2019a/Member/Orangestar/Mission2 の履歴差分(No.2)

• 履歴一覧
• 現在との差分 を表示
• ソース を表示
• 2019a/Member/Orangestar/Mission2 へ行く。
  • 1 (2019-07-17 (水) 11:10:32)
  • 2 (2019-07-17 (水) 12:55:17)
  • 3 (2019-07-18 (木) 11:03:23)
  • 4 (2019-07-18 (木) 14:11:39)
  • 5 (2019-07-18 (木) 14:37:05)
  • 6 (2019-08-05 (月) 08:10:13)
  • 7 (2019-08-06 (火) 14:35:45)

• 追加された行はこの色です。
• 削除された行はこの色です。

[[2019a/Member]]
*プログラムについて [#dc211f9e]
 #define turn_right OnFwd(OUT_C,25);OnRev(OUT_B,15);//右折
 #define turn_left OnFwd(OUT_B,25);OnRev(OUT_C,15);//左折
 #define rotate_right OnFwd(OUT_C,20);OnRev(OUT_B,25);//右旋回
 #define rotate_left OnFwd(OUT_B,20);OnRev(OUT_C,25);//左旋回
 #define go_straight OnFwd(OUT_BC,20);//直進
 #define go_straight2 OnFwd(OUT_BC,15);//ゆっくり直進
 #define turn OnRev(OUT_C,25);OnFwd(OUT_B,25);Wait(1500);Off(OUT_BC);//180°旋回
 #define catch OnRev(OUT_A,25);Wait(500);Off(OUT_A);//ピンポン玉をつかむ
 #define release OnFwd(OUT_A,25);Wait(500);Off(OUT_A);//ピンポン玉を離す
 #define osidasi OnFwd(OUT_BC,100);Wait(100);Off(OUT_BC);//加速してピンポン玉を押し出す
 #define black 20//黒の値は20
 #define white 50//白の値は50
 #define lightgray 40//灰白色は40
 #define darkgray 28//灰黒色は28

 #define turn_right OnFwd(OUT_C,25);OnRev(OUT_B,15);
 #define turn_left OnFwd(OUT_B,25);OnRev(OUT_C,15);
 #define rotate_right OnFwd(OUT_C,20);OnRev(OUT_B,25);
 #define rotate_left OnFwd(OUT_B,20);OnRev(OUT_C,25);
 #define go_straight OnFwd(OUT_BC,20);
 #define go_straight2 OnFwd(OUT_BC,15);
 #define turn OnRev(OUT_C,25);OnFwd(OUT_B,25);Wait(1500);Off(OUT_BC);
 #define catch OnRev(OUT_A,25);Wait(500);Off(OUT_A);
 #define release OnFwd(OUT_A,25);Wait(500);Off(OUT_A);
 #define osidasi OnFwd(OUT_BC,100);Wait(100);Off(OUT_BC);
 #define black 20
 #define white 50
 #define lightgray 40
 #define darkgray 28
まず，右左折，右旋回，左旋回，直進，ピンポン玉をつかむ，離す，センサーの値をそれぞれ定義する

交差点まで左側に沿ってトレースするサブルーチン

 sub followline_L(int stop_time)
 {
     long t0=CurrentTick();
     while(CurrentTick()-t0<stop_time){
 if(SENSOR_1<black){
    rotate_left;
 }else if(SENSOR_1<darkgray){
    turn_left;
 }else if(SENSOR_1>lightgray){
    turn_right;
    t0=CurrentTick();
 }else if(SENSOR_1<35){
    go_straight;
    t0=CurrentTick();
 }else{
    rotate_right;
    t0=CurrentTick();
 }
         if(SENSOR_1<black){
         rotate_left;
         }else if(SENSOR_1<darkgray){
         turn_left;
         }else if(SENSOR_1>lightgray){
         turn_right;
         t0=CurrentTick();
         }else if(SENSOR_1<35){
         go_straight;
         t0=CurrentTick();
         }else{
         rotate_right;
         t0=CurrentTick();
         }
     }    
     Off(OUT_BC);
     Wait(1000);
 }

 sub followline_R(int stop_time)
 {
     long t0=CurrentTick();
     while(CurrentTick()-t0<stop_time){
 if(SENSOR_1<black){
    rotate_right;
 }else if(SENSOR_1<darkgray){
    turn_right;
 }else if(SENSOR_1>lightgray){
    turn_left;
    t0=CurrentTick();
 }else if(SENSOR_1<35){
    go_straight;
    t0=CurrentTick();
 }else{
    rotate_left;
    t0=CurrentTick();
 }
         if(SENSOR_1<black){
         rotate_right;
         }else if(SENSOR_1<darkgray){
         turn_right;
         }else if(SENSOR_1>lightgray){
         turn_left;
         t0=CurrentTick();
         }else if(SENSOR_1<35){
         go_straight;
         t0=CurrentTick();
         }else{
         rotate_left;
         t0=CurrentTick();
         }
     }    
     Off(OUT_BC);
     Wait(1000);
 }

 sub followline_R2(int stop_time)
 {
     long t0=CurrentTick();
     while(CurrentTick()-t0<stop_time){
 if(SENSOR_1<black){
    rotate_right;
    t0=CurrentTick();
 }else if(SENSOR_1<darkgray){
    turn_right;
    t0=CurrentTick();
 }else if(SENSOR_1>lightgray){
    turn_left;
 }else if(SENSOR_1<35){
    go_straight2;
    t0=CurrentTick();
 }else{
    rotate_left;
 }
         if(SENSOR_1<black){
         rotate_right;
         t0=CurrentTick();
         }else if(SENSOR_1<darkgray){
         turn_right;
         t0=CurrentTick();
         }else if(SENSOR_1>lightgray){
         turn_left;
         }else if(SENSOR_1<35){
         go_straight2;
         t0=CurrentTick();
         }else{
         rotate_left;
         }
     }    
     Off(OUT_BC);
     Wait(2000);
 }

 sub Blackto_White()
 {
     while(SENSOR_1<darkgray){
     OnFwd(OUT_BC,15);
         OnFwd(OUT_BC,15);
     }
     Off(OUT_BC);
 }

 sub Whiteto_Black()
 {
     while(SENSOR_1>darkgray){
     OnFwd(OUT_BC,15);
         OnFwd(OUT_BC,15);
     }
     Off(OUT_BC);
 }

 sub Whiteto_Black_R()
 {
     while(SENSOR_1>darkgray){
     OnFwd(OUT_C,20);
     OnRev(OUT_B,20);
         OnFwd(OUT_C,20);
         OnRev(OUT_B,20);
     }
     Off(OUT_BC);
 }    
 sub Blackto_White_R()
 {
     while(SENSOR_1<darkgray){
     OnFwd(OUT_C,20);
     OnRev(OUT_B,20);
         OnFwd(OUT_C,20);
         OnRev(OUT_B,20);
     }
     Off(OUT_BC);
 }

 sub Blackto_White_L()
 {
     while(SENSOR_1<lightgray){
     OnFwd(OUT_B,20);
     OnRev(OUT_C,20);
         OnFwd(OUT_B,20);
         OnRev(OUT_C,20);
     }
     Off(OUT_BC);
 }
 sub Whiteto_Black_L()
 {
     while(SENSOR_1>black){
     OnFwd(OUT_B,20);
     OnRev(OUT_C,20);
         OnFwd(OUT_B,20);
         OnRev(OUT_C,20);
     }
     Off(OUT_BC);
 }

 task main()
 {
     SetSensorLight(S1);
     followline_R(150);
     Blackto_White_L();
     followline_L(200);
     Blackto_White_R();
     followline_R2(200);
     catch;
     turn;
     followline_R(150);
     Blackto_White();
     followline_L(150);
     Blackto_White_L();
     followline_L(200);
     Blackto_White();
     followline_L(200);
     Blackto_White();
     followline_L(200);
     Blackto_White();
     followline_R(150);
     Blackto_White();
     followline_R(150);
     release;
     osidasi;
 }