸¤¬¿Æµ¡¤Î±¬ÌÚµ¤¤ò˸¤²¤ë¤Î¤òËɤ°¤¿¤á¡£
    ReceiveRemoteNumber(MAILBOX1,true,msg);  //¥á¡¼¥ë¥Ü¥Ã¥¯¥¹£±¤ò¶õ¤Ë¤¹¤ë¡£¢«»Òµ¡¤«¤é¤Î¥á¥Ã¥»¡¼¥¸¤¬¿Æµ¡¤ÎÆ°¤­¤ò˸¤²¤ë¤Î¤òËɤ°¤¿¤á¡£
    }
    Wait(3000);
    }
¥Ü¡¼¥ë¤òÊü½Ð¤¹¤ëÆ°ºî¼«ÂΤϻҵ¡¤¬¹Ô¤¦¤¿¤á¡¢¤³¤Î¥×¥í¥°¥é¥à¤Ï»Òµ¡¤Ë¸þ¤«¤Ã¤Æ¿Æµ¡¤¬¡Ö¥Ü¡¼¥ë¤òÊü½Ð¤·¤í¡×¤ÈÌ¿Î᤹¤ë¤è¤¦¤Ê¥×¥í¥°¥é¥à¤È¤Ê¤Ã¤Æ¤¤¤ë¡£»Òµ¡¤Î¥×¥í¥°¥é¥ß¥ó¥°¤¬½ªÎ»¤·¤¿¤³¤È¤òÃΤ餻¤ë¤¿¤á¤Î¹ç¿Þ¤È¤·¤Æmsg¤È¤¤¤¦ÊÑ¿ô¤òÍѤ¤¤ë¡£
¥Ü¡¼¥ë¤òÊü½Ð¤¹¤ëÆ°ºî¼«ÂΤϻҵ¡¤¬¹Ô¤¦¤¿¤á¡¢¤³¤Î¥×¥í¥°¥é¥à¤Ï»Òµ¡¤Ë¸þ¤«¤Ã¤Æ¿Æµ¡¤¬¡Ö¥Ü¡¼¥ë¤òÊü½Ð¤·¤í¡×¤ÈÌ¿Î᤹¤ë¤è¤¦¤Ê¥×¥í¥°¥é¥à¤È¤Ê¤Ã¤Æ¤¤¤ë¡£»Òµ¡¤Î¥×¥í¥°¥é¥ß¥ó¥°¤¬½ªÎ»¤·¤¿¤³¤È¤òÃΤ餻¤ë¤¿¤á¤Î¹ç¿Þ¤È¤·¤Æmsg¤È¤¤¤¦ÊÑ¿ô¤òÍѤ¤¤ë¡£¤Þ¤¿¡¢»Òµ¡¤ÎÀܳÈÖ¹æ¤Ï1¤ÈÄêµÁ¤·¤Æ¤¤¤ë¡£
    int msg;// »Òµ¡¤Î¥×¥í¥°¥é¥à¤¬½ªÎ»¤·¤¿¤³¤È¤òÃΤ餻¤ë¤¿¤á¤Î¹ç¿Þ¡£

    #define CONN 1  // »Òµ¡¤ÎÀܳÈÖ¹æ
**¥Ü¡¼¥ë¤òÊü½Ð¤¹¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à¡Ê»Òµ¡¤¬Æ°¤¯¡Ë [#b2fb030b]
 Last(S2)
    #define Ball_release ResetTachoCount(OUT_B);RotateMotor(OUT_B,25,75); //ÅÅÃÓ»ÄÎ̤ˤè¤é¤º¡¢¾ï¤Ë°ìÄê¤ÎÆ°¤­¤ò¤¹¤ë¡£
    task main()
    {
    Ball_release; //¥Ü¡¼¥ëÊü½Ð¤¹¤ë¡£
    SendResponseNumber(MAILBOX1,12); //¿Æµ¡¤Ë¡Ö12¡×¤È¤¤¤¦¥á¥Ã¥»¡¼¥¸¤òÁ÷¤ë¡£
    Wait(1000);
    }
*¹©É× [#k1d26e3c]
#define THRESHOLD 50
#define go_forward OnFwd(OUT_A,40);OnFwd(OUT_C,40)  //ľ¿Ê,A¤Ï°ìÈÖ±¦¤Î¥â¡¼¥¿,C¤Ï°ìÈÖº¸¤Î¥â¡¼¥¿
#define turn_left1 OnFwd(OUT_A,35);OnFwd(OUT_C,-30)  //º¸Àû²ó
#define turn_right1 OnFwd(OUT_C,35);OnFwd(OUT_A,-30) //±¦Àû²ó
#define SPEED 50
#define SPEED_SLOW 30
#define SPEED_MSLOW -30
#define Ball_up RotateMotor(OUT_B,-50,160);Wait(2000);
#define Ball_up2 RotateMotor(OUT_B,-50,50);Wait(2000);
#define Ball_down RotateMotor(OUT_B,30,60);Wait(2000);
#define Ball_down2 RotateMotor(OUT_B,30,150);Wait(2000);
#define follow_intersection ResetTachoCount(OUT_AC);RotateMotor(OUT_AC,30,100);
#define follow_intersection2 ResetTachoCount(OUT_AC);RotateMotor(OUT_AC,30,300);
#define Mfollow_intersection ResetTachoCount(OUT_AC);RotateMotor(OUT_AC,-30,210);
#define CONN 1  // ¥¹¥ì¡¼¥Ö¤ÎÀܳÈÖ¹æ

int msg;// »Òµ¡¤òÆ°¤«¤¹¤¿¤á¤Î¹ç¿Þ¡£

const float diameter = 5.45; //
const float track = 10.35;   //
const float pi = 3.1415;     //

void Ball_release()
{
    RemoteStartProgram(1,"Last(S2).rxe");
    while(msg != 12){
    ReceiveRemoteNumber(MAILBOX1,true,msg);
}
    Wait(3000);
}

void Ball_catch()
{
    RemoteStartProgram(1,"Last(S1).rxe");
    while(msg != 11){
    ReceiveRemoteNumber(MAILBOX1,true,msg);
}
    Wait(3000);
}


void e_fwdDist(float e)
{
    long angle2;
    angle2 = e/(diameter*pi)*360.0 ;   //
    RotateMotorEx(OUT_AC,SPEED_SLOW,angle2,0,true,true);
}

void e_MfwdDist(float e)
{
    long angle2;
    angle2 = e/(diameter*pi)*360.0 ;   //
    RotateMotorEx(OUT_AC,SPEED_MSLOW,angle2,0,true,true);
}

void turnAng2(long ang2)
{
    long angle2;
    angle2 = track/diameter*ang2;
    RotateMotorEx(OUT_AC, SPEED_SLOW, angle2, 100, true, true);   
}
 
int e_searchDirection(long ang2)
{
    long angle2, tacho_min2=0, tacho_corr2;
    int e_min;
    e_min=300;
    angle2 = (track/diameter)*ang2;
    turnAng2(ang2/2);
    ResetTachoCount(OUT_AC);
    OnFwdSync(OUT_AC,SPEED_SLOW,-100);
    while(MotorTachoCount(OUT_A)<=angle2){
    if(SensorUS(S2)<e_min){
    e_min=SensorUS(S2);
    tacho_min2=MotorTachoCount(OUT_A);
    }
}
    OnFwdSyncEx(OUT_AC,SPEED_SLOW,100,RESET_NONE);
    until(MotorTachoCount(OUT_A)<=tacho_min2||SensorUS(S2)<=e_min);
    Wait(14);
    Off(OUT_AC);Wait(500);
    return e_min;
    ResetTachoCount(OUT_AC);
}

void Lfollow_line(long min_t) //min_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<=min_t) //¸½ºß¤Î»þ´Ö¤Èt0¤Î»þ´Ö¤Îº¹¤¬min_t°Ê²¼¤Î»þ¡¢°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤¹¤ë¡£{
         if ((SENSOR_1<THRESHOLD-7)&&(SENSOR_4<THRESHOLD-11)){
              Off(OUT_AC);Wait(1000); //S1¤ÎÌÀ¤ë¤µ¤ÎÃͤ¬43̤Ëþ¤«¤ÄS4ÌÀ¤ë¤µ¤ÎÃͤ¬39̤Ëþ¤Î»þ¡¢¥í¥Ü¥Ã¥È¤¬Ää»ß¤¹¤ë¡£
         }
    else if (SENSOR_1<THRESHOLD-7){
            turn_left1; //ÌÀ¤ë¤µ¤ÎÃͤ¬43̤Ëþ¤Î»þ¡¢turn_left1¤ÎÆ°¤­¤ò¤¹¤ë¡£
        } 
    else if (SENSOR_1<THRESHOLD+7){  
            go_forward;¡¡//ÌÀ¤ë¤µ¤ÎÃͤ¬43°Ê¾å57̤Ëþ¤Î»þ¡¢go_forward¤ÎÆ°¤­¤ò¤¹¤ë¡£
        } 
    else {
            turn_right1; //¤½¤ì°Ê³°¤Î»þ¡¢turn_right1¤ÎÆ°¤­¤ò¤¹¤ë¡£
         }  
    }
}

void follow_line(long min_t) //min_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<=min_t) //¸½ºß¤Î»þ´Ö¤Èt0¤Î»þ´Ö¤Îº¹¤¬min_t°Ê²¼¤Î»þ¡¢°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤¹¤ë¡£{
         if (SENSOR_1<THRESHOLD-7){
            turn_left1; //ÌÀ¤ë¤µ¤ÎÃͤ¬43̤Ëþ¤Î»þ¡¢turn_left1¤ÎÆ°¤­¤ò¤¹¤ë¡£
        }
    else if (SENSOR_1<THRESHOLD+7){  
            go_forward; //ÌÀ¤ë¤µ¤ÎÃͤ¬43°Ê¾å57̤Ëþ¤Î»þ¡¢go_forward¤ÎÆ°¤­¤ò¤¹¤ë¡£
        } 
    else {
            turn_right1; //¤½¤ì°Ê³°¤Î»þ¡¢turn_right1¤ÎÆ°¤­¤ò¤¹¤ë¡£
         }  
    }
}

**¥¢¡¼¥à¤ò¾å¤²¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à [#j88e765a]
    #define Ball_up RotateMotor(OUT_B,-50,160);Wait(2000);
    #define Ball_up2 RotateMotor(OUT_B,-50,50);Wait(2000);
½é¤á¤Î¥×¥í¥°¥é¥à¤Ï¥Ü¡¼¥ë¤òÄϤó¤À¸å¤ËNXTËÜÂΤ˥¢¡¼¥à¤òÅö¤Æ¡¢¥¢¡¼¥à¤¬²¼¤¬¤Ã¤Æ¤³¤Ê¤¤°ÌÃ֤ޤǥܡ¼¥ë¤ò»ý¤Á¾å¤²¤ë¤¿¤á¤Ë»È¤¤¡¢2¤ÄÌÜ¤Î¥×¥í¥°¥é¥à¤Ï´Ì¤Ë¥Ü¡¼¥ë¤ò¾è¤»¤¿¸å¤Ë¡¢¥¢¡¼¥à¤ò¤â¤È¤Î°ÌÃÖ¤Þ¤ÇÌ᤹¤¿¤á¤ËÍѤ¤¤é¤ì¤ë¡£
**¥¢¡¼¥à¤ò²¼¤²¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à [#p47e43bd]
    #define Ball_down RotateMotor(OUT_B,30,60);Wait(2000);
    #define Ball_down2 RotateMotor(OUT_B,30,150);Wait(2000);
½é¤á¤Î¥×¥í¥°¥é¥à¤Ï´Ì¤Ë¶á¤Å¤¤¤¿¸å¤Ë¡¢¥¢¡¼¥à¤ò²¼¤²¤Æ¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤ë¤¿¤á¤Ë»È¤¤¡¢2¤ÄÌÜ¤Î¥×¥í¥°¥é¥à¤ÏÀĤ¤¥Ü¡¼¥ë¤òÄϤि¤á¤ËÍѤ¤¤é¤ì¤ë¡£
*Á´ÂÎ¤Î¥×¥í¥°¥é¥à [#h97cd118]
    SetSensorLight(S1); //±¦¤Î¥»¥ó¥µ
    SetSensorLowspeed(S2); //Ķ²»ÇÈ¥»¥ó¥µ
    SetSensorLight(S4); //º¸¤Î¥»¥ó¥µ
    Wait(2000); //¥¹¥¿¡¼¥È¥Ü¥¿¥ó¤ò²¡¤·¤Æ¤«¤é¡¢Î¥¤ì¤ë¤Þ¤Ç¤Î»þ´Ö¡£
    Ball_catch(); //»Òµ¡¤Ë¥Ü¡¼¥ë¤òÄϤޤ»¤ë¡£
    follow_intersection; //¥¹¥¿¡¼¥È¥é¥¤¥ó¤ò²£ÃǤ¹¤ë¡£
    Lfollow_line(3000); //¼¡¤Î¸òº¹ÅÀ¤Þ¤Ç¿Ê¤ó¤ÇÄä»ß¤¹¤ë¡£
    follow_intersection; //¸òº¹ÅÀ¤ò²£ÃǤ¹¤ë¡£
    Ball_up; //¥¢¡¼¥à¤ò¤¢¤²¤ë¡£¢«¤³¤Î¤Þ¤Þ¿Ê¹Ô¤·¤Æ¤¤¤¯¤ÈÀĤ¤¥Ü¡¼¥ë¤Ë¤Ö¤Ä¤«¤Ã¤Æ¤·¤Þ¤¦¡£
    Lfollow_line(18000); //¼¡¤Î¸òº¹ÅÀ¤Þ¤Ç¿Ê¤ó¤ÇÄä»ß¤¹¤ë¡£
    int d=searchDirection(120);//´Ì¤òõ¤¹¡£
    fwdDist(d-18.0); //´Ì¤Ë¶á¤Å¤¯¡£
    searchDirection(20); //´Ì¤Ë¥Ü¡¼¥ë¤ò¾è¤»¤é¤ì¤ë¤è¤¦¤ËÈùÄ´À°¤¹¤ë¡£
    Ball_down; //¥¢¡¼¥à¤ò²¼¤²¤ë¡£
    Ball_release(); //»Òµ¡¤Ç´Ì¤Ë¥Ü¡¼¥ë¤ò¾è¤»¤ë¡£
    MfwdDist(d-17.0); //´Ì¤«¤éÎ¥¤ì¤ë¡£
    MfwdDist(d-17.0); //´Ì¤«¤éÎ¥¤ì¤ë¡£¢«¸µ¤Î°ÌÃÖ¤è¤ê¤â1­Ñ²¼¤¬¤ë¤³¤È¤Ë¤è¤ê¡¢¸òº¹ÅÀ¤òľ¿Ê¤¹¤ë¤³¤È¤òËɤ°¡£
    Ball_up2; //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¹Ô¤¦ºÝ¤Ë¡¢¥Ü¡¼¥ë¤ä´Ì¤Ë¤Ö¤Ä¤«¤ë¤Î¤òËɤ°¤¿¤á¤Ë¥¢¡¼¥à¤ò¾å¤²¤ë¡£
    follow_line(2000); //¥é¥¤¥ó¥È¥ì¡¼¥¹¤ËÌá¤ë¡£¤³¤Î»þ¡¢ÃÏÅÀ¤òº¸ÀÞ¤¹¤ë¡£
    Lfollow_line(3000); //¼¡¤Î¸òº¹ÅÀ¤Þ¤Ç¿Ê¤ó¤ÇÄä»ß¤¹¤ë¡£
    Mfollow_intersection; //ÀĤ¤¥Ü¡¼¥ë¤ò³Î¼Â¤Ë¤Ä¤«¤à¤³¤È¤¬¤Ç¤­¤ë¤è¤¦¤Ë¸åÂह¤ë¡£
    Ball_down2; //¥¢¡¼¥à¤ò²¼¤²¤ë¡£
    Ball_catch(); //»Òµ¡¤Ë¥Ü¡¼¥ë¤òÄϤޤ»¤ë¡£
    Ball_up; //¥¢¡¼¥à¤ò¤¢¤²¤ë¡£
    follow_intersection2; //ÀÖ¤¤¥Ü¡¼¥ë¤òÅö¤Æ¤ë¤¿¤á¤Î´Ì¤òĶ²»ÇÈ¥»¥ó¥µ¤Ç´¶ÃΤ·¤Ê¤¤¤è¤¦¤Ë¡¢Á°¿Ê¤¹¤ë¡£
    int e=e_searchDirection(120); //´Ì¤òõ¤¹¡£
    e_fwdDist(e-18.0); //´Ì¤Ë¶á¤Å¤¯¡£
    e_searchDirection(20); //´Ì¤Ë¥Ü¡¼¥ë¤ò¾è¤»¤é¤ì¤ë¤è¤¦¤ËÈùÄ´À°¤¹¤ë¡£
    Ball_down; //¥¢¡¼¥à¤ò²¼¤²¤ë¡£
    Ball_release(); //»Òµ¡¤Ç´Ì¤Ë¥Ü¡¼¥ë¤ò¾è¤»¤ë¡£
    e_MfwdDist(e-18.0); //´Ì¤Ë¶á¤Å¤¯¡£


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