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//¼õ¤±¼è¤Ã¤¿Ãͤò³ÊǼ¤¹¤ëÊÑ¿ô while(true){ ReceiveRemoteNumber(MAILBOX1, true, msg); //MAILBOX1¤ÎÃͤò¼õ¤±¼è¤êmsg¤Ë³ÊǼ if(msg==SIGNALON){ OnFwd(OUT_C,DOWN_SPEED);Wait(DOWN_TIME);Off(OUT_C); //¥¢¡¼¥à¤ò²¼¤²¤ë OnRev(OUT_B,ARM_SPEED2);Wait(ARM_TIME2);Off(OUT_B); //¥¢¡¼¥à¤òÊĤ¸¤ë OnRev(OUT_C,UP_SPEED);OnRev(OUT_B,ARM_SPEED2);Wait(UP_TIME);Off(OUT_C);Off(OUT_B); //¥¢¡¼¥à¤ò¾å¤²¤ë OnFwd(OUT_C,DOWN_SPEED);Wait(DOWN_TIME);Off(OUT_C); //¥¢¡¼¥à¤ò²¼¤²¤ë OnFwd(OUT_B,ARM_SPEED1);Wait(ARM_TIME1);Off(OUT_B); //¥¢¡¼¥à¤ò³«¤¯ ARM_UP2 OnRev(OUT_C,UP_SPEED);Wait(450);Off(OUT_C); //¥¢¡¼¥à¤òÄê°ÌÃÖ¤ËÌ᤹ }else{ Off(OUT_BC); } } } ¡¡Æó¤Ä¤Î¥â¡¼¥¿¡¼¤Ë¤è¤Ã¤Æ¤½¤ì¤¾¤ì¥³¥Ã¥×¤òÄϤàÆ°ºî¤È¥¢¡¼¥à¼«ÂΤò»ý¤Á¾å¤²¤ëÆ°ºî¤òÀ©¸æ¤·¤Æ¤¤¤ë¡£ **¥Þ¥¹¥¿¡¼Â¦ [#m2be86f1] #define CONN 1 #define SIGNALON 1 #define OPEN_SPEED 15 #define OPEN OnFwd(OUT_A,OPEN_SPEED);Wait(800);Off(OUT_A); #define CLOSE OnRev(OUT_A,OPEN_SPEED);Wait(1300);Off(OUT_A); #define SPEED_H 70 #define SPEED_L 50 const float diameter = 5.6; //¥¿¥¤¥ä¤Îľ·Â¡ÊÑ¡Ë const float track = 10.5; //¥¿¥¤¥ä¤Î¥È¥ì¥Ã¥ÉÉý¡ÊÑ¡Ë const float pi = 3.1415; //±ß¼þΨ float GetAngle_turn(float a) //µá¤á¤ëËÜÂΤβóž³Ñ¤«¤é¥¿¥¤¥ä¤Î²óž³Ñ¤òµá¤á¤ë´Ø¿ô { float ang = (a*track)/diameter; return ang; } float GetAngle_go(float a) //µá¤á¤ë°ÜÆ°µ÷Î¥¤«¤é¥¿¥¤¥ä¤Î²óž³Ñ¤òµá¤á¤ë´Ø¿ô { float ang = a/(diameter*pi)*360.0; return ang; } sub angle_turn_L(float t) //º¸¤ËtÅÙ²óž { int angle_turn_L = GetAngle_turn(t); RotateMotorEx(OUT_BC,SPEED_H,angle_turn_L,-100,true,true);//P37 Off(OUT_BC); } sub angle_turn_R(float t) //±¦¤ËtÅÙ²óž { int angle_turn_R = GetAngle_turn(t); RotateMotorEx(OUT_BC,SPEED_H,angle_turn_R,100,true,true);//P37 Off(OUT_BC); } sub dist_go_F(float t) //Á°¤Ët¥»¥ó¥Á¿Ê¤à { int angle_go_F = GetAngle_go(t); RotateMotorEx(OUT_BC,SPEED_H,angle_go_F,0,true,true); Off(OUT_BC); } sub dist_go_R(float t) //¸å¤í¤Ët¥»¥ó¥Á¿Ê¤à { int angle_go_R = GetAngle_go(t); RotateMotorEx(OUT_BC,-SPEED_H,angle_go_R,0,true,true); Off(OUT_BC); } task main(){ dist_go_F(57.0); //¥³¥Ã¥×¤ò¼è¤ë¥Ü¡¼¥ëÅëºÜ¤Î¿®¹æ¤òÁ÷¤ë SendRemoteNumber(CONN, MAILBOX1, SIGNALON); Wait(9000); angle_turn_R(150.0); dist_go_F(40.0); //¥³¥Ã¥×¤ò¼è¤ë¥Ü¡¼¥ëÅëºÜ¤Î¿®¹æ¤òÁ÷¤ë SendRemoteNumber(CONN, MAILBOX1, SIGNALON); Wait(9000); //ȿž¤·¤Æ dist_go_R(5.0); angle_turn_R(190.0); dist_go_R(20.0); //¥Ü¡¼¥ë¤òÃÖ¤¯ OPEN; Wait(1000); CLOSE; dist_go_F(50.0); //ȿž¤·¤Æ dist_go_R(20.0); angle_turn_R(220.0); //¥³¥Ã¥×¤Þ¤Ç¶á¤Å¤¯ dist_go_R(33.0); //¥Ü¡¼¥ë¤òÃÖ¤¯¿®¹æ¤òÁ÷¤ë OPEN; Wait(1000); CLOSE; //Î¥¤ì¤ë dist_go_F(20.0); } ¡¡ËÜÍè¤ÏĶ²»ÇÈ¥»¥ó¥µ¡¼¤Ë¤è¤Ã¤Æ¼«Æ°Åª¤Ë¥³¥Ã¥×¤Î°ÌÃÖ¤òÊ䤹¤ëͽÄê¤À¤Ã¤¿¤¬¡¢Ä¾Á°¤Ë¥»¥ó¥µ¡¼¤¬¤¦¤Þ¤¯È¿±þ¤·¤Ê¤¤¤³¤È¤Ëµ¤¤Å¤¡¢µÞî±Êѹ¹¤È¤Ê¤Ã¤¿¡£~ ¡¡Êѹ¹¸å¤Î¥×¥í¥°¥é¥à¤Ï»öÁ°¤Ë¥í¥Ü¥Ã¥È¤Î¿Ê¤àµ÷Î¥¤ÈÀû²ó¤¹¤ë³ÑÅÙ¤ò»ØÄꤷ¤Æ¤ª¤¡¢²ÝÂê¤ò¼Â¹Ô¤¹¤ë¤È¤¤Ë¥³¥Ã¥×¤ÈºÇ½é¤Î¥í¥Ü¥Ã¥È¤Î°ÌÃÖ¤òÄ´À°¤¹¤ë¤È¤¤¤¦¤â¤Î¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡£~ ¡¡¤Ê¤ª¡¢OPEN¤ÈCLOSE¤¬¥¹¥È¥Ã¥Ñ¡¼¤Î³«ÊĤòÀ©¸æ¤¹¤ëÌ¿Îá¤Ç¤¢¤ë¡£ *´¶ÁÛ¡¦È¿¾Ê [#t47fea05] ¡¡º£²ó¤Î²ÝÂê¤Ç¤Ï¼«Ê¬¤Ï¼ç¤Ë¥í¥Ü¥Ã¥ÈËÜÂΤÎÀ߷פòôÅö¤·¤¿¡£¤½¤ÎÃæ¤Ç¤â¥¹¥È¥Ã¥Ñ¡¼¤ò´Þ¤à¥ì¡¼¥ëÉô¤Ï¼«Ê¬¤Ç¤âËþ¤Τ¤¤¯»Å¾å¤¬¤ê¤Ë¤Ê¤Ã¤¿¤È»×¤¦¡£ËÜÈ֤Ǥϴ°Á´¤Ë¤Ç¤Ï¤Ê¤«¤Ã¤¿¤¬¼«Ê¬¤¬¤Ä¤¯¤Ã¤¿µ¡¹½¤ò³§¤ÎÁ°¤Ç¸«¤»¤ë¤³¤È¤¬¤Ç¤¤¿¤Î¤Ï¤è¤«¤Ã¤¿¡£¤·¤«¤·È¿¾ÊÅÀ¤È¤·¤Æ¥»¥ó¥µ¡¼¤¬¼è¤êÉÕ¤±Êý¤¬Îɤ¯¤Ê¤«¤Ã¤¿¤Î¤«¡¢¤¦¤Þ¤¯È¿±þ¤µ¤»¤ë¤³¤È¤¬¤Ç¤¤Ê¤«¤Ã¤¿¤Î¤¬¿´»Ä¤ê¤Ç¤¢¤ë¡£¤³¤³¤µ¤¨²þÁ±¤Ç¤¤Æ¤¤¤¿¤é²ÝÂê¤ò´°àú¤Ë¤³¤Ê¤»¤Æ¤¤¤¿¤«¤â¤·¤ì¤Ê¤¤¡£¤³¤ì¤Ë´Ø¤·¤Æ¤Ï¥á¥ó¥Ð¡¼Æ±»Î¤Ç½¸¤Þ¤ë»þ´Ö¤ò¤â¤Ã¤È¿¤¯¤È¤ì¤Ð¤è¤«¤Ã¤¿¡£~ ¡¡¤Þ¤¿¡¢º£²ó¤Ïº£¤Þ¤Ç¤È°ã¤Ã¤Æ¥á¥ó¥Ð¡¼¤È¶¨ÎϤ¹¤ë³èÆ°¤¬Áý¤¨¤¿¡£Ê£¿ô¿Í¤Çºî¶È¤ò¹Ô¤¦¤³¤È¤Ç¤ª¸ß¤¤¤Ë°ã¤Ã¤¿È¯ÁÛ¤ò¸ò¤ï¤¹¤³¤È¤¬¤Ç¤¤¿¤·¡¢³Ú¤·¤¯ºî¶È¤ò¿Ê¤á¤ë¤³¤È¤¬¤Ç¤¤¿¡£