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} ***¥¢¡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] ¥×¥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] ¥×¥í¥°¥é¥à̾¤Ï¡Öhand_open¡× task main(){ RotateMotor(OUT_A,30,320);//A¤ò£³£°¤Î¥Ñ¥ï¡¼¤Ç£³£²£°ÅÙ²óž¡¥ } **¥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] ****´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] 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] 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] 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); } *¤Þ¤È¤á [#ufcc61b5] **·ë²Ì [#pffa9e05] ³Æ¥°¥ë¡¼¥×¤Î·ë²Ì¤Ï°Ê²¼¤Î²èÁü¤Î¤è¤¦¤Ë¤Ê¤Ã¤¿¡£ #ref(./S__21643268.jpg) E3E4¤Î¥°¥ë¡¼¥×¤¬¥Ù¥ë¥È¥³¥ó¥Ù¥¢¼°¤ÎÁõÃÖ¤ò¶î»È¤·¤Ö¤Ã¤Á¤®¤ê¤Î1°Ì¤Ëµ±¤¤¤¿¡£ ²æ¤¬¥°¥ë¡¼¥×¤Ï3°Ì¤Ë¤Ê¤Ã¤¿¡£ **¹Í»¡ [#ebc3f3d2] ¡¦¥Ü¡¼¥ë¤ò¤Ä¤«¤ó¤À¸å¡¢Î¥¤¹¤³¤È¤¬½ÐÍè¤Ê¤«¤Ã¤¿¡£µ¬Äꤷ¤¿³ÑÅ٤ޤDzóž¤Ç¤¤º¥¨¥é¡¼¤·¤Æ¤·¤Þ¤Ã¤¿¤³¤È¤¬¸¶°ø¤È¹Í¤¨¤é¤ì¤ë¡£²ò·èºö¤È¤·¤Æ¤Ï¡¢¥¢¡¼¥à¤Îµ¡¹½¤òÆ°¤«¤¹Á°¤Ë¤á¤¤¤¤¤Ã¤Ñ¤¤³«¤¤¤¿¸å¤Ë¥â¡¼¥¿¡¼¤Î²óž³Ñ¤ò¥ê¥»¥Ã¥È¤¹¤ë¤È¥¨¥é¡¼¤Ë¤Ï¤Ê¤é¤Ê¤¤¤È¹Í¤¨¤é¤ì¤ë¡£ ¡¦´Ì¤òõÃΤ·¤¿¸å¤Ë¡¢ÃµÃΤ·¤¿´Ì¤Þ¤Ç¿Ê¤à¤Î¤À¤¬¡¢ËÜÈ֤λþ¤Ë´Ì¤«¤é°ï¤ì¤Æ¤·¤Þ¤Ã¤¿¡£´Ì¤Ë¤¢¤ëÄøÅÙ¶á¤Å¤¤¤¿¸å¤Ë¤â¤¦°ìÅٴ̤òõÃΤ¹¤ì¤Ð¡¢°ï¤ì¤¿¤È¤·¤Æ¤â´Ì¤Î¤È¤³¤í¤Þ¤Ç¤¿¤É¤êÃ失¤ë¤Ç¤¢¤í¤¦¡£ **´¶ÁÛ [#k91415ff] µ¡ÂΤòºî¤ë¤Î¤Ë»þ´Ö¤ò¤«¤±¤¹¤®¤¿¡£¤·¤«¤·¡¢¥Þ¥¸¥Ã¥¯¥Ï¥ó¥É¤Îµ¡¹½¤¬¥°¥ë¡¼¥×Æâ¤ÇºÎÍѤµ¤ì¤¿¤Î¤¬¤¦¤ì¤·¤«¤Ã¤¿¡£¤Þ¤¿¡¢µ¡ÂΤγ°¸«¤Ï¤È¤Æ¤âµ¤¤ËÆþ¤Ã¤Æ¤ª¤êÀǽŪ¤Ë¤â¤½¤³¤Þ¤Ç°¤¯¤Ê¤¤¤È´¶¤¸¤ë¡£ºÇ¸å¤Îȯɽ¤Ë´Ö¤Ë¹ç¤ï¤»¤ë¤³¤È¤¬½ÐÍè¤Æ¤è¤«¤Ã¤¿¡£»Ê²ñ¤â²¼¼ê¤À¤È¤Ï»×¤¦¤¬³Ú¤·¤¯¤Ç¤¤¿¡£È¯É½¼«ÂΤϻÄÇ°¤Ë¤Ê¤Ã¤¿¤¬µ¡ÂΤËÂФ¹¤ëµ»½ÑÅÀ¤¬¹â¤¯¤È¤Æ¤â¤¦¤ì¤·¤¯´¶¤¸¤ë¡£ ¤È¤Æ¤â³Ø¤Ù¤ë¤³¤È¤¬Â¿¤¤¹ÖµÁ¤À¤Ã¤¿¡£¸å´ü¤Î´Ö¤ªÈè¤ìÍͤǤ·¤¿¡£¤¢¤ê¤¬¤È¤¦¤´¤¶¤¤¤Þ¤·¤¿¡£