[[2016a/Member]]

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#contents
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http://yakushi.shinshu-u.ac.jp/robotics/?2016a%2FMission2 (»²¾È)

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•AÃÏÅÀ¤«¤éBÃÏÅÀ¤Ø (°ì¿ÍÌÜ) ◦AÃÏÅÀ ¢ª Pľ¿Ê ¢ª Qľ¿Ê ¢ª Qľ¿Ê ¢ª Rº¸ÀÞ ¢ª BÃÏÅÀ

•BÃÏÅÀ¤«¤éCÃÏÅÀ¤Ø (Æó¿ÍÌÜ) ◦BÃÏÅÀ ¢ª R±¦ÀÞ ¢ª Qľ¿Ê ¢ª Qľ¿Ê ¢ªP±¦ÀÞ ¢ª S±¦ÀÞ ¢ª CÃÏÅÀ

•CÃÏÅÀ¤«¤éAÃÏÅÀ¤Ø (»°¿ÍÌÜ) ◦CÃÏÅÀ ¢ª Sº¸ÀÞ ¢ª Pº¸ÀÞ ¢ª Qľ¿Ê ¢ª Qľ¿Ê ¢ª R±¦ÀÞ ¢ª Pº¸ÀÞ ¢ª AÃÏÅÀ

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#ref(2016a/Member/tom/Mission2/IMG_2677.JPG)
#ref(2016a/Member/tom/Mission2/IMG_2679.JPG)
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#ref(2016a/Member/tom/Mission2/IMG_2678.JPG)

*¥×¥í¥°¥é¥à [#k22b8b3f]
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 #define BLACK 43 //¹õ¿§¤ÎÄêµÁ
 #define WHITE 54 //Çò¿§¤ÎÄêµÁ
 #define SPEED1 19
 #define go_forward OnFwd(OUT_BC,SPEED1); //Á°¿Ê
 #define turn_left(t,w1,w2) OnFwd(OUT_B,w1); OnRev(OUT_C,w2); Wait(t);Off(OUT_BC);
 #define turn_left1 OnFwd(OUT_B,SPEED1);Off(OUT_C); //­¡
 #define turn_left2 OnFwd(OUT_B,SPEED1);OnRev(OUT_C,SPEED1);¡¡//­¢
 #define turn_right(t,w1,w2) OnFwd(OUT_C,w1); OnRev(OUT_A,w2); Wait(t);Off(OUT_BC);
 #define turn_right1 Off(OUT_B);OnFwd(OUT_C,SPEED1);¡¡//­¡
 #define turn_right2 OnRev(OUT_B,SPEED1);OnFwd(OUT_C,SPEED1);¡¡//­¢
 #define short_break Off(OUT_BC);Wait(1000);PlaySound(SOUND_UP);¡¡//1ÉûߤޤäƲ»¤òÌĤ餹
 #define cross_line go_forward;Wait(200);Off(OUT_BC);Wait(1000);¡¡//¸òº¹ÅÀ¤òÅϤë
 #define nMAX 350¡¡¥«¡¼¥Ö¤È¤ß¤Ê¤»¤ë²ó¿ô¤ÎºÇÂçÃÍ

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 void line_trace()//¹õ¤¤Àþ¾å¤Ë±è¤Ã¤ÆÁö¤ë
 {
 SetSensorLight(S1);
 int nOnline=0;
     while (nOnline < nMAX ) {¡¡////¹õ¤¬nMAX²ó³¤«¤Ê¤¤¸Â¤êÀþ¤Îº¸Ã¼¤ò¥È¥ì¡¼¥¹¤¹¤ë
     if (SENSOR_1 < BLACK-5) {       
       turn_right2; 
       nOnline++;  //¥«¥¦¥ó¥¿¤òÁý¤ä¤¹                  
     } else {
     if (SENSOR_1 < BLACK) {
     turn_right1;
     } else if (SENSOR_1 < WHITE) { 
       go_forward;
     } else if (SENSOR_1 < WHITE+5) { 
       turn_left1;               
     } else {                         
       turn_left2;                   
     }
     nOnline=0; //¥«¥¦¥ó¥¿¤ò£°¤Ë¤¹¤ë
     }
     Wait(STEP);
    }
    short_break;
    nOnline=0; //¥«¥¦¥ó¥¿¤ò£°¤Ë¤¹¤ë
 Off(OUT_BC);
 }

 void line_closs()//µ¡ÂΤθþ¤­¤òÄ´À°¤¹¤ë
 {
	cross_line;
	SetSensorLight(S1);
	do{
	if (SENSOR_1 < BLACK) {       
       turn_right1;                    
	} else if (SENSOR_1 > WHITE) {
	turn_left2;
	}
	}
       while((SENSOR_1 > BLACK)&&(SENSOR_1 < WHITE));
       Off(OUT_BC);
 }
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 void line_right()//¸òº¹ÅÀ¤Ç±¦¤Ë¶Ê¤¬¤ë
 {
	cross_line;
	turn_right(1000,40,40);
	SetSensorLight(S1);
	do{ //Àþ¤Îº¸Ã¼¤òõ¤¹
	if (SENSOR_1 < BLACK) {       
       turn_right1;                    
	} else if (SENSOR_1 > WHITE) {
	turn_left2;
	}
	}
       while((SENSOR_1 > BLACK)&&(SENSOR_1 < WHITE));
       Off(OUT_BC);
 }
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 void line_left()¸òº¹ÅÀ¤Çº¸¤Ë¶Ê¤¬¤ë
 {
	cross_line;
	turn_left(1000,40,40) //º¸¤Ë¶Ê¤¬¤ë
	SetSensorLight(S1);
	do{ //Àþ¤Îº¸Ã¼¤òõ¤¹
	if (SENSOR_1 < BLACK) {       
       turn_right1;                    
	} else if (SENSOR_1 > WHITE) {
	turn_left2;
	}
	}
       while((SENSOR_1 > BLACK)&&(SENSOR_1 < WHITE));
       Off(OUT_BC);
 }
void line_closs¤Îº¸ÀÞÈÇ¡£
 
 void last_move()CÃÏÅÀ¤Ë¥´¡¼¥ë¤¹¤ë¡£
 {
	go_forward;
	Wait(1500);
	Off(OUT_BC);
 }
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 task main()
 {
	line_trace();
       line_right();
	line_trace();
	line_closs();
	line_trace();
	line_closs();
	line_trace();
	line_right();
	line_trace();
	line_right();
       line_trace();
       last_move();
 }
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