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#contents
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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¡£
¤³¤Î´Ø¿ô¤Ï¼¡¹àÌܤΡ֥饤¥ó¥È¥ì¡¼¥¹¤¹¤ë´Ø¿ô¡×¤Ç»È¤ï¤ì¤ë´Ø¿ô¤Ç¤¢¤ë¡£
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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