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[[2017b/Member/takeshi/Mission3]]

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*¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#dbc7025f]

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 #define SPEED_SLOW 25

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 const float diameter = 5.45;  //¥¿¥¤¥ä¤Îľ·Â(cm)
 const float track = 10.91;   //¥¿¥¤¥ä¤Î¥È¥ì¥Ã¥ÉÉý(cm)
 const float pi = 3.1415;    //±ß¼þΨ
 
 void fwdDist(float d) //µ÷Î¥ d cm Á°¿Ê
 {
     long angle = d/(diameter*pi)*360.0;   //ɬÍפʥ¿¥¤¥ä¤Î²óž³ÑÅÙ
     RotateMotorEx(OUT_AB,SPEED_SLOW, angle,0,true,true);
 }
 
 void baDist(float d) //µ÷Î¥ d cm ¸å¿Ê
 {
     long angle = d/(diameter*pi)*360.0;   //ɬÍפʥ¿¥¤¥ä¤Î²óž³ÑÅÙ
     RotateMotorEx(OUT_AB,SPEED_SLOW, -angle,0,true,true);
 }
 
 void turnAng(long ang)  //³ÑÅÙangÅ٤λþ·×²ó¤ê¤ÎÀû²ó
 {
     long angle = track/diameter * ang;   //ɬÍפʥ¿¥¤¥ä¤Î²óž³ÑÅÙ
     RotateMotorEx(OUT_AB,SPEED_SLOW, angle,100,true,true);
 }
 
 void nturnAng(long ang)  //³ÑÅÙangÅ٤λþ·×²ó¤ê¤ÎÀû²ó
 {
     long angle = track/diameter * ang;   //ɬÍפʥ¿¥¤¥ä¤Î²óž³ÑÅÙ
     RotateMotorEx(OUT_AB,SPEED_SLOW, angle,0,true,true);
 }
 
 int searchDirection(long ang)  //¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤ËangÅÙ¤ÎÈϰϤÇõ¤·
                                    //¾ã³²Êª¤Þ¤Ç¤Îµ÷Î¥¤òÊÖ¤¹
 {
     long tacho_min ;   //¤â¤Ã¤È¤â¶á¤¤µ÷Î¥¤ò¼Â¸½¤¹¤ë¥¿¥¤¥ä¤Î²óž¿ô
     int d_min = 300 ;  //¤â¤Ã¤È¤â¶á¤¤µ÷Î¥¤Î²¾¤ÎºÇ¾®ÃÍ
 
     long angle = (track/diameter)*ang;  //Àû²ó³ÑÅÙ¤«¤é¥¿¥¤¥ä¤Î²óž¤ò·×»»
     turnAng(ang/2);           //»ØÄꤵ¤ì¤¿³ÑÅÙ¤ÎȾʬ¤òÀû²ó
     ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
 
     OnFwdSync(OUT_AB,SPEED_SLOW,-100);   //È¿»þ·×²ó¤ê¤ËÀû²ó
     while(MotorTachoCount(OUT_A)<=angle){
        if (SensorUS(S1)<d_min){         //¸½ºß¤Îµ÷Î¥¤¬²¾¤ÎºÇ¾®Ãͤè¤ê¾®¤µ¤¤¾ì¹ç
             d_min = SensorUS(S1);       //²¾¤ÎºÇ¾®Ãͤò¹¹¿·
             tacho_min = MotorTachoCount(OUT_A); //¤³¤Î»þ¤Î¥¿¥¤¥ä¤Î²óž¿ô¤òµ­Ï¿
         }
     }
     OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
     until(MotorTachoCount(OUT_A)<=tacho_min || SensorUS(S1)<=d_min);
 
     Wait(14);  //ÈùÄ´À°
     Off(OUT_AB);Wait(500);
     return d_min;
 }

ËÜʸ¤Î°ìÈÖ½é¤á¤Î¥×¥í¥°¥é¥à¤òÎã¤Ë¤¹¤ë¤È¡¢int d = searchDirection(30)¤Ç¸½ºß¸þ¤¤¤Æ¤¤¤ëÊý¸þ¤òÃæ¿´¤Ë15ÅÙ¤º¤Ä¤Î·×30ÅÙ¤ÎÈϰϤǻ楳¥Ã¥×¤òĶ²»ÇÈ¥»¥ó¥µ¡¼¤Ë¤è¤Ã¤Æõ¤·¡¢fwdDist(d-25.0)¤Ç»æ¥³¥Ã¥×¤Î¼êÁ°25cm¤Þ¤Ç¹Ô¤¯¤È¤¤¤¦¤è¤¦¤Ê¥×¥í¥°¥é¥à¤Ç¤¢¤ë¡£

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 sub c_up(float d)   //645¤ÇºÇÂç
 {
     RotateMotor(OUT_C,-30,d);
     Off(OUT_C);
 }
 
 sub c_down(float d)
 {
     RotateMotor(OUT_C,30,d);
     Off(OUT_C);
 }

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 task main()
 {
     SetSensorLowspeed(S1);
 
 
     int d = searchDirection(30);¡¡¡¡//»æ¥³¥Ã¥×£±¤ÎÊý¸þ¤òõ¤·¤¿¸å¡¢¶á¤Å¤¤¤Æ25cm¼êÁ°¤ÇÄä»ß
     if (d > 10){
         fwdDist(d-25.0);
     }

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     turnAng(200);¡¡¡¡//200Å٤λþ·×²ó¤ê¤ÎÀû²ó
 
     c_down(640);¡¡¡¡//¥¢¡¼¥à¤ò³«¤¤¤Æ²¼¤²¤ë
 
     OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
     Off(OUT_AB);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤³¤Î2¤Ä¤òÆþ¤ì¤Ê¤¤¤È¼¡¤Î¹ÔÆ°¤¬¤¦¤Þ¤¯Æ°¤«¤Ê¤«¤Ã¤¿¡Ê°Ê¹ß¡¢ÈùÄ´À°¤È¤·¤Æµ­¤·¤Æ¤¤¤¯¡Ë
     baDist(12.0);¡¡¡¡//12cm¸åÂà
 
     c_up(260);   //»æ¥³¥Ã¥×£±¤ò¤Ä¤«¤ó¤Ç¾¯¤·¾å¤²¤ë
 
     ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
     turnAng(110);¡¡¡¡//110Å٤λþ·×²ó¤ê¤ÎÀû²ó
 
     OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
     Off(OUT_AB);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÈùÄ´À°
     baDist(11.0);¡¡¡¡//11cm¸åÂà
 
     c_up(330);    //»æ¥³¥Ã¥×£±¤ò¾å¤²¡¢¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ï¤Ê¤¹
 
     ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
     turnAng(90);¡¡¡¡//90Å٤λþ·×²ó¤ê¤ÎÀû²ó
 
     OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
     Off(OUT_AB);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÈùÄ´À°
     fwdDist(17.0);¡¡¡¡//17cmÁ°¿Ê
 
     ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
     turnAng(80);¡¡¡¡//80Å٤λþ·×²ó¤ê¤ÎÀû²ó
 
     ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
     int e = searchDirection(40);¡¡¡¡//¾ã³²¤Î»æ¥³¥Ã¥×¤ÎÊý¸þ¤òõ¤·¤¿¸å¡¢¤½¤ÎÊý¸þ¤ò¸þ¤¤¤ÆÄä»ß
 
     int msg;  // ¼õ¤±¼è¤Ã¤¿Ãͤò³ÊǼ¤¹¤ëÊÑ¿ô
     while (true) {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥á¥Ã¥»¡¼¥¸¤ò¼õ¤±¼è¤ë¤Þ¤ÇÄä»ß¤·¤ÆÂÔµ¡
         ReceiveRemoteNumber(MAILBOX1,true,msg);
         if (msg == 1){
             break;¡¡¡¡¡¡¡¡//whileʸ¤òÈ´¤±½Ð¤¹
         } else {
         Off(OUT_AB);
         }
         Wait(100);
         }
 
     Off(OUT_AB);Wait(3000);¡¡¡¡//3ÉÃÄä»ß

whileʸ¤Çµ¡ÂΣ¤«¤é¤Î¿®¹æ¤¬Íè¤ë¤Þ¤ÇÄä»ß¤µ¤»¡¢¿®¹æ¤¬Í褿¤ébreakʸ¤Çwhileʸ¤«¤éÈ´¤±½Ð¤¹¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤ë¡££³ÉäÎÄä»ß¤Ï¿®¹æ¤ò»È¤Ã¤Æ¤¤¤Ê¤¤¤È¤­¤Ë¾¯¤·´Ö¤ò¼è¤ë¤¿¤á¤Ë»È¤Ã¤Æ¤¤¤¿¤â¤Î¤Ç¤¢¤ë¡£
 
     ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
     turnAng(30);¡¡¡¡//30Å٤λþ·×²ó¤ê¤ÎÀû²ó
 
     OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
     Off(OUT_AB);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÈùÄ´À°
     fwdDist(15.0);¡¡¡¡//15cmÁ°¿Ê
 
     ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
     int f = searchDirection(30);¡¡¡¡//»æ¥³¥Ã¥×£²¤ÎÊý¸þ¤òõ¤·¤¿¸å¡¢¶á¤Å¤¤¤Æ25cm¼êÁ°¤ÇÄä»ß
     if (f > 10){
         fwdDist(f-25.0);
     }
 
     ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
     turnAng(156);¡¡¡¡//156Å٤λþ·×²ó¤ê¤ÎÀû²ó
 
     OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
     Off(OUT_AB);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÈùÄ´À°
     baDist(8.0);¡¡¡¡//8cm¸åÂà
 
     c_down(100);¡¡¡¡//¥¢¡¼¥à¤ò³«¤­¡¢»æ¥³¥Ã¥×£±¤ò¤Ï¤Ê¤¹
 
     OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
     Off(OUT_AB);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÈùÄ´À°
     baDist(2.0);¡¡¡¡//2cm¸åÂà 

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     OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
     Off(OUT_AB);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÈùÄ´À°
     fwdDist(12.0);¡¡¡¡//12cmÁ°¿Ê
 
     c_up(100);¡¡¡¡//¥¢¡¼¥à¤òºÇÂç¤Þ¤Ç¾å¤²¤ë
 
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     ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
     turnAng(230);¡¡¡¡//230Å٤λþ·×²ó¤ê¤ÎÀû²ó
 
     ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
         int g = searchDirection(20);¡¡¡¡//»æ¥³¥Ã¥×£³¤ÎÊý¸þ¤òõ¤·¤¿¸å¡¢¶á¤Å¤¤¤Æ25cm¼êÁ°¤ÇÄä»ß
         if (g > 10){
             fwdDist(g-25.0);
     }
 
     turnAng(190);¡¡¡¡//190Å٤λþ·×²ó¤ê¤ÎÀû²ó
 
     c_down(630);¡¡¡¡//¥¢¡¼¥à¤ò³«¤¤¤Æ²¼¤²¤ë
 
     OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
     Off(OUT_AB);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÈùÄ´À°
     baDist(16.0);¡¡¡¡//16cm¸åÂà
 
     c_up(270);¡¡¡¡//»æ¥³¥Ã¥×£³¤ò¤Ä¤«¤ó¤Ç¾¯¤·¾å¤²¤ë
 
     ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
     turnAng(140);¡¡¡¡//140Å٤λþ·×²ó¤ê¤ÎÀû²ó
 
     c_up(340);¡¡¡¡//»æ¥³¥Ã¥×£³¤ò¾å¤²¡¢¥Ô¥ó¥Ý¥ó¶Ì¤ò¤Ï¤Ê¤¹
 
     ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
     turnAng(290);¡¡¡¡//290Å٤λþ·×²ó¤ê¤ÎÀû²ó
 
     OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
     Off(OUT_AB);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÈùÄ´À°
     baDist(12.0);¡¡¡¡//12cm¸åÂà
 
 
     ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
         int h = searchDirection(20);¡¡¡¡//»æ¥³¥Ã¥×£±¤ÎÊý¸þ¤òõ¤·¤¿¸å¡¢¶á¤Å¤¤¤Æ25cm¼êÁ°¤ÇÄä»ß
         if (h > 10){
             fwdDist(h-25.0);
     }
 
     ResetTachoCount(OUT_AB);  //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È
     turnAng(156);¡¡¡¡//156Å٤λþ·×²ó¤ê¤ÎÀû²ó
 
     OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
     Off(OUT_AB);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÈùÄ´À°
     baDist(8.0);¡¡¡¡//8cm¸åÂà
 
     c_down(100);¡¡¡¡//¥¢¡¼¥à¤ò³«¤­¡¢»æ¥³¥Ã¥×£³¤ò¤Ï¤Ê¤¹
 
     OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
     Off(OUT_AB);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÈùÄ´À°
     baDist(2.0);¡¡¡¡//2cm¸åÂà
 
     OnFwdSyncEx(OUT_AB,SPEED_SLOW,100,RESET_NONE);
     Off(OUT_AB);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÈùÄ´À°
     fwdDist(12.0);¡¡¡¡//12cmÁ°¿Ê
 
 }

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**µ¡ÂΣ [#g68c373f]

¥¹¥Ô¡¼¥É¤ä»þ´Ö¤Ê¤É¤òÄêµÁ¤·¤Æ¤¤¤ë¡£

 #define Apower 37
 
 #define Bpower 34  //ľ¿Ê¤¹¤ë¤Î¤ËɬÍפʽÐÎÏ
 
 #define ttime 695  //90Åٶʤ¬¤ë¤Î¤ËɬÍפʻþ´Ö
 
 #define SPEED 50
 
 #define SPEED_SLOW 30

¥µ¥Ö¥ë¡¼¥Á¥ó¡£

 sub go_for()¡¡¡¡//Á°¿Ê
 
 {
 
     OnFwd(OUT_A,Apower);
 
     OnFwd(OUT_B,Bpower);
 
 }
 
 sub go_back() ¡¡¡¡//¸åÂà
 
 {
 
     OnFwd(OUT_A,-Apower);
 
     OnFwd(OUT_B,-Bpower);
 
 }
 
 sub turnL(float c)¡¡¡¡//º¸¤Ë¶Ê¤¬¤ë
 
 {
 
     OnFwd(OUT_A,Apower);OnFwd(OUT_B,-Bpower);
 
     Wait(c*ttime);
 
     Float(OUT_AB);  //º¸¤Ë¶Ê¤¬¤ë¡Êc¡ß90¡ËÅÙ
 
 }
 
 sub turnR(float c)¡¡¡¡//±¦¤Ë¶Ê¤¬¤ë
 
 {
 
     OnFwd(OUT_A,-Apower);OnFwd(OUT_B,Bpower);
 
     Wait(c*ttime);
 
     Float(OUT_AB);  //±¦¤Ë¶Ê¤¬¤ë¡Êc¡ß90¡ËÅÙ
 
 }
 
 int cyari(int lsw)¡¡¡¡//¥¹¥¿¡¼¥È»þ¤Î°ÌÃÖÄ´À°
 
 {
 
     ResetTachoCount(OUT_C);
 
     SetSensorLight(S1);
 
     SetSensorMode(S1,SENSOR_MODE_RAW);
 
     SetSensorTouch(S4);
 
     int i=1;
 
     int lsb=SENSOR_1;
 
     int lsb2=SENSOR_1-1;
 
     while (i==1){
 
         go_for();
 
         lsb2=SENSOR_1;
 
         NumOut(80,LCD_LINE4,lsb2);
 
         if (lsb>lsb2) {
 
             lsb=lsb2;
 
             }
 
         if (lsb+10<lsb2) {
 
             i=10;
 
             }
 
         if (lsb>lsw-150) {
 
             i=1;
 
             }    
 
         }
 
     Off(OUT_AB);
 
     NumOut(80,LCD_LINE1,lsw);
 
     NumOut(80,LCD_LINE2,lsb);
 
     return lsb;
 
 }


 const float diameter=5.45;¡¡¡¡//¥¿¥¤¥ä¤Îľ·Â
 
 const float track=11.35;¡¡¡¡//¥¿¥¤¥ä¤Î¥È¥ì¥Ã¥ÉÉý
 
 const float pi=3.1415;¡¡¡¡//±ß¼þΨ
 
 void fwdDist(float d)¡¡¡¡//µ÷Î¥£äcmÁ°¿Ê
 
 {
 
     long angle=d/(diameter*pi)*360.0;
 
     RotateMotorEx(OUT_AB,SPEED_SLOW,angle,0,true,true);
 
 }
 
 void turnAng(long ang)¡¡¡¡//³ÑÅÙangÅ٤λþ·×²ó¤ê¤ÎÀû²ó
 
 {
 
     long angle=track/diameter*ang;
 
     RotateMotorEx(OUT_AB,SPEED_SLOW,angle,100,true,true);
 
 }
 

  sub arm(int c)¡¡¡¡//¥¢¡¼¥à¤òÆ°¤«¤¹
 
 {
 
         RotateMotor(OUT_C, 40,c);
 
     Off(OUT_C);
 
 }


¥×¥í¥°¥é¥à¤ÎËÜʸ¤Ç¤¢¤ë¡£

  task main ()
 
 {
 
     ResetTachoCount(OUT_C);
 
     SetSensorLight(S1);
 
     SetSensorMode(S1,SENSOR_MODE_RAW);
 
     SetSensorTouch(S4);
 
     int lsw=SENSOR_1;
 
     int lsb=cyari(lsw);
 
     while(SENSOR_4==0) {}
 
     SendRemoteNumber(1,MAILBOX1,0);
 
     fwdDist(15);
 
     Wait(15000);
 
     turnL(1.1);//1
 
     PlaySound(SOUND_UP);
 
     Wait(1000);
 
     fwdDist(30);
 
     Wait(1000);
 
     turnAng(40);
 
     PlaySound(SOUND_UP);
 
     turnAng(180);
 
     Wait(1000);
 
     fwdDist(15);
 
     Wait(1000);
 
     arm(550);
 
     Wait(1000);
 
     go_back();
 
     Wait(2000);
 
     Off(OUT_AB);
 
     arm(-180);
 
     Wait(1000);
 
     arm(-45);
 
     Wait(1000);
 
     turnL(1.05);//2
 
     Wait(1000);
 
     arm(-200);
 
     fwdDist(35);
 
     turnL(0.4);
 
     Wait(1000);
 
     arm(100);
 
     PlaySound(SOUND_UP);
 
     SendRemoteNumber(1,MAILBOX1,1);
 
     fwdDist(20);
 
     while(SENSOR_4==0) {}
 
 }

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