- 追加された行はこの色です。
- 削除された行はこの色です。
目次
#contents
*課題について [#wcb9205d]
課題3については[[2019a/Mission3]]を参照
*ロボットについて [#k89410fd]
**ロボットの全体像 [#k707db65]
*プログラムについて [#p7f35d50]
**ロボコンで使用した親機のプログラム [#vafa3ddd]
***定義したプログラム [#jf5f2e46]
#define BLACKS 38
#define BLACK 45
#define THRESHOLD 53
#define WHITE 60
#define WHITES 68
#define left_s OnFwd(OUT_A,60);OnRev(OUT_B,60);
#define left OnFwd(OUT_A,60);Off(OUT_B);
#define right_s OnFwd(OUT_B,60);OnRev(OUT_A,90);
#define right OnFwd(OUT_B,60);Off(OUT_A);
#define forward OnFwd(OUT_AB,60);
#define back OnRev(OUT_AB,60);
#define CONN 1
#define SIGNALON1 10
#define SIGNALOFF1 11
#define SIGNALON2 20
#define SIGNALOFF2 21
#define SIGNALON3 30
#define SIGNALOFF3 31
#define HALF 1900
#define QUARTER 220
***サブルーチンについて [#yf007d05]
sub follow_line_left()
{
SetSensorLight(S1);
SetSensorLight(S2);
long t0=0,t1=0,stop_time=1;
while(t1-t0<stop_time){
if((SENSOR_1<BLACKS)&&(SENSOR_2<BLACKS)){
t0=CurrentTick();
forward;
until((SENSOR_1<THRESHOLD)&&(SENSOR_2<THRESHOLD));
t1=CurrentTick();
}else if(SENSOR_1<BLACKS){
left_s;
}else if(SENSOR_1<BLACK){
left;
}else if(SENSOR_1<THRESHOLD){
forward;
}else if(SENSOR_1<WHITE){
right;
}else if(SENSOR_1<WHITES){
right_s;
}
}
Off(OUT_AB);
Wait(1000);
}
sub follow_line_right()
{
SetSensorLight(S1);
SetSensorLight(S2);
long t0=0,t1=0,stop_time=1;
while(t1-t0<stop_time){
if((SENSOR_1<BLACKS)&&(SENSOR_2<BLACKS)){
t0=CurrentTick();
forward;
until((SENSOR_1<THRESHOLD)&&(SENSOR_2<THRESHOLD));
t1=CurrentTick();
}else if(SENSOR_2<BLACKS){
right_s;
}else if(SENSOR_2<BLACK){
right;
}else if(SENSOR_2<THRESHOLD){
forward;
}else if(SENSOR_2<WHITE){
left;
}else if(SENSOR_2<WHITES){
left_s;
}
}
Off(OUT_AB);
Wait(1000);
}
sub follow_line_back()
{
SetSensorLight(S1);
SetSensorLight(S2);
long t0=0,t1=0,stop_time=1;
while(t1-t0<stop_time){
if((SENSOR_1<BLACKS)&&(SENSOR_2<BLACKS)){
t0=CurrentTick();
back;
until((SENSOR_1<THRESHOLD)&&(SENSOR_2<THRESHOLD));
t1=CurrentTick();
}else if(SENSOR_2<BLACKS){
right_s;
}else if(SENSOR_2<BLACK){
right;
}else if(SENSOR_2<THRESHOLD){
back;
}else if(SENSOR_2<WHITE){
left;
}else if(SENSOR_2<WHITES){
left_s;
}
}
Off(OUT_AB);
Wait(1000);
}
sub start_right()
{
right;
Wait(100);
}
sub start_left()
{
left;
Wait(100);
}
sub across()
{
SetSensorLight(S1);
SetSensorLight(S2);
long t0=0,t1=0,stop_time=1;
while(t1-t0<stop_time){
if((SENSOR_1<BLACKS)&&(SENSOR_2<BLACKS)){
t0=CurrentTick();
forward;
until((SENSOR_1<THRESHOLD)&&(SENSOR_2<THRESHOLD));
t1=CurrentTick();
}else if(SENSOR_1<WHITES){
forward;
}
}
Off(OUT_AB);
Wait(1000);
}
sub send_msg1()
{
int msg;
while(msg!=SIGNALOFF1){
SendRemoteNumber(CONN,MAILBOX1,SIGNALON1);
ReceiveRemoteNumber(MAILBOX1,true,msg);
}
}
sub send_msg2()
{
int msg;
while(msg!=SIGNALOFF2){
SendRemoteNumber(CONN,MAILBOX2,SIGNALON2);
ReceiveRemoteNumber(MAILBOX2,true,msg);
}
}
sub send_msg3()
{
int msg;
while(msg=""){
SendRemoteNumber(CONN,MAILBOX3,SIGNALON3);
ReceiveRemoteNumber(MAILBOX3,true,msg);
}
msg="";
}
task main()
{
follow_line_left();
right_s;
Wait(200);
forward;
Wait(900);
Off(OUT_AB);
send_msg1();
right_s;
Wait(HALF);
follow_line_right();
send_msg2();
}
**ロボコンで使用した子機のプログラム [#b121a67d]
***定義したプログラム [#e79c51f6]
#define CONN 1
#define SIGNALON1 10
#define SIGNALOFF1 11
#define SIGNALON2 20
#define SIGNALOFF2 21
#define SIGNALON3 30
#define SIGNALOFF3 31
sub ball_catch1()
{
OnFwd(OUT_A,40);
Wait(200);
OnRev(OUT_B,50);
Wait(500);
OnRev(OUT_A,60);
Wait(700);
Off(OUT_AB);
}
sub ball_throw1()
{
OnFwd(OUT_A,40);
Wait(100);
OnFwd(OUT_B,50);
Wait(500);
OnRev(OUT_A,60);
Wait(700);
Off(OUT_AB);
}
sub ball_catch2()
{
OnRev(OUT_C,50);
Wait(150);
Off(OUT_C);
}
sub receive_msg1()
{
int msg;
while(msg!=SIGNALON1){
ReceiveRemoteNumber(MAILBOX1,true,msg); //msgが空の間，MAILBOX1にmsgを受信し続ける
}
ball_catch1();
PlaySound(SOUND_UP);
SendResponseNumber(MAILBOX1,SIGNALOFF1);//親機MAILBOX1にSIGNALOFF1を送る
}
sub receive_msg2()
{
int msg;
while(msg!=SIGNALON2){
ReceiveRemoteNumber(MAILBOX2,true,msg); //msgが空の間，MAILBOX1にmsgを受信し続ける
}
ball_throw1();
PlaySound(SOUND_UP);
SendResponseNumber(MAILBOX2,SIGNALOFF2);//親機MAILBOX1にSIGNALOFF1を送る
}
sub receive_msg3()
{
int msg;
while(msg=""){
ReceiveRemoteNumber(MAILBOX3,true,msg);
}
ball_catch2();
SendResponseNumber(MAILBOX3,SIGNALOFF3);
msg="";
}
task main()
{
receive_msg1();
receive_msg2();
}
数値調整する前のおおまかなプログラミングの流れ
#define BLACKS 45
#define BLACK 53
#define THRESHOLD 61
#define WHITE 69
#define WHITES 75
#define left_s OnFwd(OUT_A,50);OnRev(OUT_B,50);
#define left OnFwd(OUT_A,50);Off(OUT_B);
#define right_s OnFwd(OUT_B,50);OnRev(OUT_A,50);
#define right OnFwd(OUT_B,50);Off(OUT_A);
#define forward OnFwd(OUT_AB,50);
#define CONN 1
#define SIGNALON1 10
#define SIGNALOFF1 11
#define SIGNALON2 20
#define SIGNALOFF2 21
#define SIGNALON3 30
#define SIGNALOFF3 31
#define HALF 450
#define QUARTER 220
sub follow_line_left()
{
SetSensorLight(S1);
SetSensorLight(S2);
long t0=0,t1=0,stop_time=1;
while(t1-t0<stop_time){
if((SENSOR_1<BLACKS)&&(SENSOR_2<BLACKS)){
t0=CurrentTick();
forward;
until((SENSOR_1<THRESHOLD)&&(SENSOR_2<THRESHOLD));
t1=CurrentTick();
}else if(SENSOR_1<BLACKS){
left_s;
}else if(SENSOR_1<BLACK){
left;
}else if(SENSOR_1<THRESHOLD){
forward;
}else if(SENSOR_1<WHITE){
right;
}else if(SENSOR_1<WHITES){
right_s;
}
}
Off(OUT_AB);
Wait(1000);
}
sub follow_line_right()
{
SetSensorLight(S1);
SetSensorLight(S2);
long t0=0,t1=0,stop_time=1;
while(t1-t0<stop_time){
if((SENSOR_1<BLACKS)&&(SENSOR_2<BLACKS)){
t0=CurrentTick();
forward;
until((SENSOR_1<THRESHOLD)&&(SENSOR_2<THRESHOLD));
t1=CurrentTick();
}else if(SENSOR_2<BLACKS){
right_s;
}else if(SENSOR_2<BLACK){
right;
}else if(SENSOR_2<THRESHOLD){
forward;
}else if(SENSOR_2<WHITE){
left;
}else if(SENSOR_2<WHITES){
left_s;
}
}
Off(OUT_AB);
Wait(1000);
}
sub follow_line_leftT()
{
SetSensorLight(S1);
SetSensorLight(S2);
long t0=0,t1=0,stop_time=1;
while(t1-t0<stop_time){
if(SENSOR_2<BLACKS){
t0=CurrentTick();
forward;
until(SENSOR_2<THRESHOLD);
t1=CurrentTick();
}else if(SENSOR_1<BLACKS){
left_s;
}else if(SENSOR_1<BLACK){
left;
}else if(SENSOR_1<THRESHOLD){
forward;
}else if(SENSOR_1<WHITE){
right;
}else if(SENSOR_1<WHITES){
right_s;
}
}
Off(OUT_AB);
Wait(1000);
}
sub follow_line_rightT()
{
SetSensorLight(S1);
SetSensorLight(S2);
long t0=0,t1=0,stop_time=1;
while(t1-t0<stop_time){
if(SENSOR_1<BLACKS){
t0=CurrentTick();
until(SENSOR_1<THRESHOLD)
t1=CurrentTick();
}else if(SENSOR_2<BLACKS){
right_s;
}else if(SENSOR_2<BLACK){
right;
}else if(SENSOR_2<THRESHOLD){
forward;
}else if(SENSOR_2<WHITE){
left;
}else if(SENSOR_2<WHITES){
left_s;
}
}
Off(OUT_AB);
Wait(1000);
}
sub start_right()
{
right;
Wait(100);
}
sub start_left()
{
left;
Wait(100);
}
sub across()
{
SetSensorLight(S1);
SetSensorLight(S2);
long t0=0,t1=0,stop_time=1;
while(t1-t0<stop_time){
if((SENSOR_1<BLACKS)&&(SENSOR_2<BLACKS)){
t0=CurrentTick();
forward;
until((SENSOR_1<THRESHOLD)&&(SENSOR_2<THRESHOLD));
t1=CurrentTick();
}else if(SENSOR_1<WHITES){
forward;
}
}
Off(OUT_AB);
Wait(1000);
}
sub send_msg1()
{
int msg;
while(msg=""){
SendRemoteNumber(CONN,MAILBOX1,SIGNALON1);
ReceiveRemoteNumber(MAILBOX1,true,msg);
}
msg="";
}
sub send_msg2()
{
int msg;
while(msg=""){
SendRemoteNumber(CONN,MAILBOX2,SIGNALON2);
ReceiveRemoteNumber(MAILBOX2,true,msg);
}
msg="";
}
sub send_msg3()
{
int msg;
while(msg=""){
SendRemoteNumber(CONN,MAILBOX3,SIGNALON3);
ReceiveRemoteNumber(MAILBOX3,true,msg);
}
msg="";
}
task main()
{
long t2=3000;
forward;
Wait(500);
follow_line_rightT();
forward;
Wait(t2);
Off(OUT_AB);
send_msg1(); //toL'
right_s;
Wait(HALF);
follow_line_leftT();
right_s;
Wait(QUARTER);
follow_line_right();
send_msg2(); //toJ'
left_s;
Wait(HALF);
follow_line_right();
start_right();
follow_line_right(); //toM'
start_right();
follow_line_left();
start_right();
follow_line_rightT();
left_s;
Wait(QUARTER);
follow_line_rightT(); //toB
follow_line_rightT();
left_s;
Wait(QUARTER);
follow_line_rightT();
forward;
Wait(t2); //ktoL
send_msg1(); //ball
left_s;
Wait(HALF);
follow_line_leftT();
right_s;
Wait(QUARTER);
follow_line_left(); //toJ
send_msg2();
left_s;
Wait(QUARTER);
OnFwd(OUT_C,40);
Wait(500);
send_msg3
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