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#define MOVE_TIME 250
#define SPEED_H 35
#define MOVE_TIME 250 //¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¾ò·ïÍѤλþ´Ö(¾ÜºÙ¤Ï¸å½Ò)
#define SPEED_H 35 //¥¹¥Ô¡¼¥É¤ÎÃÍ(Åý°ì¤¹¤ë¤³¤È¤Ç´Ê°×²½)
#define SPEED_L 20
#define B1 43 //ÌÀÅÙ¤ÎÃÍ(¾ÜºÙ¤Ï¸å½Ò)
#define G 53
#define W1 59
#define W2 61
-OnRL~
¤³¤ÎÄêµÁ¤ÏOnRL(x,y)¤È¤·¤¿»þ¡¢x=(¥â¡¼¥¿¡¼B¤Î®¤µ)y=(¥â¡¼¥¿¡¼C¤Î®¤µ)¤òɽ¤¹¡£~
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#define OnRL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL);
-Á°¸å±¿Æ°¡¢Êý¸þž´¹~
--Á°¿Ê
#define go_straight OnRL(SPEED_H,SPEED_H);
--Àû²ó(µÞ·ã¤ÊÊý¸þž´¹)
#define rot_r OnRL(-SPEED_L,SPEED_L); //±¦Àû²ó
#define rot_l OnRL(SPEED_L,-SPEED_L); //º¸Àû²ó
--²óž(´Ë¤ä¤«¤ÊÊý¸þž´¹)
#define turn_r OnRL(0,SPEED_L); //±¦²óž
#define turn_l OnRL(SPEED_L,0); //º¸²óž
--¥¢¡¼¥à¤Î³«ÊÄ
#define arm_open OnRev(OUT_A,20);Wait(1000);Off(OUT_A); //¥¢¡¼¥à¤ò³«¤¯
#define arm_close OnFwd(OUT_A,30);Wait(600);Off(OUT_A); //¥¢¡¼¥à¤òÊĤ¸¤ë
**sub¥ë¡¼¥Á¥ó¤Ë¤Ä¤¤¤Æ [#adc6e636]
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-¥é¥¤¥ó¥È¥ì¡¼¥¹[follow_line]~
¤³¤Î´Ø¿ô¤Ï¸÷¥»¥ó¥µ¡¼¤Ç¥³¡¼¥¹¤ÎÀþ¤ÎÌÀÅÙ¤ò·×¬¤·¡¢~
¾ò·ï¤Ë±è¤Ã¤Æ»ØÄꤷ¤¿Æ°ºî¤ò¤·¤Ê¤¬¤éÀþ¾å¤òÆ°¤Æ¤¤¤¯¤â¤Î¤À¡£~
°Ê²¼¤¬¤½¤Î´Ø¿ô¤Ç¤¢¤ë¡£~
--º¸Â¦¤ÎľÀþ¥È¥ì¡¼¥¹
sub follow_line_l()
{
SetSensorLight(S1);
long t0=CurrentTick();
while(CurrentTick()-t0<MOVE_TIME){
if(SENSOR_1>W1){
rot_r;t0=CurrentTick();
}
else if(SENSOR_1>W2){
turn_r;t0=CurrentTick();
}
else if(SENSOR_1>G){
go_straight;t0=CurrentTick();
}
else if(SENSOR_1>B1){
turn_l;t0=CurrentTick();
}
else{
rot_l;
}
}
}
--±¦Â¦¤ÎľÀþ¥È¥ì¡¼¥¹
sub follow_line_r()
{
SetSensorLight(S1);
long t0=CurrentTick();
while(CurrentTick()-t0<MOVE_TIME){
if(SENSOR_1>W1){
rot_l;t0=CurrentTick();
}
else if(SENSOR_1>W2){
turn_l;t0=CurrentTick();
}
else if(SENSOR_1>G){
go_straight;t0=CurrentTick();
}
else if(SENSOR_1>B1){
turn_r;t0=CurrentTick();
}
else{
rot_r;
}
}
}
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¡¡¡¡»Ï¤á¤ËCurrentTick¤òt0¤Ë(¥ê¥»¥Ã¥È)¤¹¤ë¡£~
¡¡¡¡¼¡¤Ë¡ÖCurrentTick()-t0<MOVE_TIME¡×¤Ë¤è¤Ã¤ÆCurrentTick¤Î·×¬»þ´Ö¤¬~
¡¡¡¡MOVE_TIME(250)¤òĶ¤¨¤ë¤Þ¤Çwhile¤ÎÃæ¤ò¥ë¡¼¥×¤·Â³¤±¤ë¡£~
¡¡¡¡whileʸ¤ÎÃæ¤Ë¤Ïifʸ¡¢elseʸ¤Ç¹½À®¤µ¤ì¤Æ¤¤¤Æ¡¢¸÷¥»¥ó¥µ¡¼¤ÎÃͤˤè¤Ã¤Æ½èÍý¤¬~
¡¡¡¡°Û¤Ê¤ë¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬43¤è¤êÂ礤¤Ãͤλþ¡Ê¹õ°Ê³°¤Î»þ¡Ë~
¡¡¡¡CurrentTick¤ÎÃͤÏÌ¿Îá¿ë¹Ô¸å¡¢¾ï¤Ë¥ê¥»¥Ã¥È¤µ¤ì¡¢¥ë¡¼¥×¤Ï·Ñ³¤µ¤ì¤ë¡£~
¡¡¡¡¤·¤«¤·¸÷¥»¥ó¥µ¡¼¤ÎÃͤ¬45°Ê²¼¤Î»þ¡Ê¹õ¤Î»þ¡Ë¡¢CurrentTick¤Ï¥ê¥»¥Ã¥È¤µ¤ì¤Ê¤¤¡£~
¡¡¡¡¤³¤Î¾õÂÖ¤¬°ìÄê¤Î»þ´Ö¡ÊMOVE_TIME¡Ë³¤¯¤³¤È¤Ç¡¢¸òº¹ÅÀ¤Ç¤¢¤ë¤ÈȽÃǤ·¡¢~
¡¡¡¡¤³¤Î¥ë¡¼¥×¤«¤éÈ´¤±¡¢»ß¤Þ¤ë¹½Â¤¤È¤Ê¤Ã¤Æ¤¤¤ë¡£~
-¸òº¹ÅÀ¤Ç¤ÎÆ°ºî~
¥é¥¤¥ó¥È¥ì¡¼¥¹Ãæ¡¢¸òº¹ÅÀ¤ÈȽÃǤ·¤Æ»ß¤Þ¤Ã¤¿¸å¤ÎÆ°ºî¤Ï3¤Ä¤ËʬÎव¤ì¤ë~
--¸òº¹ÅÀ¤ò´Ë¤ä¤«¤Ëľ¿Ê[cross_line_1]~
sub cross_line_1()
{
while(SENSOR_1<W1){
go_straight;
}
while(SENSOR_1>G){
turn_l;
}
Off(OUT_BC);
}
--¸òº¹ÅÀ¤òµÞ·ã¤Ëľ¿Ê[cross_line_2]~
sub cross_line_2()
{
while(SENSOR_1<W1){
go_straight;
}
while(SENSOR_1>G){
rot_l;
}
Off(OUT_BC);
}
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³¥¤ò¸«¤Ä¤±¤¿¤éÄä»ß¤¹¤ë¡£
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--¸òº¹ÅÀ¤òľ³Ñ¤Ë¶Ê¤¬¤ë[follow_line_r]~
¸òº¹ÅÀ¤ÇÄä»ß¸å¡¢Ä¾³Ñ¤Ë¶Ê¤¬¤ë¾ì¹ç¤ÏºÆÅÙ¡Öfollow_line¡×¤òÌ¿Î᤹¤ë¤³¤È¤Ç~
¤½¤Î¤Þ¤Þ¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·Â³¤±Ä¾³Ñ¤Ë¶Ê¤¬¤ë¤³¤È¤¬¤Ç¤¤ë¡£~
º£²ó¤Î¥³¡¼¥¹¤Ç¤Ï±¦¤Ë¶Ê¤¬¤ë¤Î¤ß¤Ê¤Î¤Ç¡Öfollow_line_r¡×¤Î¤ß¤Î»ÈÍѤˤʤ롣~
-¸òº¹ÅÀ¤Ç¤ÎÄä»ß[short_break]~
¤³¤Î¥ß¥Ã¥·¥ç¥ó¤Ç¤Ï¡Ö¸òº¹ÅÀ¤Ç¤Ï1ÉôÖÄä»ß¤·¡¢Ãú»úÏ©¤Ç¤Ïľ³ÑÊý¸þ¤Ë¿ÊÆþ¤¹¤ë»þ¤Î¤ß°ì»þÄä»ß¡×~
¤òµÁ̳¤Å¤±¤Æ¤¤¤ë¡£¤½¤Î¤¿¤á¤³¤Î´Ø¿ô¤ò¶´¤à¤³¤È¤Ç¤½¤Î¾ò·ï¤ò¥¯¥ê¥¢¤·¤Æ¤¤¤ë¡£~
sub short_break()
{
Off(OUT_BC);
Wait(1000);
}
-µå¤ò¥¥ã¥Ã¥Á¤¹¤ë[ball_catch]~
¥³¡¼¥¹¤ÎKÃÏÅÀ¤«¤éµå¤ò¥¥ã¥Ã¥Á¤¹¤ë¤Þ¤Ç¤Ï¼êÆ°¤Î¥×¥í¥°¥é¥ß¥ó¥°¤òºÎÍѤ·¤Æ¤¤¤ë¡£~
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sub ball_catch()
{
rot_l; //º¸Àû²ó
Wait(350);
Off(OUT_BC);
go_straight; //Á°¿Ê
Wait(2000);
Off(OUT_BC);
OnRL(-SPEED_L,0); //±¦¼ÖÎؤò¸åž¤µ¤»±¦²óž
Wait(1000);
Off(OUT_B);
OnRL(-SPEED_L,-SPEED_L); //¸åÂà
Wait(1500);
Off(OUT_BC);
arm_close; //¥¢¡¼¥à¤òÊĤ¸¤ë
rot_r;
Wait(1300);
go_straight; //Á°¿Ê
Wait(800);
Off(OUT_BC);
}
-µå¤ò¥·¥å¡¼¥È¡¢¼ÖÂΤ⥴¡¼¥ë[shoot_goal]~
º¸Â¦¤ÎľÀþ¤ò¥È¥ì¡¼¥¹¤·¤ÆMÃÏÅÀ¤ËÅþ㤷¤¿¸å¤Î´Ø¿ô¤Ç¤¢¤ë¡£~
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¥·¥å¡¼¥È¤Î»ÅÊý¤Ë¤Ä¤¤¤Æ¤Ï [[#o909993d]] ¤ò»²¾È¡£~
sub shoot_goal()
{
rot_l; //º¸Àû²ó
Wait(300);
Off(OUT_BC);
go_straight;//Á°¿Ê(¥´¡¼¥ë¤ËÂФ·¤Æ²£¸þ¤¤Ë¤Ê¤ë)
Wait(1300);
arm_open; //¥¢¡¼¥à¤ò³«¤¯
rot_l; //º¸Àû²ó(Æ°ºî¤Ë¹ç¤ï¤»¤Æµå¤ò¥·¥å¡¼¥È)
Wait(500);
Off(OUT_BC);
go_straight;//Á°¿Ê(¼ÖÂΤ¬¥´¡¼¥ë)
Wait(500);
Off(OUT_BC);
}
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task main()
{
go_straight; //¥¹¥¿¡¼¥È(A)¡ÁB
Wait(1000);
Off(OUT_BC);
follow_line_r(); //B¡ÁC(T»úÏ©)
cross_line_1(); //T»úϩľ¿Ê
follow_line_r(); //C¡ÁD(¸òº¹ÅÀ)
short_break(); //¸òº¹ÅÀ¤Î¤¿¤á°ì»þÄä»ß
cross_line_1(); //¸òº¹ÅÀľ¿Ê
follow_line_r(); //D¡ÁE
follow_line_r();
follow_line_r(); //E¡ÁF
follow_line_r();
follow_line_r(); //F¡ÁH
cross_line_2(); //H(T»úϩľ¿Ê)
follow_line_r(); //H¡ÁI
cross_line_2(); //I(T»úϩľ¿Ê)
follow_line_r(); //I¡ÁJ
follow_line_r(); //J¡ÁK
ball_catch();¡¡¡¡//K¡Áµå¥¥ã¥Ã¥Á
follow_line_l(); //L¡ÁM
shoot_goal(); //M¡Áµå¥·¥å¡¼¥È¡Á¥´¡¼¥ë
}
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