[[2018b/Member]]


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¤Ê¤ª¡¢¥Þ¥¹¥¿¡¼Â¦¤Î¥×¥í¥°¥é¥àÆâ¤Ë¡ÖRemoteStartProgram(conn,"X.rxe")¡×¤òÆþ¤ì¤ì¤Ð¥¹¥ì¡¼¥Ö¦¤ÎNXT¤ËÆþ¤Ã¤Æ¤¤¤ë¥×¥í¥°¥é¥à¤¬Æ°ºî¤¹¤ë¡Ê¤³¤Î»þ¤ÎX¤Ï¥¹¥ì¡¼¥Ö¦¤ÎNXT¤ËÆþ¤Ã¤Æ¤¤¤ë¥×¥í¥°¥é¥à̾¤¬Æþ¤ë¡Ë¡£

**¥¹¥ì¡¼¥Ö¦¤Î¥×¥í¥°¥é¥à [#ib0d0192]
***¥¢¡¼¥à¤ò¾å¤²¤ë [#v6163d6f]
¥×¥í¥°¥é¥à̾¤Ï¡Öarm_up¡×
    task main(){
         RotateMotor(OUT_BC,-40,90);
    }

**¥¢¡¼¥à¤ò²¼¤²¤ë [#xf34094a]
***¥¢¡¼¥à¤ò²¼¤²¤ë [#xf34094a]
¥×¥í¥°¥é¥à̾¤Ï¡Öarm_down¡×
    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
    }

**¥Ü¡¼¥ëÄϤà [#h8846e3c]
***¥Ü¡¼¥ëÄϤà [#h8846e3c]
¥×¥í¥°¥é¥à̾¤Ï¡Öhand_close¡×
    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);
    }

**¥Ü¡¼¥ë¤òÎ¥¤¹ [#t965da7b]
***¥Ü¡¼¥ë¤òÎ¥¤¹ [#t965da7b]
¥×¥í¥°¥é¥à̾¤Ï¡Öhand_open¡×
    task main(){
        RotateMotor(OUT_A,30,320);//A¤ò£³£°¤Î¥Ñ¥ï¡¼¤Ç£³£²£°ÅÙ²óž¡¥
    }

**ÄêµÁ¤·¤¿¥Þ¥¯¥í [#s1af7c6b]

**¥Þ¥¹¥¿¡¼Â¦¤Î¥×¥í¥°¥é¥à [#o4f0355a]
***ÄêµÁ¤·¤¿¥Þ¥¯¥í [#s1af7c6b]
    #define conn 1  //Bluetooth¤Î¥¹¥ì¡¼¥ÖÈÖ¹æ
    #define fw Off(OUT_BC);OnFwd(OUT_BC,30); // ľ¿Ê
    #define lt Off(OUT_BC);OnFwd(OUT_B,35);  // º¸²ó
    #define rt Off(OUT_BC);OnFwd(OUT_C,35);  // ±¦²ó
    #define rrt Off(OUT_BC);OnFwd(OUT_C,20);OnFwd(OUT_B,-60); // ±¦Àû²ó
    #define llt Off(OUT_BC);OnFwd(OUT_B,20);OnFwd(OUT_C,-60); // º¸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);\   //¥¢¡¼¥à¤ò¾å¤²¤ë
                       RemoteStartProgram(conn,"arm_up.rxe");\
                       Wait(4000);
    #define def_arm_down until(BluetoothStatus(conn)==NO_ERR);\   //¥¢¡¼¥à¤ò²¼¤²¤ë
                         RemoteStartProgram(conn,"arm_down.rxe");\
                         Wait(4000);
    #define def_hand_open until(BluetoothStatus(conn)==NO_ERR);\   //Êü¤¹
                          RemoteStartProgram(conn,"hand_open.rxe");\
                          Wait(4000);
    #define def_hand_close until(BluetoothStatus(conn)==NO_ERR);\   //ÄϤà
                           RemoteStartProgram(conn,"hand_close.rxe");\
                           Wait(4000);

***ÄêµÁ¤·¤¿Äê¿ô [#m5439305]
    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


**ÄêµÁ¤·¤¿´Ø¿ô [#b1ec4623]
***ÄêµÁ¤·¤¿´Ø¿ô [#b1ec4623]

***´Ì¤òõÃΤ·¤Æ¥Ü¡¼¥ë¤ò´Ì¤Î¾å¤ËÃÖ¤¯´Ø¿ô [#c4cbda2c]
****´Ì¤òõÃΤ·¤Æ¥Ü¡¼¥ë¤ò´Ì¤Î¾å¤ËÃÖ¤¯´Ø¿ô [#c4cbda2c]

    void search_throw(string side_select,float rotate_angle){ 
        SetSensorLowspeed(S2);                //¥»¥ó¥µ¡¼S2¤ËĶ²»ÇÈ¥»¥ó¥µ¡¼¤òÀßÃÖ
        int d_min=1000,d_gosa=11,side_flag=0;               //¤½¤ì¤¾¤ì¤ÎÊÑ¿ô¤Ë¿ô»ú¤òÂåÆþ
        long ang_min=0,angle=0,d_angle=0;            //ÄêµÁ
        if (side_select=="right"){              //side_select¤¬right¤Î»þ
           side_flag=1;                          //side_flag¤Ë1¤òÂåÆþ
        }else if(side_select=="left"){             //side_select¤¬left¤Î»þ
             side_flag=-1;                       //side_flag¤Ë-1¤òÂåÆþ
        }
        ResetTachoCount(OUT_BC);              //¥â¡¼¥¿¡¼BC¤ò¥ê¥»¥Ã¥È
        OnFwdSync(OUT_BC,30,100*side_flag);                     //¥â¡¼¥¿¡¼BC¤ò½ÐÎÏ30¤Ç100¡ßside_flagÅÙʬ¿Ê¤à
        while(((tire_diameter/(tire_axis*gear_ratio))*MotorTachoCount(OUT_C)*side_flag)<=rotate_angle){
            if(d_min>SensorUS(S2)){
                d_min=SensorUS(S2);
                angle=MotorTachoCount(OUT_C);
            }
        }
        ang_min=MotorTachoCount(OUT_C)-angle;
        Off(OUT_BC);
        Wait(1000);
        ResetTachoCount(OUT_BC);
        RotateMotorEx(OUT_BC, 40, ang_min, -100*side_flag, true, true);//ʪÂΤÎÊý¤ò¸þ¤¯
        Off(OUT_BC);
        ResetTachoCount(OUT_BC);
        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));
        }
        def_arm_up;//ageru
        RotateMotor(OUT_BC,30,en*d_gosa*gear_ratio/(pi*tire_diameter));
        Wait(700);
        def_hand_open;//hanasu
        RotateMotor(OUT_BC,-30,en*d_gosa*gear_ratio/(pi*tire_diameter)+d_angle);
        def_arm_down;//sageru
        ResetTachoCount(OUT_BC);
        RotateMotorEx(OUT_BC, 40, angle, -100*side_flag, true, true);//¸µ¤Î¸þ¤­¤ØÌ᤹
        Off(OUT_BC);
    }






***¸òº¹ÅÀȽÃǤò¤¹¤ë´Ø¿ô [#vaa20f4a]
****¸òº¹ÅÀȽÃǤò¤¹¤ë´Ø¿ô [#vaa20f4a]
blk_select¤¬0¤Î»þ¤Ï»ß¤Þ¤ê¡¢1¤Î»þ¤Ë¿Ê¤à¡£

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    void blk_selection(int blk_select){
        if(blk_select!=1){
            wait_sec;
        }
        if(blk_select!=0){
            mini_go;
        }
    }



***¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë´Ø¿ô [#l8626394]
****¥é¥¤¥ó¥È¥ì¡¼¥¹¤¹¤ë´Ø¿ô [#l8626394]
    void follow_line(int bw_time,long min_t,int blk_cnt,string invert_info,string 
    sensor_switch){
        SetSensorLowspeed(S3);
        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
        int right_var;        // ¸÷¥»¥ó¥µÃÍÍÑÊÑ¿ô
        while(t1-start_t<min_t || min_t<0){
            if(sensor_switch=="on"){
                 if(SensorUS(S3)<16){
                      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_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 (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 [#n4417516]
***¼ÂºÝ¤Î¥×¥í¥°¥é¥à [#n4417516]
    task main(){
    //   -Y-
        string invert_str="off";
        int b_tyokusin=10,r_back=22;
    //blue-ball
        follow_line(1200, -1,1,invert_str,"off");
        follow_line(800, -1,0,invert_str,"off");
        def_hand_close;
        ResetTachoCount(OUT_BC);
        RotateMotor(OUT_BC,30,en*b_tyokusin*gear_ratio/(pi*tire_diameter));
        Off(OUT_BC);
        search_throw("right",55.0);
        Wait(2000);
        RotateMotor(OUT_BC,-30,en*b_tyokusin*gear_ratio/(pi*tire_diameter));
        Off(OUT_BC);
    //red_ball
        def_arm_up;
        RotateMotor(OUT_BC,-30,en*r_back*gear_ratio/(pi*tire_diameter));
        follow_line(600,1200000,-1,invert_str,"on");
        RotateMotor(OUT_BC,-30,en*3*gear_ratio/(pi*tire_diameter));¡¡3¥»¥ó¥Á²¼¤¬¤ë
        def_arm_down;
        def_hand_close;
        search_throw("left",270);
        Wait(1000);Off(OUT_BC);
    }


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