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task main(){
RotateMotor(OUT_BC,-40,90);//BC¤ò£´£°¤Î¥Ñ¥ï¡¼¤Ç£¹£°ÅÙ²óž
}
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task main(){
RotateMotor(OUT_BC,10,90);//BC¤ò£±£°¤Î¥Ñ¥ï¡¼¤Ç£¹£°ÅÙ²óž
Wait(300);
Off(OUT_BC);
ResetTachoCount(OUT_BC);//³ÑÅ٥ꥻ¥Ã¥È
}
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task main(){
RotateMotor(OUT_A,-30,320);//A¤ò£³£°¤Î¥Ñ¥ï¡¼¤Ç£³£²£°ÅÙ²óž¡¥
Wait(300);
RotateMotor(OUT_BC,-40,15);//BC¤ò£´£°¤Î¥Ñ¥ï¡¼¤Ç£±£µÅÙ²óž¡¥¥Ï¥ó¥ÉÉôʬ¤¬ÃÏÌ̤Ȼ¤¤ì¤Ê¤¤¤è¤¦¤Ë¤·¤Æ¤¤¤ë¡¥
Off(OUT_ABC);
}
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task main(){
RotateMotor(OUT_A,30,320);//A¤ò£³£°¤Î¥Ñ¥ï¡¼¤Ç£³£²£°ÅÙ²óž¡¥
}
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#define conn 1 //Bluetooth¤Î¥¹¥ì¡¼¥ÖÈÖ¹æ
#define fw Off(OUT_BC);OnFwd(OUT_BC,30); // BC¤ò£³£°¤ÎÎϤÇÆ°¤«¤·Ä¾¿Ê
#define lt Off(OUT_BC);OnFwd(OUT_B,35); // B¤Î¤ß£³£µ¤ÎÎϤÇÆ°¤«¤·º¸²ó
#define rt Off(OUT_BC);OnFwd(OUT_C,35); // C¤Î¤ß£³£µ¤ÎÎϤÇÆ°¤«¤·±¦²ó
#define rrt Off(OUT_BC);OnFwd(OUT_C,20);OnFwd(OUT_B,-60); // C¤ò£²£µ¡¤B¤òÈ¿ÂÐÊý¸þ¤Ë£¶£°¤ÎÎϤÇÆ°¤«¤·±¦Àû²ó
#define llt Off(OUT_BC);OnFwd(OUT_B,20);OnFwd(OUT_C,-60); // B¤ò£²£µ¡¤C¤òÈ¿ÂÐÊý¸þ¤Ë£¶£°¤ÎÎϤÇÆ°¤«¤·±¦Àû²óº¸Àû²ó
#define wait_sec Off(OUT_BC);Wait(1000); //°ì»þÄä»ß
#define mini_go Off(OUT_BC);OnFwd(OUT_BC,30);Wait(1500);Off(OUT_BC); //¾¯¤·Ä¾¿Ê
#define def_arm_up until(BluetoothStatus(conn)==NO_ERR);\ //Bluetooth¤ÇÄÌ¿®¤·¤Æ¤¤¤ëËÜÂÎ¤Î¥×¥í¥°¥é¥à¤òµ¯Æ°¤·¥¢¡¼¥à¤ò¾å¤²¤ë
RemoteStartProgram(conn,"arm_up.rxe");\
Wait(4000);
#define def_arm_down until(BluetoothStatus(conn)==NO_ERR);\ //Bluetooth¤ÇÄÌ¿®¤·¤Æ¤¤¤ëËÜÂÎ¤Î¥×¥í¥°¥é¥à¤òµ¯Æ°¤·¥¢¡¼¥à¤ò²¼¤²¤ë
RemoteStartProgram(conn,"arm_down.rxe");\
Wait(4000);
#define def_hand_open until(BluetoothStatus(conn)==NO_ERR);\ //Bluetooth¤ÇÄÌ¿®¤·¤Æ¤¤¤ëËÜÂÎ¤Î¥×¥í¥°¥é¥à¤òµ¯Æ°¤·¥Ü¡¼¥ë¤òÊü¤¹
RemoteStartProgram(conn,"hand_open.rxe");\
Wait(4000);
#define def_hand_close until(BluetoothStatus(conn)==NO_ERR);\ //Bluetooth¤ÇÄÌ¿®¤·¤Æ¤¤¤ëËÜÂÎ¤Î¥×¥í¥°¥é¥à¤òµ¯Æ°¤·¥Ü¡¼¥ë¤òÄϤà
RemoteStartProgram(conn,"hand_close.rxe");\
Wait(4000);
const float tire_diameter = 5.75; //¥¿¥¤¥ä¤Îľ·Â
const float tire_axis = 17.7; //¥¿¥¤¥ä´Ö¤Îµ÷Î¥
const int gear_ratio = 6; //¥®¥¢Èæ
const float pi=3.14159; //±ß¼þΨ
const int en=360; //±ß 360ÅÙ
***¥Ü¡¼¥ë¤ò¾è¤»¤ë¥×¥í¥°¥é¥à [#fc43759d]
void search_throw(string side_select,float rotate_angle){
SetSensorLowspeed(S2);
int d_min=1000,d_gosa=11,side_flag=0;//µ÷Î¥¤ÎºÇ¾®ÃͤÈÀ¸¤¸¤ë¸íº¹¤òÄêµÁ¡¥
long ang_min=0,angle=0,d_angle=0;
long ang_min=0,angle=0,d_angle=0;//ºÇ¾®ÃͤޤǤΥ¿¥¤¥ä¤Î²óž³Ñ
if (side_select=="right"){
side_flag=1;
}else if(side_select=="left"){
side_flag=-1;
}
ResetTachoCount(OUT_BC);
OnFwdSync(OUT_BC,30,100*side_flag);
while(((tire_diameter/(tire_axis*gear_ratio))*MotorTachoCount(OUT_C)*side_flag)
<=rotate_angle){
<=rotate_angle){ //(¥¿¥¤¥äľ·Â/Á°Îش֤ε÷Î¥*¥®¥¢Èæ)*¥¿¥¤¥ä¤Î²óž³ÑÅÙ=¥í¥Ü¥Ã¥È¤ÎÀû²ó³ÑÅÙ
if(d_min>SensorUS(S2)){
d_min=SensorUS(S2);
angle=MotorTachoCount(OUT_C)//µ÷Î¥¤ÎºÇ¾®ÃͤòµÏ¿¤·¤¿ÃÏÅÀ¤òµÏ¿¤·¡¤¥»¥ó¥µ¡¼¤ËÄêµÁ¤·¤¿µ÷Î¥¤ÎºÇ¾®Ãͤò¹¹¿·¤¹¤ë¡¥
}
}
ang_min=MotorTachoCount(OUT_C)-angle;//µ÷Î¥¤ÎºÇ¾®Ãͤò¹¹¿·¤·¤¿ÃÏÅÀ¤òµÏ¿¡¥
Off(OUT_BC);
Wait(1000);//°ìö»ß¤Þ¤Ã¤Æ¸íº¹¤ò½Ð¤Ë¤¯¤¯¤¹¤ë¡¥
ResetTachoCount(OUT_BC);//¥â¡¼¥¿¡¼¤Î³ÑÅÙ¤ò½é´ü²½
RotateMotorEx(OUT_BC, 40, ang_min, -100*side_flag, true, true);//µÏ¿¤·¤¿ÃÏÅÀ¤Þ¤ÇÌá¤êʪÂΤÎÊý¤ò¸þ¤¯
Off(OUT_BC);
ResetTachoCount(OUT_BC);//¥â¡¼¥¿¡¼¤Î³ÑÅÙ¤ò½é´ü²½
if(7<SensorUS(S2)){
OnFwd(OUT_BC,40);
while(7<SensorUS(S2) || 40>(pi*tire_diameter*MotorTachoCount(OUT_C))/en*gear_ratio){
d_angle=MotorTachoCount(OUT_C);
}
Off(OUT_BC);
RotateMotor(OUT_BC,30,en*2*gear_ratio/(pi*tire_diameter));//´Ì¤Ë¸þ¤«¤Ã¤Æ¶á¤Å¤¯
}
def_arm_up;//ageru¡¡¡¡¡¡//¥¢¡¼¥à¤òµó¤²¤ë
RotateMotor(OUT_BC,30,en*d_gosa*gear_ratio/(pi*tire_diameter));¡¡¡¡//ÃúÅÙ¥¢¡¼¥à¤ò²¼¤²¤¿»þ¤Ë¥Ü¡¼¥ë¤¬´Ì¤Ë¾è¤ë°ÌÃ֤ޤǾ¯¤·Á°¿Ê¡¥
Wait(700);//¾¯¤·Ää»ß
def_hand_open;//hanasu¡¡¡¡¡¡//¥¢¡¼¥à¤òÎ¥¤¹¡¥
RotateMotor(OUT_BC,-30,en*d_gosa*gear_ratio/(pi*tire_diameter)+d_angle);//¥¢¡¼¥à¤ò²¼¤²¤Æ¤âÊ¿µ¤¤Ê°ÌÃ֤ޤDz¼¤¬¤ë¡¥
def_arm_down;//sageru¡¡¡¡¡¡//¥¢¡¼¥à¤ò²¼¤²¤ë¡¥
ResetTachoCount(OUT_BC);/¥â¡¼¥¿¡¼¤Î³ÑÅÙ¤ò½é´ü²½
RotateMotorEx(OUT_BC, 40, angle, -100*side_flag, true, true);//¸µ¤Î¸þ¤¤ØÌ᤹
Off(OUT_BC);//Ää»ß¡¥
}
***¸òº¹ÅÀÈÉ»þ¤Ë»ß¤Þ¤ë¤«¿Ê¤à¤«¤Î¾ò·ïʬ¤± [#v5c3aba7]
***¸òº¹ÅÀȽÃÇ»þ¤Ë»ß¤Þ¤ë¤«¿Ê¤à¤«¤Î¾ò·ïʬ¤± [#v5c3aba7]
¤³¤Î´Ø¿ô¤Ïµ¡ÂΤ¬¸òº¹ÅÀȽÃǤ·¤¿ºÝ»ß¤Þ¤ë¤«Ä¾¿Ê¤¹¤ë¤«¤òÁªÂò¤Ç¤¤ë¤è¤¦¤ËºîÀ®¤·¤¿¤â¤Î¤Ç¤¢¤ë¡¥blk_select!¤¬1¤Î»þÄä»ß¤·¤Æ¡¤0¤Î»þ¿Ê¤à¤è¤¦¤Ë¥×¥í¥°¥é¥à¤µ¤ì¤Æ¤¤¤ë¡¥
void blk_selection(int blk_select){
if(blk_select!=1){
wait_sec;//Ää»ß
}
if(blk_select!=0){
mini_go;//¾¯¤·¿Ê¤à
}
}
***¥é¥¤¥ó¥È¥ì¡¼¥¹¥×¥í¥°¥é¥à [#wd759a75]
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¥»¥ó¥µ¤ÎÃͤ¬40̤Ëþ¤Çº¸²ó¤ê¡¤40¤«¤é50¤Çľ¿Ê¡¤¤½¤ì°Ê¾å¤Ç±¦²ó¤¹¤ë¤è¤¦¤Ë¥×¥í¥°¥é¥à¤·¤Æ¤¤¤ë¡¥Æ°ºî³«»Ï»þ´Ö¤Ç¤¢¤ëstart_t¤òÄêµÁ¤¹¤ë¤³¤È¤Ë¤è¤êt1-start_t¤¬Æ°ºî¤ò¹Ô¤Ã¤Æ¤¤¤ë»þ´Ö¤È¤Ê¤ê¡¤¤³¤Á¤é¤¬»ØÄꤷ¤¿t_min´Ö¤À¤±Æ°¤«¤¹¤³¤È¤¬²Äǽ¤Ç¤¢¤ë¡¥t1¤ÏÆ°ºî¤ò¹Ô¤Ã¤Æ¤¤¤ë´Ö¾ï¤Ë¹¹¿·¤¬Æþ¤ë¤Î¤Çt1¤Ïµ¡ÂΤ¬Àû²ó¤ä²óž¤ò¤·¤Æ¤¤¤ë¤½¤Î½Ö´Ö¤Ç¤¢¤ê¡¤t0¤ÏÇòor¹õ¤ÎõÃΤ·»Ï¤á¤¿»þ´Ö¤òµÏ¿¤·¤Æ¤¤¤ë¤«¤é¡¤t1-t0¤Ï¥»¥ó¥µ¡¼¤¬Çòor¹õ¤òϢ³¤ÇõÃΤ·Â³¤±¤¿»þ´Ö¤Ç¤¢¤ë¡¥¤³¤Î»þ´Ö¤¬°ìÄê¿ôĶ¤¨¤¿¤éÀû²ó¤¹¤ë¤è¤¦¤Ë¥×¥í¥°¥é¥à¤·¤Æ¤¤¤ë¡¥
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¸òº¹ÅÀ¤Î¸«¶Ë¤áÊý¤ÏÀû²ó¤ÈƱÍÍ¡¤¸òº¹ÅÀ¤Ë¥í¥Ü¤¬¿ÊÆþ¤·¤¿ºÝ¥«¥é¡¼¥»¥ó¥µ¤¬¹õ¤òõÃΤ¹¤ë»þ´Ö¤¬Ä¹¤¯¤Ê¤ë¡¥¸Î¤Ë¾å¤Î¿Þ¤Ë¤â¤¢¤ë¤è¤¦¤Ë°ìÄê»þ´Ö¡Êbw_time¡Ë¤òt1-t0(¶Ê¤¬¤ëorÀû²ó»þ´Ö)¤¬Ä¶¤¨¤¿¾ì¹ç¸òº¹ÅÀ¤À¤ÈȽÃǤ·¤Æ¤¤¤ë¡¥
¤Þ¤¿¡¤¤½¤Î¾¤ÎÀâÌÀ¤È¤·¤Æ¤Ïinvert_info¡¤sensor_switch¤Èblk_cnt¤¬²¼¤Î¥×¥í¥°¥é¥à¤Ë»È¤ï¤ì¤Æ¤ª¤ê,
invert_info¤Ëoff¤ò»ØÄꤷ¤¿¾ì¹ç¤Ï²¿¤â¹Ô¤ï¤ºº¸¤Î¶Ìܤò¥È¥ì¡¼¥¹¤·¤Æ¡¤on¤ò»ØÄꤷ¤¿¾ì¹ç¤Ï¸÷¥»¥ó¥µ¤ÎÃͤòȿž¤µ¤»¤ë¤³¤È¤Ç±¦¤Î¶Ìܤò¥È¥ì¡¼¥¹¤·¤Æ¡¤sensor_switch¤Ëon¤ò»ØÄꤹ¤ë¤È¡¢S3¤ËÀܳ¤µ¤ì¤¿Ä¶²»ÇÈ¥»¥ó¥µ¤¬16Ñ°ÊÆâ¤Î¾ã³²Êª(¥Ü¡¼¥ë)¤òȯ¸«¤·¤¿»þ¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò½ªÎ»¤¹¤ë¡£off¤ò»ØÄꤷ¤¿¾ì¹ç¤Ï¤¿¤È¤¨S3¤ÎĶ²»ÇÈ¥»¥ó¥µ¤¬¾ã³²Êª¤òȯ¸«¤·¤Æ¤â²¿¤â¤·¤Ê¤¤.blk_cnt¤ÏÃͤË1¤ò»ØÄꤹ¤ë¤È¸òº¹ÅÀȽÃǤò¤·¤¿ºÝÄä»ß¤·¥é¥¤¥ó¥È¥ì¡¼¥¹½ªÎ»¡£0¤ò»ØÄꤷ¤¿»þ¤Ï¸òº¹ÅÀ¤òľ¿Ê¤·¤ÆÄ̤ê²á¤®¤¿¸å¥é¥¤¥ó¥È¥ì¡¼¥¹½ªÎ»¡£-1¤ò»ØÄꤷ¤¿»þ¤Ï²¿¤â¤·¤Ê¤¤¡¥
void follow_line(int bw_time,long min_t,int blk_cnt,string invert_info,string
sensor_switch){
SetSensorLowspeed(S3);
SetSensorLowspeed(S3);//Ķ²»ÇÈ¥»¥ó¥µÄêµÁ
int bb_cnt;
int B_cnt=0;
long t0,t1,start_t; // t0,t1,start_t »þ´ÖÊÑ¿ô¤ÎÄêµÁ
SetSensorLight(S1); //¡¡¸÷¥»¥ó¥µÄêµÁ
t1=CurrentTick(); //¡¡·Ð²á»þ´Ö
t0=CurrentTick(); //¡¡¥«¡¼¥Ö½é´ü»þ´Ö
start_t=CurrentTick(); // ÄÉÈø½é´ü»þ´Ö
t1=CurrentTick(); //¡¡Æ°ºî¤ò¹Ô¤Ã¤Æ¤¤¤ë½Ö´Ö
t0=CurrentTick(); //¡¡Çòor¹õ¤ÎõÃΤ·»Ï¤á¤¿»þ´Ö
start_t=CurrentTick(); // Æ°ºî³«»Ï»þ´Ö
int right_var; // ¸÷¥»¥ó¥µÃÍÍÑÊÑ¿ô
while(t1-start_t<min_t || min_t<0){
if(sensor_switch=="on"){
if(SensorUS(S3)<16){
if(SensorUS(S3)<16){ //¥Ü¡¼¥ë¤òÄϤá¤ëµ÷Î¥¤Ë¤Ê¤Ã¤¿¤é»ß¤Þ¤ë¡¥
break;
}
}
/*----------------¢·«¤êÊÖ¤·¢-----------------*/
right_var = SENSOR_1; // ¸÷¥»¥ó¥µÃÍÂåÆþ
if(invert_info=="on"){ // ¥é¥¤¥ó¤Î±¦¤«º¸¤« "off"¤Çº¸,"on"¤Ç±¦
right_var = right_var*(-1)+91;}
if (right_var>50){
/*********±¦²ó¤ê¢********/
if (t1-t0>bw_time){ //¡¡±¦²ó¤Çbw_taime[ms]°Ê¾å¤Î¤È¤±¦Àû²ó
if (t1-t0>bw_time){ //¡¡±¦²ó¤Çbw_time[ms]°Ê¾å¤Î¤È¤±¦Àû²ó
if (blk_cnt>=0 && blk_cnt<=2 && invert_info=="on"){
blk_selection(blk_cnt);
break;
}else{
rrt;}
}else{ //¡¡±¦²ó
rt;}
/**********ľ¿Ê¢********/
}else if (right_var>40){
fw;
t0=CurrentTick(); //¡¡¥«¡¼¥Ö½é´ü»þ´Ö¤Î¹¹¿·
/*********º¸²ó¤ê¢*******/
}else{
if (t1-t0>bw_time){ //¡¡º¸²ó¤Ç bw_taime[ms] °Ê¾å¤Î¤È¤º¸Àû²ó
if (t1-t0>bw_time){ //¡¡º¸²ó¤Ç bw_time[ms] °Ê¾å¤Î¤È¤º¸Àû²ó
if (blk_cnt>=0 && blk_cnt<=2 && invert_info!="on") {
blk_selection(blk_cnt);
break;
}else{
llt;}
}else{ //¡¡º¸²ó
lt;}}
t1=CurrentTick(); //·Ð²á»þ´Ö
/*----------------¢¬·«¤êÊÖ¤·¢¬-----------------*/
}Off(OUT_BC);
}
***¼ÂºÝ¤Î¥×¥í¥°¥é¥à [#rfc40b2a]
task main(){
// -Y-
string invert_str="off";
int b_tyokusin=10,r_back=22;
//Àĥܡ¼¥ë¤ò¤Ä¤«¤à¥×¥í¥°¥é¥à
follow_line(1200, -1,1,invert_str,"off");//E¤Þ¤Ç¹Ô¤¯
follow_line(800, -1,0,invert_str,"off");//I¤Þ¤Ç¹Ô¤¯
def_hand_close;//¥Ü¡¼¥ë¤ò¤Ä¤«¤à
ResetTachoCount(OUT_BC);//¥â¡¼¥¿¡¼¤Î³ÑÅÙ¤ò¥ê¥»¥Ã¥È
RotateMotor(OUT_BC,30,en*b_tyokusin*gear_ratio/(pi*tire_diameter));//°ÌÃÖÄ´À°
Off(OUT_BC);//Ää»ß
search_throw("right",55.0);//Àĥܡ¼¥ë¤ò¾è¤»¤ë¡¥
Wait(2000);
RotateMotor(OUT_BC,-30,en*b_tyokusin*gear_ratio/(pi*tire_diameter));//°ÌÃÖÄ´À°
Off(OUT_BC);//Ää»ß
//ÀÖ¤¤¥Ü¡¼¥ë¤òÄϤà¥×¥í¥°¥é¥à
def_arm_up;//¥¢¡¼¥à¤ò¤¢¤²¤ë
RotateMotor(OUT_BC,-30,en*r_back*gear_ratio/(pi*tire_diameter));
follow_line(600,1200000,-1,invert_str,"on");//F¤ò²á¤®¤Æ¤¹¤°¤Î¥«¡¼¥Ö¤Þ¤Ç¹Ô¤¯¡¥
RotateMotor(OUT_BC,-30,en*3*gear_ratio/(pi*tire_diameter));¡¡//3¥»¥ó¥Á²¼¤¬¤ê¥Ü¡¼¥ë¤òÄϤá¤ë°ÌÃ֤˰ÜÆ°¡¥
def_arm_down;//¥¢¡¼¥à¤ò²¼¤²¤ë
def_hand_close;//¥Ü¡¼¥ë¤òÄϤà
search_throw("left",270);//À֥ܡ¼¥ë¤ò´Ì¤Ë¾è¤»¤ë¡¥
Wait(1000);Off(OUT_BC);//Ää»ß
}
**È¿¾Ê [#fe363569]
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