[[2018b/Member]]

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*¥í¥Ü¥Ã¥ÈËÜÂΤι©É× [#j1881746]

#ref(zentaizu.JPG)
#ref(armgawa.JPG)


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#ref(code.JPG)


**¥¢¡¼¥à(¥¹¥ì¡¼¥ÖôÅö¡Ë [#e65c1e1f]

#ref(armonly.JPG)

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*¥×¥í¥°¥é¥à¤Ë¤Ä¤¤¤Æ [#ze9a629c]
**¥Þ¥¹¥¿¡¼Â¦¤Î¥×¥í¥°¥é¥à [#e8b186b0]


#define CONN 1
#define SIGNALA 11
#define SIGNALB 12
#define SIGNALC 13
#define SIGNALD 14
#define SIGNALE 15
#define SIGNALF 16
#define SIGNALG 17        //¥á¥Ã¥»¡¼¥¸¤Ë¤Ä¤¤¤Æ¤ÏÁ´ÂΤÎή¤ì¤ÇÀâÌÀ¤·¤Þ¤¹
#define THRESHOLD 57
#define SPEED 50
#define speed 40
#define OnRL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL);
#define leftleft OnRL(speed,0);¡¡¡¡¡¡¡¡//¤­¤Ä¤¤¥«¡¼¥Ö¤ÎÉôʬ¤Ç¥·¥ç¡¼¥È¥«¥Ã¥È¤ò¤¹¤ë¤¿¤áÀû²ó¤·¤Ê¤¤¤è¤¦¤Ë¤·¤¿
#define left OnRL(speed,0);
#define straight OnRL(SPEED,SPEED);
#define right OnRL(0,speed+5);
#define rightright OnRL(-speed,speed+5);
#define MOVE_TIME_1 3000
#define MOVE_TIME_2 22500
#define MOVE_TIME_3 2000
#define zenshin OnFwd(OUT_B,speed);OnFwd(OUT_C,speed+6);
#define koutai OnRev(OUT_B,speed-10);OnRev(OUT_C,speed-4);¡¡¡¡¡¡//¼ÖÂΥХé¥ó¥¹¤Î±Æ¶Á¤Çº¸±¦¤Î¥â¡¼¥¿¡¼¤Î¶¯¤µ¤òÊѤ¨¤Æ¤¢¤ë
#define teishi Off(OUT_BC);
#define kaiten_R1 OnFwd(OUT_B,SPEED);OnRev(OUT_C,SPEED);
#define kaiten_R2 OnFwd(OUT_B,speed);OnRev(OUT_C,speed);
#define kaiten_L1 OnRev(OUT_B,SPEED);OnFwd(OUT_C,SPEED);
#define kaiten_L2 OnRev(OUT_B,SPEED);OnFwd(OUT_C,SPEED);
#define kaiten_time_R1 2500¡¡¡¡¡¡¡¡¡¡//´Ì¤ò¸«¤Ä¤±¤ë¤Ë¤Ïû¤¹¤®¤¿ºÇ¾®Ãͤò¸«¤Ä¤±¤ë¤¿¤á¤Ë²óž¤¹¤ë»þ´Ö
#define kaiten_time_L1 1500
#define KAITEN RotateMotorEx(OUT_BC,50,400,100,true,false);¡¡¡¡¡¡//180¡ë²óž
#define go_forward OnRL(SPEED,SPEED);
#define STEP 1
#define yasumi Off(OUT_BC);Wait(500);

sub serch_R1()¡¡¡¡¡¡¡¡¡¡¡¡//È¿»þ·×²ó¤ê¤Ç´Ì¤òõ¤¹
 {
  SetSensorLowspeed(S4);
  long t10,t11;
  int L=1000;
  t10=CurrentTick();
  while(CurrentTick()-t10<=kaiten_time_R1){
   kaiten_R1;
   if(SensorUS(S4)<L)
   {
    L=SensorUS(S4);
    t11=CurrentTick()-t10;
   }
  }
  kaiten_L1;
  Wait(kaiten_time_R1-t11+100);¡¡¡¡//¼ÖÂΥХé¥ó¥¹¤ÎÌäÂê¤ò²þÁ±¤¹¤ë¤¿¤á¤ÎÈùÄ´À°+100
  Off(OUT_BC);
  Wait(500);
  }
 
inline sub serch_R2(int l)¡¡¡¡¡¡£ì£ã£í°Ê²¼¤Îµ÷Î¥¤Î¤â¤Î¤ò¸«¤Ä¤±¤¿¤é»ß¤Þ¤ë
 {
  SetSensorLowspeed(S4);
  kaiten_R1
  until(SensorUS(S4)<=l);
  Off(OUT_BC);
  }
 
sub serch_L()¡¡¡¡¡¡¡¡»þ·×²ó¤ê¤Ç´Ì¤òõ¤¹
 {
  SetSensorLowspeed(S4);
  long t12,t13;
  int L=1000;
  t12=CurrentTick();
  while(CurrentTick()-t12<=kaiten_time_L1){
   kaiten_L1;
   if(SensorUS(S4)<L)
   {
    L=SensorUS(S4);
    t13=CurrentTick()-t12;
   }
  }
  kaiten_R1;
  Wait(kaiten_time_L1-t13+80);¡¡¡¡¡¡¡¡//¼ÖÂΥХé¥ó¥¹¤ÎÌäÂê¤ò²þÁ±¤¹¤ë¤¿¤á¤ÎÈùÄ´À°+80
  Off(OUT_BC);
  Wait(500);
  }

inline void sekkin(int d)¡¡¡¡¡¡ÌÜɸ¤ËÀ᤹ܶ¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à
 {
  SetSensorLowspeed(S4);
 
  while(SensorUS(S4)>=d){
  koutai;
  }
  teishi;
 }
 
sub LT_R()¡¡¡¡¡¡¡¡¡¡¡¡//¥é¥¤¥ó¥È¥ì¡¼¥¹
 {
    SetSensorLight(S3);
    long t0=CurrentTick();
    while(CurrentTick()-t0<=MOVE_TIME_2){
     if(SENSOR_3<THRESHOLD-10){
     rightright;
    }else if(SENSOR_3<THRESHOLD-7){
     right;
    }else if(SENSOR_3<THRESHOLD+2){
     straight;
    }else if(SENSOR_3<THRESHOLD+3){
     left;
    }else{
     leftleft;
    }
    Wait(STEP);
   }
  }

task main()
 {
 SetSensorLight(S2);
 SetSensorLight(S3);
 SetSensorLowspeed(S4);


 OnRev(OUT_BC,30);
 Wait(500);
 teishi;        //½é´ü°ÌÃÖ¤«¤éÀÖ¤¤¥Ü¡¼¥ë¤ò¥­¥ã¥Ã¥Á¤¹¤ë¾ì½ê¤Þ¤Ç¤ÎÈùÄ´À°
 int msg;
 SendRemoteNumber(CONN,MAILBOX1,SIGNALA);¡¡¡¡¡¡¥¹¥ì¡¼¥Ö¦¤Ë¥Ü¡¼¥ë¤ò¤Ä¤«¤ó¤Ç¤â¤é¤¦
 while(true){
  ReceiveRemoteNumber(MAILBOX1,true,msg);
  if(msg==SIGNALE){
   koutai;
   Wait(MOVE_TIME_1);¡¡¡¡
   KAITEN;¡¡¡¡¡¡¡¡¡¡¡¡//¸åÂष¤Æ180¡ë²óž¤¹¤ë¡£¸òº¹ÅÀ¤ò±Û¤¨¤¿¤¢¤¿¤ê¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤é¤ì¤ë¤è¤¦¤Ë¤¹¤ë
   teishi;
   yasumi;
   LT_R();¡¡¡¡¡¡¡¡//¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³«»Ï
   teishi;¡¡¡¡¡¡¡¡//ÁÛÄê¤Ç¤ÏÂçÂÎÃÏÅÀE¤ËÅþÃ夷¤¿¤¢¤¿¤ê¤ÇÄä»ß
   serch_R1();¡¡¡¡¡¡//´Ì¤ò¥µ¡¼¥Á
   teishi;
   sekkin(15);¡¡¡¡¡¡//15­Ñ¤Îµ÷Î¥¤Þ¤ÇÀܶá
   koutai;
   Wait(1000);¡¡¡¡¡¡//ÈùÄ´À°¡¡¡¡¡¡
   teishi;
   SendRemoteNumber(CONN,MAILBOX1,SIGNALB);¡¡¡¡¡¡¥¹¥ì¡¼¥Ö¦¤Ë¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤Æ¤â¤é¤¦
  }
  if(msg==SIGNALF){
  zenshin;¡¡¡¡¡¡¡¡¡¡¡¡
  Wait(MOVE_TIME_3);¡¡¡¡¡¡¡¡¡¡//ÂçÂÎÃÏÅÀE¤ËÌá¤ë(¿¾¯¤º¤ì¤Æ¤¤¤Æ¤âÌäÂê¤Ê¤·)
  kaiten_R1;
  Wait(100);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÀĤ¤¥Ü¡¼¥ë¤ò»¡ÃΤ¹¤ëÁ°¤Ë¥Ü¡¼¥ë¤ò¾è¤»¤¿´Ì¤ò¸«¤Ä¤±¤Ê¤¤¤è¤¦¤Ë¾¯¤·²óž
  yasumi;
  serch_R2(25);¡¡¡¡¡¡¡¡//25­Ñ°ÊÆâ¤Ë²¿¤«¤ò¸«¤Ä¤±¤¿¤éÄä»ß
  yasumi;
  zenshin;
  Wait(500);¡¡¡¡¡¡¡¡¡¡//ÀĤ¤¥Ü¡¼¥ë¤ÈĶ²»ÇÈ¥»¥ó¥µ¡¼¤¬¶á¤¹¤®¤¿¤È¤­¤Î¤¿¤á¤Ë¾¯¤·Î¥¤ì¤ë
  sekkin(10);
¡¡koutai;
  Wait(200);         //ÀĤ¤¥Ü¡¼¥ë¤ò¥­¥ã¥Ã¥Á¤Ç¤­¤ë°ÌÃ֤ޤdzÎǧ¡¡¡¡¡¡¡¡
  yasumi;
  SendRemoteNumber(CONN,MAILBOX1,SIGNALC);¡¡¡¡¡¡¥¹¥ì¡¼¥Ö¦¤Ë¥Ü¡¼¥ë¤ò¥­¥ã¥Ã¥Á¤·¤Æ¤â¤é¤¦
  }
  if(msg==SIGNALG){
   koutai;
   Wait(2000);¡¡¡¡//ÌÜɸ¤Ë¾¯¤·¶á¤Å¤¯¡¡¡¡¡¡
   kaiten_R1;¡¡
   Wait(500);¡¡¡¡//²¾¤ËÀĦ¤Î´Ì¤¬­¢¤À¤Ã¤¿¾ì¹ç¥µ¡¼¥ÁÈϰϤˤʤ¤¾ì¹ç¤¬¤¢¤ë¤Î¤Ç¾¯¤·²óž
   serch_L();¡¡¡¡¡¡//´Ì¤ò¥µ¡¼¥Á
   teishi;
   sekkin(15);¡¡¡¡¡¡//15­Ñ¤Îµ÷Î¥¤Þ¤ÇÀܶá
   teishi;
   koutai;¡¡¡¡
   Wait(1000);¡¡¡¡¡¡¡¡//ÈùÄ´À°
   SendRemoteNumber(CONN,MAILBOX1,SIGNALD);¡¡¡¡¡¡¥¹¥ì¡¼¥Ö¦¤Ë¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤Æ¤â¤é¤¦
   teishi;¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Ää»ß
  }
 }
}
**¥¹¥ì¡¼¥Ö¦¤Î¥×¥í¥°¥é¥à [#ycdd4674]


#define POWER 50
#define Power 25
#define power 15
#define time 300
#define Time 600
#define TIME 1000
#define hand_catch OnRev(OUT_B,POWER);Wait(Time);Off(OUT_B);¡¡¡¡//¥Ü¡¼¥ë¤ò¤Ä¤«¤à
#define arm_Up OnFwd(OUT_C,POWER);Wait(TIME);Off(OUT_C);¡¡¡¡¡¡//ÏÓ¤ò¾å¤²¤ë
#define hand_release OnFwd(OUT_B,power);Wait(TIME);Off(OUT_B);¡¡¡¡¡¡//¼ê¤òÎ¥¤¹
#define arm_Down OnRev(OUT_C,POWER);Wait(Time+200);Off(OUT_C);¡¡¡¡¡¡//ÏÓ¤ò²¼¤²¤ë
#define arm_up OnFwd(OUT_C,POWER);Wait(Time);Off(OUT_C);¡¡¡¡¡¡¡¡//ÏÓ¤ò¾¯¤·¤À¤±¾å¤²¤ë
#define arm_down OnRev(OUT_C,Power);Wait(Time);Off(OUT_C);¡¡¡¡¡¡//ÏÓ¤ò¾¯¤·¤À¤±²¼¤²¤ë
#define yasumi  Off(OUT_BC);Wait(500);
#define SIGNALA 11
#define SIGNALB 12
#define SIGNALC 13
#define SIGNALD 14
#define SIGNALE 15
#define SIGNALF 16
#define SIGNALG 17


sub ball_catch()¡¡¡¡¡¡¡¡¥Ü¡¼¥ë¤òÄϤó¤Ç»ý¤Á¾å¤²¤ë
 {
  Wait(Time);
  arm_Down;
  hand_catch;
  arm_Up;
  Off(OUT_BC);
  }
  
sub ball_release()¡¡¡¡¡¡¡¡¥Ü¡¼¥ë¤ò´Ì¤Î¾å¤ËÃÖ¤¯
 {
  Wait(Time);
  arm_down;
  yasumi;
  hand_release;
  arm_up;
  Off(OUT_BC);
  }
  
task main()
 {
  int msg;
  while(true){
   ReceiveRemoteNumber(MAILBOX1,true,msg);
  
   if(msg==SIGNALA){
   ball_catch();
   Off(OUT_BC);
   SendResponseNumber(MAILBOX1,SIGNALE);¡¡¡¡¡¡//ÀÖ¤¤¥Ü¡¼¥ë¤òÄϤó¤À¤³¤È¤ò¥Þ¥¹¥¿¡¼Â¦¤ËÅÁ¤¨¤ë
   }
   if(msg==SIGNALB){
   yasumi;
   ball_release();
   yasumi;
   SendResponseNumber(MAILBOX1,SIGNALF);¡¡¡¡¡¡//ÀÖ¤¤¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤¿¤³¤È¤ò¥Þ¥¹¥¿¡¼Â¦¤ËÅÁ¤¨¤ë
   }
   if(msg==SIGNALC){
   ball_catch();
   Off(OUT_BC);
   SendResponseNumber(MAILBOX1,SIGNALG);¡¡¡¡¡¡//ÀĤ¤¥Ü¡¼¥ë¤òÄϤó¤À¤³¤È¤ò¥Þ¥¹¥¿¡¼Â¦¤ËÅÁ¤¨¤ë
   }
   if(msg==SIGNALD){
   yasumi;
   ball_release();
   yasumi;¡¡¡¡¡¡¡¡¡¡//ÀĤ¤¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤ÆÄä»ß
   }
  } 
 }
**Á´ÂΤÎή¤ì [#w87a75f4]

#ref(2018b-mission3 (1).png)


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