2019a/Member/tsukue/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/tsukue/Mission2 へ行く。
  • 1 (2019-07-12 (金) 08:30:12)
  • 2 (2019-07-12 (金) 08:52:01)
  • 3 (2019-07-18 (木) 13:06:37)
  • 4 (2019-07-18 (木) 23:46:51)

• 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]]

 #define left 1
 #define right -1
 #define BLACK      40
 #define GRAY_BLACK 45
 #define GRAY_WHITE 52
 #define WHITE      60
 #define short_brake Wait(1000);
 #define go(x)         OnRev(OUT_B,30*x); OnRev(OUT_C,-30*x);
 #define go_little(x)  OnRev(OUT_B,35*(x+1)/2); OnRev(OUT_C,35*(-1*x+1)/2);
 #define go_straight   OnRev(OUT_BC,35);


 sub follow_line(int a)
 {
   SetSensorLight(S3);
   long t0=CurrentTick();
   while(CurrentTick()-t0<150) {
     if (SENSOR_3 < BLACK) {
       go(a);
     } else if (SENSOR_3 < GRAY_BLACK) {
       go_little(a);    t0=CurrentTick();
     } else if (SENSOR_3 < GRAY_WHITE) {
       go_straight;     t0=CurrentTick();
     } else if (SENSOR_3 < WHITE) {
       go_little(-1*a); t0=CurrentTick();
     } else {
       go(-1*a);        t0=CurrentTick();
     }
   }
   Off(OUT_BC);
 }

 sub cross_line(int b)
 {
   go_little(-1*b);
   Wait(300);
   go_straight;
   Wait(300);
   Off(OUT_BC);
 }

 sub turn_left(int c)
 {
   go_little(left);
   Wait(800-100*c);
   go(left);
   Wait(800-100*c);
   Off(OUT_BC);
 }

 sub turn_right(int d)
 {
   go_little(right);
   Wait(800+100*d);
   go(right);
   Wait(800+100*d);
   Off(OUT_BC);
 }

 sub change_line(int e)
 {
   go(-1*e);
   Wait(750);
   Off(OUT_BC);
 }

 sub ball_catch()
 {
   go(left);
   Wait(1000);
   go_little(left);
   Wait(1200);
   go_straight;
   Wait(800);
   Off(OUT_BC);
   OnFwd(OUT_A,30);
   Wait(600);
   Off(OUT_A);
   go(left);
   Wait(1000);
 }

 sub shoot()
 {
   go(left);
   Wait(200);
   Off(OUT_BC);
   Wait(1000);
   OnRev(OUT_A,70);
   Wait(900);
   Off(OUT_A);
 }

 task main()
 {
  go_straight; Wait(500);   // A->B
  follow_line(left); short_brake; cross_line(left);   // B->C->D
  follow_line(left); short_brake; turn_right(left); change_line(left);   // D->E->F->G
  repeat(2){follow_line(right); cross_line(right);};   // G->H->I
  follow_line(right); turn_right(right);   // I->J
  follow_line(right); short_brake;   // J->K
  follow_line(right);   // J->K
  ball_catch();   // K->L->ボールをつかむ
  follow_line(right); cross_line(right);   //　L->K
  follow_line(right);   // K->M
  shoot();   // シュート
  go_straight; Wait(1500);   // M->A
 }