[[2014b/Member]] #contents *¤Ï¤¸¤á¤Ë [#o4d8a879] ²ÝÂê3¤Ï¥¹¥¿¡¼¥ÈÃÏÅÀ¤«¤é¥í¥Ü¥Ã¥È¤ò¿Ê¤á¡¢2¤Ä¤Î»æ¥³¥Ã¥×¤Ë¤½¤ì¤¾¤ìÆþ¤Ã¤Æ¤¤¤ë2¸Ä¤Î¥Ü¡¼¥ë¤òÆþ¤ìÂؤ¨¤ë¤È¤¤¤¦¤â¤Î¤Ç¤¢¤ë¡£ ([[2014ǯ¸å´ü/²ÝÂê3:http://yakushi.shinshu-u.ac.jp/robotics/?2014b%2FMission3]]»²¾È) ¡¡»ä¤¿¤Á¤ÎÈɤΥá¥ó¥Ð¡¼¤Ï¡¢ -[[edaeda:http://yakushi.shinshu-u.ac.jp/robotics/?2014b%2FMember%2Fedaeda%2FMission3]] -[[knee:http://yakushi.shinshu-u.ac.jp/robotics/?2014b%2FMember%2Fknee%2FMission3]] - kuryu ¤È»ä¤Î4¿Í¤Ç¤¢¤ë¡£ »ä¤¿¤Á¤ÎÈɤιͰƤϡ¢¥¢¡¼¥à¤È¥ì¡¼¥ë¤òºî¤ê¡¢¥¢¡¼¥à¤ò»È¤Ã¤Æ£´¤Ä¤Î¥Ü¡¼¥ë¤ò¥ì¡¼¥ë¤Ë¤Î¤»¡¢¥ì¡¼¥ë¤ò·¹¤«¤»¤ë¤³¤È¤Ç»æ¥³¥Ã¥×¤Ë¥Ü¡¼¥ë¤òÆþ¤ì¤ë¤È¤¤¤¦¤â¤Î¤Ç¤¢¤ë¡£ *¥í¥Ü¥Ã¥È¡¢¤Þ¤¿¤Ï¤½¤ÎÆ°ºî¤ÎÀâÌÀ [#h9193c48] **Á´ÂÎ [#ne8db113] #ref(2014b/Member/arisyka/Mission3/IMG_3870.JPG,20%) ¼Ì¿¿¤Î¤è¤¦¤Ê¹½Â¤¤Ç¤¢¤ë¡£ ±¦¤Èº¸¤Î¥¿¥¤¥ä¤ÎÉé²Ù¤¬¤½¤ì¤¾¤ì°Û¤Ê¤ë¤¿¤á¡¢¥×¥í¥°¥é¥à¤Çº¸±¦¤Î¥¿¥¤¥ä¤Î½ÐÎϤòÊѤ¨¤ë¤³¤È¤Çľ¿Ê¤ä²óž¡¢Àû²ó¤ò¥¹¥à¡¼¥º¤Ë¹Ô¤ï¤»¤ë¡£ **¥¢¡¼¥à [#y4bd3434] #ref(2014b/Member/arisyka/Mission3/IMG_3869.gif,30%) ¾å¤Î¼Ì¿¿¤ÎÀ֤ǰϤޤ줿Éôʬ¡£ 1¤Î¥â¡¼¥¿¡¼¤Ç¥¢¡¼¥àÁ´ÂΤò¾å¤²²¼¤²¤·¡¢2¤Î¥â¡¼¥¿¡¼¤Ç¥¢¡¼¥à¤Î¶´¤àÆ°¤¤òÁàºî¤¹¤ë¡£ ¥¢¡¼¥à¤òÆ°¤«¤¹¤¿¤á¤Ë»È¤Ã¤¿ÄêµÁ¤Ï°Ê²¼¤Î¤è¤¦¤Ç¤¢¤ë¡£ #define SPEED1 45 #define SPEED2 60 #define SPEED3 10 #define SPEED4 30 #define SPEED5 50 #define SPEED6 25 float GetAngle(float d) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Ê¤àµ÷Î¥¤ò·×»»¤¹¤ë const float diameter=5.45;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¿¥¤¥ä¤Îľ·Â const float pi=3.1415;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±ß¼þΨ float ang = d/(diameter*pi)*360.0; return ang; //³ÑÅÙ¤ò·×»»¤¹¤ë } ¤³¤³¤ÎÄêµÁ¤Ï¥¢¡¼¥àÁ´ÂΤÎÆ°¤¤òÄêµÁ¤·¤Æ¤¤¤ë¡£(¾å¤Î¼Ì¿¿¤Î¡¤Î¥â¡¼¥¿¡¼¤Ë¤è¤ëÆ°¤) #define DOWN RotateMotor(OUT_A,SPEED3,105);¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò²¼¤²¤ë #define UP RotateMotor(OUT_A,-SPEED5,105); ¡¡//¥¢¡¼¥àÁ´ÂΤò¾å¤²¤ë #define LDown RotateMotor(OUT_A,SPEED3,25);¡¡¡¡ #define LUp RotateMotor(OUT_A,-SPEED2,25); #define Little LDown;Wait(2000);LUp; //¥Ü¡¼¥ë¤ò¥ì¡¼¥ë¤Ë³Î¼Â¤Ë¤Î¤»¤ë¤¿¤á¤ÎÆ°¤ #ref(2014b/Member/arisyka/Mission3/arm¥ë¡¼¥×2.gif,45%) ¤³¤³¤ÎÄêµÁ¤Ï¥¢¡¼¥à¤Î¥Ï¥µ¥ßÉôʬ¤ÎÆ°¤¤òÄêµÁ¤·¤Æ¤¤¤ë¡£(¾å¤Î¼Ì¿¿¤Î¢¤Î¥â¡¼¥¿¡¼¤Ë¤è¤ëÆ°¤) #define Catch RotateMotor(OUT_B,-SPEED4,105);¡¡¡¡//¥¢¡¼¥à¤Ç¤Ä¤«¤à #define Separate RotateMotor(OUT_B,SPEED4,105); //¥¢¡¼¥à¤òÎ¥¤¹ #ref(2014b/Member/arisyka/Mission3/catch&separate.gif,40%) **¥ì¡¼¥ë [#k920454a] #ref(2014b/Member/arisyka/Mission3/IMG_3873.gif,30%) ¾å¤Î¼Ì¿¿¤ÎÀ֤ǰϤޤ줿Éôʬ¡£¤Þ¤¿¡¢Üô¿§¤Ç°Ï¤Þ¤ì¤¿Éôʬ¤Ï¥Ü¡¼¥ë¤ò»æ¥³¥Ã¥×¤ËÆþ¤ì¤ëºÝ¤Ë¡¢»æ¥³¥Ã¥×¤¬Åݤì¤Ê¤¤¤è¤¦¤Ë¤¹¤ë¤¿¤á¤Î¥¹¥È¥Ã¥Ñ¡¼¤Ç¤¢¤ë¡£Åݤ¹³ÑÅÙ¤òÄ´À°¤¹¤ë¤³¤È¤Ç»æ¥³¥Ã¥×¤ËÆþ¤ì¤ë¥Ü¡¼¥ë¤Î¿ô¤òÊѤ¨¤ë¡£ ¥ì¡¼¥ë¤òÆ°¤«¤¹¤¿¤á¤Ë»È¤Ã¤¿Æ°ºî¤Ï¾åµ¤Ë½ñ¤¤¤¿¥¢¡¼¥à¤ÎÄêµÁ¤ÈƱ¤¸¤â¤Î¤ò»ÈÍѤ·¤¿¡£ #define Into1 RotateMotor(OUT_C,SPEED3,20); ¡¡¡¡//¥Ü¡¼¥ë¤òÆþ¤ì¤ë(1²óÌÜ) #define Return1 RotateMotor(OUT_C,-SPEED3,25);¡¡ //¥ì¡¼¥ë¤òÌ᤹ #define Into2 RotateMotor(OUT_C,SPEED4,30);¡¡¡¡¡¡//¥Ü¡¼¥ë¤òÆþ¤ì¤ë(2²óÌÜ) #define Return2 RotateMotor(OUT_C,-SPEED4,15);¡¡ //¥ì¡¼¥ë¤òÌ᤹ *¥×¥í¥°¥é¥à [#ec7cd753] º£²ó»ÈÍѤ¹¤ë¥×¥í¥°¥é¥à¤Ï¾åµ¤Ë¤â¼¨¤·¤¿¥¢¡¼¥àŽ¥¥ì¡¼¥ë¤ÎÆ°ºî¤Î¥×¥í¥°¥é¥à¤Î¾¤Ë¡¢Ä¶²»ÇÈ¥»¥ó¥µ¤òÍøÍѤ·¤¿Æ°ºî¤Î¥×¥í¥°¥é¥à¡¢Bluetooth¤òÍøÍѤ·¤¿¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£ **Ķ²»ÇÈ¥»¥ó¥µ¤òÍøÍѤ·¤¿Æ°¤ [#l3e463dd] ¤³¤³¤Ç¾Ò²ð¤·¤Æ¤¤¤ë¥×¥í¥°¥é¥à¤ÏÇÛ¤é¤ì¤¿¥×¥ê¥ó¥È¤Ë½ñ¤«¤ì¤Æ¤¤¤ë»²¹Í¤Î¥×¥í¥°¥é¥à¤È¤Û¤ÜƱ¤¸¤â¤Î¤Ç¤¢¤ë¡£ #define SPEED 50 #define SPEED_SLOW 40 float GetAngle(float d) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¿Ê¤àµ÷Î¥¤ò·×»»¤¹¤ë const float diameter=5.45;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¿¥¤¥ä¤Îľ·Â const float pi=3.1415;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±ß¼þΨ float ang = d/(diameter*pi)*360.0; return ang; //³ÑÅÙ¤ò·×»»¤¹¤ë } const float diameter = 5.45;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ const float track = 15;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¿¥¤¥ä¤Î¥È¥ì¥Ã¥ÉÉý const float pi = 3.1415; void fwdDist(float d) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//µ÷Î¥ d ÑÁ°¿Ê long angle; angle = d/(diameter*pi)*360.0; RotateMotorEx(OUT_BC,SPEED_SLOW,angle,0,true,true); } void turnAng(long ang) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//³ÑÅÙ ang Å٤λþ·×²ó¤ê¤ÎÀû²ó long angle; angle = track/diameter * ang; RotateMotorEx(OUT_BC,SPEED_SLOW,angle,100,true,true); } int searchDirection(long ang) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤Ë ang ÅÙ¤ÎÈϰϤÇõ¤·¡¢¾ã³²Êª¤Þ¤Ç¤Îµ÷Î¥¤òÊÖ¤¹ long angle,tacho_min=0,tacho_corr; int d_min; d_min=300;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²¾¤ÎºÇ¾®ÃÍ angle = (track/diameter)*ang;¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Àû²ó³ÑÅÙ¤«¤é¥¿¥¤¥ä¤Î²óž¤ò·×»» turnAng(ang/2);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//»ØÄꤵ¤ì¤¿³ÑÅÙ¤ÎȾʬ¤òÀû²ó ResetTachoCount(OUT_BC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È OnFwdSync(OUT_BC,SPEED_SLOW,-100);¡¡¡¡¡¡¡¡//È¿»þ·×²ó¤ê¤ËÀû²ó while(MotorTachoCount(OUT_B)<=angle){ if(SensorUS(S1)<d_min){ d_min=SensorUS(S1);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²¾¤ÎºÇ¾®Ãͤò¹¹¿· PlaySound(SOUND_UP); tacho_min=MotorTachoCount(OUT_B); } } OnFwdSyncEx(OUT_BC,SPEED_SLOW,100,RESET_NONE); until(MotorTachoCount(OUT_B)<=tacho_min||SensorUS(S1)<=d_min); Wait(14);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÈùÄ´À° Off(OUT_BC);Wait(500); return d_min; } task main() { int d = searchDirection(120);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤Ë 120 ÅÙ¤ÎÈϰϤÇõ¤·¡¢¾ã³²Êª¤Þ¤Ç¤Îµ÷Î¥¤òÊÖ¤¹ if(d > ¡û){ fwdDist(d-¡û);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ else {fwdDist(d-¡û);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//»æ¥³¥Ã¥×¤ÎÊý¸þ¤òõ¤·¤¿¸å²»¤òÌĤ餷¡¢Á°¸å¤ÎÆ°¤¤Ç¡ûѼêÁ°¤ÇÄä»ß PlaySound(SOUND_UP); } **Bluetooth¤òÍøÍѤ·¤¿¥×¥í¥°¥é¥à [#x935b665] 2¤Ä¤ÎNXC¤¬Bluetooth¤Ç¤Ä¤Ê¤¬¤Ã¤Æ¤¤¤ë¾õÂ֤Ǥ¢¤ë¤³¤È¤òÁ°Äó¤ÇÏäò¿Ê¤á¤ë¡£ ¤³¤³¤Ç¤Ï¥Þ¥¹¥¿¡¼Â¦¤«¤é¥¹¥ì¡¼¥Ö¦¤Ë»Ø¼¨¤ò½Ð¤¹¥×¥í¥°¥é¥à¤ò¾Ò²ð¤¹¤ë¡£¡¡ #define CONN 1 ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¹¥ì¡¼¥Ö(ÄÌ¿®Áê¼ê)¤ÎÀܳÈÖ¹æ task main() { until (BluetoothStatus(CONN) == NO_ERR);¡¡¡¡//Àܳ¤Ç¤¤ë¤Þ¤ÇÂÔµ¡ //¥Þ¥¹¥¿¡¼Â¦¤Î¥×¥í¥°¥é¥à// RemoteStartProgram(CONN, "¡Á.rxe");¡¡¡¡¡¡¡¡¡¡//¥¹¥ì¡¼¥Ö¤Î¡Ö¡Á¡×¤Î¥×¥í¥°¥é¥à¤òµ¯Æ° }¡¡ µÕ¤Ë¥¹¥ì¡¼¥Ö¦¤«¤é¥Þ¥¹¥¿¡¼Â¦¤Ë»Ø¼¨¤ò½Ð¤¹¾ì¹ç¤ÏÀܳÈÖ¹æ¤ò0¤ÈÊѹ¹¤¹¤ë¡£ **ÌäÂêÅÀ¡¦²þÁ±ÅÀ [#l23eb6c6] ¥¢¡¼¥à¤ä¥ì¡¼¥ë¤ÎÆ°ºî¤ò¤¹¤ë¥×¥í¥°¥é¥à¤Ç¡¢»Ï¤á¤ÏÁ´¤Æ³ÑÅÙ¤ò»ØÄꤵ¤»¤Æ¥â¡¼¥¿¡¼¤òÆ°¤«¤·¤Æ¤¤¤¿¤¬¡¢¥â¡¼¥¿¡¼¤¬¤½¤Î³ÑÅÙ¤ò¤Ô¤Ã¤¿¤ê²ó¤é¤Ê¤¤¸Â¤êÆ°¤Â³¤±¤ë¡¢¤¹¤Ê¤ï¤Á¾¤ÎÉôÉÊÅù¤Ç¤Ò¤Ã¤«¤«¤Ã¤Æ¤¤¤¿¤é¤½¤ÎÆ°ºî¤Ï½ª¤ï¤é¤Ê¤¤¤«¤é¼¡¤ÎÆ°ºî¤Ë°Ü¤êÊѤï¤é¤Ê¤¤¤³¤È¤¬ÅÓÃæ¤ÇȽÌÀ¤·¤¿¤¿¤á¡¢¤Ê¤ë¤Ù¤¯³ÑÅÙ»ØÄê¤ò¤»¤º¤Ë½ÐÎϤȻþ´Ö¤Ç¥â¡¼¥¿¡¼¤òÆ°¤«¤·¡¢³Î¼Â¤ËÆ°ºî¤ò¤µ¤»¤ë¤è¤¦¤Ë²þÁ±¤·¤¿¡£ º£¤Þ¤Ç¾Ò²ð¤·¤Æ¤¤¿¥×¥í¥°¥é¥à¤òÊ£¿ô¤Î¥×¥í¥°¥é¥à¤Ëʬ¤±¡¢Bluetooth¤òÍøÍѤ¹¤ë¤³¤È¤ÇÁ´¤Æ·Ò¤®¹ç¤ï¤»¤è¤¦¤È»î¤ß¤¿¤¬¡¢¥Þ¥¹¥¿¡¼Â¦¤«¤é¥¹¥ì¡¼¥Ö¦¤Ë¥×¥í¥°¥é¥à¤ò»Ø¼¨½Ð¤¹¤³¤È¤ÏÀ®¸ù¤·¤¿¤â¤Î¤Î¡¢Â³¤±¤Æ¥¹¥ì¡¼¥Ö¦¤«¤é¥Þ¥¹¥¿¡¼Â¦¤Î¥×¥í¥°¥é¥à¤òµ¯Æ°¤µ¤»¤è¤¦¤È¤¹¤ë¤È¥Þ¥¹¥¿¡¼Â¦¤¬È¿±þ¤·¤Æ¤¯¤ì¤Ê¤¤ÌäÂ꤬µ¯¤¤¿¡£¥Þ¥¹¥¿¡¼Â¦¤È¥¹¥ì¡¼¥Ö¦¤ÎNXC¤òÊѤ¨¤Æ¤ß¤¿¤ê¡¢¥×¥í¥°¥é¥à¤ò¾¯¤·¤À¤±ÊѤ¨¤Æ¤ß¤¿¤ê¤·¤Æ»î¤·¤¿¤â¤Î¤Î¡¢È¿±þ¤·¤Ê¤¤¤³¤È¤ËÊѤï¤ê¤Ï¤Ê¤«¤Ã¤¿¤¿¤á¡¢¥Þ¥¹¥¿¡¼Â¦¤Î¥×¥í¥°¥é¥à¤ò1¤Ä¤Ë¤Þ¤È¤á¤Æ¡¢¥¹¥ì¡¼¥Ö¦¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤·¤Æ¤¤¤ë»þ¤ÏWait¤òÍøÍѤ·¤ÆÂÔµ¡¤µ¤»¡¢¥¹¥ì¡¼¥Ö¦¤Î¥×¥í¥°¥é¥à¤¬½ª¤ï¤ì¤Ð¥Þ¥¹¥¿¡¼Â¦¤Î¼¡¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤µ¤»¤ë¤è¤¦Êѹ¹¤·¤¿¡£ **¥¹¥ì¡¼¥Ö¦ [#p93594c5] ***¥¢¡¼¥àÆ°ºî¡Êarm time¡Ë [#dd328ea5] #define SPEED1 45 #define SPEED2 60 #define SPEED3 10 #define SPEED4 30 #define SPEED5 50 #define SPEED6 25 float GetAngle(float d) { const float diameter=5.45; const float pi=3.1415; float ang = d/(diameter*pi)*360.0; return ang; } #define DOWN RotateMotor(OUT_A,SPEED3,105); #define UP RotateMotor(OUT_A,-SPEED5,105); #define LDown RotateMotor(OUT_A,SPEED3,25); #define LUp RotateMotor(OUT_A,-SPEED2,25); #define Catch RotateMotor(OUT_B,-SPEED4,105); #define Separate RotateMotor(OUT_B,SPEED4,105); task main () { OnFwd(OUT_A,10); Wait(1500); Catch; ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò²¼¤²¡¢»æ¥³¥Ã¥×¤ò¤Ä¤«¤à OnRev(OUT_A,50); Wait(3500);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò¾å¤²¡¢¥ì¡¼¥ë¤Î¾å¤Ë¥Ü¡¼¥ë¤ò¤Î¤»¤ë Wait(2000); OnFwd(OUT_A,10);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ Wait(3500);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò²¼¤²¡¢»æ¥³¥Ã¥×¤òÃÖ¤¯ Separate; OnRev(OUT_A,35); Wait(2000); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥àÁ´ÂΤò¾å¤²¤ë(¸µ¤Î°ÌÃÖ¤ËÌ᤹) Wait(500); } ***¥ì¡¼¥ëÆ°ºî¡Êrail¡Ë [#u382c2a1] #define SPEED1 45 #define SPEED2 60 #define SPEED3 10 #define SPEED4 30 #define SPEED5 50 float GetAngle(float d) { const float diameter=5.45; const float pi=3.1415; float ang = d/(diameter*pi)*360.0; return ang; } #define Into1 RotateMotor(OUT_C,SPEED3,20); //¥Ü¡¼¥ë¤òÆþ¤ì¤ë #define Return1 RotateMotor(OUT_C,-SPEED3,25); #define Into2 RotateMotor(OUT_C,SPEED4,30); #define Return2 RotateMotor(OUT_C,-SPEED4,15); task main(){ OnFwd(OUT_C,15); Wait(1000); Wait(3000); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥ì¡¼¥ë¤ò·¹¤±¡¢4¤Ä¤ÎÆâ2¤Ä¤À¤±¥Ü¡¼¥ë¤ò»æ¥³¥Ã¥×¤ËÆþ¤ì¤ë OnRev(OUT_C,30); Wait(500); Wait(5000); OnFwd(OUT_C,25); Wait(1000); Wait(3000); ¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥ì¡¼¥ë¤ò·¹¤±¡¢¥ì¡¼¥ë¤Ë»Ä¤Ã¤Æ¤¤¤ë¥Ü¡¼¥ë¤ò»æ¥³¥Ã¥×¤ËÆþ¤ì¤ë OnRev(OUT_C,30); Wait(2500); } **¥Þ¥¹¥¿¡¼Â¦ [#wa6a612a] ¾åµ¤Î¥×¥í¥°¥é¥à¤ÎÀâÌÀ¤ÇÍøÍѤ·¤¿ÄêµÁ¤Ë¥×¥é¥¹¤¹¤ë¡£ #define turn_right_here OnFwd(OUT_B,SPEED_SLOW);OnFwd(OUT_C,-SPEED_SLOW); //±¦Àû²ó ***ËÜÈÖÍѤËÍÑ°Õ¤·¤¿¥×¥í¥°¥é¥à [#ne735f23] task main() { SetSensorLowspeed(S1); until (BluetoothStatus(CONN) == NO_ERR); OnFwd(OUT_BC,50);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//100cmÁ°¤ËÁ°¿Ê¤¹¤ë Wait(5500); int d1 = searchDirection(120);¡¡¡¡¡¡¡¡¡¡//»æ¥³¥Ã¥×¤ÎÊý¸þ¤òõ¤¹ if(d1 > 15){ fwdDist(d1-15.0);} else {fwdDist(d1-15);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ºÇÄãÃͤòȯ¸«¤·¤¿¤é²»¤òÌĤ餷¡¢Á°¸å¤ÎÆ°¤¤Ç15ѼêÁ°¤ÇÄä»ß PlaySound(SOUND_UP); turn_right_here;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥à¤¬ÄϤá¤ë°ÌÃ֤ޤǥí¥Ü¥Ã¥ÈÁ´ÂΤòÀû²ó¤µ¤»¤ë Wait(2500); RemoteStartProgram(CONN, "arm time.rxe");¡¡//¥¹¥ì¡¼¥Ö¤Î¡Öarm time¡×¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤µ¤»¤ë Off(OUT_BC); Wait(10000); Wait(10000);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¹¥ì¡¼¥Ö¦¤Î¥×¥í¥°¥é¥à¼Â¹ÔÃæ¤Î¤¿¤áÂÔµ¡ Wait(10000); int angle1 = GetAngle(20); RotateMotor(OUT_BC,-SPEED,angle1);¡¡¡¡¡¡¡¡//20cm¸å¿Ê¤¹¤ë OnFwd(OUT_B,-SPEED);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ OnFwd(OUT_C,SPEED);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//180ÅÙ²óž Wait(1500); angle1 += GetAngle(60); RotateMotor(OUT_BC,SPEED,angle1);¡¡¡¡¡¡¡¡//60cmÁ°¿Ê¤¹¤ë int d2 = searchDirection(120); if(d2 > 15){ fwdDist(d2-15.0);} else {fwdDist(d2-15);} PlaySound(SOUND_UP); turn_right_here; Wait(200); RemoteStartProgram(CONN, "arm time.rxe"); Off(OUT_BC); Wait(10000); Wait(10000); Wait(10000); int angle2 = GetAngle(20); RotateMotor(OUT_BC,-SPEED,angle2); OnFwd(OUT_B,-SPEED); OnFwd(OUT_C,SPEED); Wait(1500); angle2 += GetAngle(60); RotateMotor(OUT_BC,SPEED,angle2); int d3 = searchDirection(120); turn_right_here;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÈùÄ´À° Wait(600); if(d3 > 15){ fwdDist(d3);} else {fwdDist(d3);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤¿¤é¡¢Î¥¤ì¤Æ¤¤¤ëµ÷Î¥¤À¤±Á°¿Ê else {fwdDist(d3);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤¿¤é¡¢Î¥¤ì¤Æ¤¤¤ëµ÷Î¥¤À¤±Á°¿Ê(¥ì¡¼¥ë¤Î²¼¤Ë»æ¥³¥Ã¥×¤ò»ý¤Ã¤Æ¤¤¤¯¤¿¤á¤ÎÆ°ºî) PlaySound(SOUND_UP); RemoteStartProgram(CONN, "rail.rxe");¡¡//¥¹¥ì¡¼¥Ö¤Î¡Örail¡×¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤µ¤»¤ë Off(OUT_BC); Wait(10000); Wait(10000); Wait(10000); int angle3 = GetAngle(20); RotateMotor(OUT_BC,-SPEED,angle3); OnFwd(OUT_B,-SPEED); OnFwd(OUT_C,SPEED); Wait(1500); angle3 += GetAngle(60); RotateMotor(OUT_BC,SPEED,angle3); int d4 = searchDirection(120); turn_right_here; Wait(600); if(d4 > 15){ fwdDist(d4);} else {fwdDist(d4);} PlaySound(SOUND_UP); RemoteStartProgram(CONN, "rail.rxe"); } ***ºÇ½ªÅª¤Ë»ÈÍѤ·¤¿¥×¥í¥°¥é¥à [#sb4129f9] ËÜÈÖ¤ÇsearchDirection¤¬¾å¼ê¤¯ºîÆ°¤·¤Ê¤«¤Ã¤¿¤¿¤á¡¢ºÇ½ª¼êÃʤȤ·¤ÆĶ²»ÇÈ¥»¥ó¥µ¤òÍøÍѤ»¤º¤Ë¥Ü¡¼¥ë¤ÎÆþ¤Ã¤¿»æ¥³¥Ã¥×¤Î¤È¤³¤í¤Þ¤Ç¹Ô¤«¤»¡¢Ê̤λ楳¥Ã¥×¤Ë¥Ü¡¼¥ë¤òÆþ¤ì¤ë¤È¤³¤í¤Þ¤Ç¡¢¤Û¤ÜOnFwd¤ò»È¤Ã¤Æ°ÜÆ°¤µ¤»¤¿¡£ task main() { SetSensorLowspeed(S1); until (BluetoothStatus(CONN) == NO_ERR); OnFwd(OUT_BC,50); Wait(5500); turn_right_here; Wait(5500);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//100cm¤Û¤ÉÁ°¿Ê¤¹¤ë turn_right_here;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥à¤¬ÄϤá¤ë°ÌÃÖ¤Þ¤ÇÀû²ó¤¹¤ë Wait(2000); RemoteStartProgram(CONN, "arm time.rxe"); RemoteStartProgram(CONN, "arm time.rxe");¡¡//¥¹¥ì¡¼¥Ö¤Î¡Örail¡×¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤µ¤»¤ë Off(OUT_BC); Wait(10000); Wait(10000); Wait(10000);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¹¥ì¡¼¥Ö¦¤Î¥×¥í¥°¥é¥à¼Â¹ÔÃæ¤Î¤¿¤áÂÔµ¡ OnFwd(OUT_B,-SPEED); OnFwd(OUT_C,SPEED); Wait(700); Wait(700);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Ê̤λ楳¥Ã¥×¤ò¥ì¡¼¥ë²¼¤Ë»ý¤Ã¤Æ¤¤¤¯¤¿¤á¤Î¥×¥í¥°¥é¥à OnFwd(OUT_BC,50); Wait(4000); RemoteStartProgram(CONN, "rail.rxe"); RemoteStartProgram(CONN, "rail.rxe");¡¡¡¡¡¡¡¡//¥¹¥ì¡¼¥Ö¤Î¡Örail¡×¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤µ¤»¤ë Off(OUT_BC); } ¤³¤Î¥×¥í¥°¥é¥à¤ÇËÜÈÖ¤Ï1¤Ä¤Î¥Ü¡¼¥ë¤Î°ÜÆ°¤ËÀ®¸ù¤¹¤ë¤³¤È¤¬½ÐÍ褿¡£ *´¶ÁÛ [#f09587f0] ¥í¥Ü¥Ã¥È¡¦¥×¥í¥°¥é¥à¤ÎÀ½ºî¤¬º£¤Þ¤Ç¤ÈÈæ¤Ùʪ¤Ë¤Ê¤é¤Ê¤¤¤Û¤ÉÂçÊѤǡ¢¤·¤«¤â»þ´Ö¤ò¤«¤±¤¿Ê¬¡¢Á´Éô¤¬Á´Éô·ë²Ì¤Ë¤Ê¤ë¤È¤Ï¸Â¤é¤Ê¤¤¤³¤È¤ò»×¤¤ÃΤ餵¤ì¤¿µ¤¤¬¤·¤¿¡£¥×¥í¥°¥é¥à¤ÎÎ̤¬Â¿¤¯¤Ê¤ì¤Ð¤Ê¤ë¤Û¤É¥ß¥¹¤¬µ¯¤³¤ê¤ä¤¹¤¤¡¢¤Þ¤¿Ê£»¨¤Ê¥×¥í¥°¥é¥à¤Ê¤Û¤É1¤Ä1¤Ä¤Á¤ã¤ó¤ÈÍý²ò¤·¤Æ³Îǧ¤·¤Ê¤¤¤È¤¤¤±¤Ê¤¤¤³¤È¤Ëµ¤¤Å¤«¤µ¤ì¤¿¡£¤³¤ì¤«¤é¤â¥í¥Ü¥Ã¥È¤òÀ½ºî¤·¤Æ¥×¥í¥°¥é¥à¤òºî¤Ã¤Æ¤¤¤¯µ¡²ñ¤¬¤¢¤ë¤Î¤Ç¡¢¤³¤Î¥¼¥ß¤Ç³Ø¤ó¤À¤³¤È¤ò³è¤«¤·¤Æ¤¤¤¤¿¤¤¤È»×¤¦¡£