[[2018b/Member]]
#contents
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**¥í¥Ü¥Ã¥È¤ÎÁ´ÂÎ [#v01c7fed]

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**¤½¤Î¾ [#tefda66a]
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*¥×¥í¥°¥é¥ß¥ó¥° [#j1d1cde9]
**¥Ü¡¼¥ë¤ò»ý¤Ä¥×¥í¥°¥é¥ß¥ó¥° [#m90e211a]
 #define UP OnFwd(OUT_B,20);Wait(4750);Off(OUT_BC);   //ÏӾ夲
 #define DOWN OnRev(OUT_B,20);Wait(2600);Off(OUT_BC);  //ÏÓ²¼¤²
 #define CATCH OnRev(OUT_C,15);Wait(725);Off(OUT_BC);  //¼êÄϤß
 
 task main()
 {
 DOWN
 CATCH
 UP
 }
**¥Ü¡¼¥ë¤òÎ¥¤¹¥×¥í¥°¥é¥ß¥ó¥° [#a79d16f7]
 #define LOST OnFwd(OUT_C,15);Wait(685);Off(OUT_C);¡¡¡¡//¼êÎ¥¤¹

 task main()
 {      //¥Ü¡¼¥ë¤ò»ý¤Ã¤ÆÏӤϾ夬¤Ã¤Æ¤¤¤ë¾õÂÖ
 LOST 
 }
**¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥×¥í¥°¥é¥ß¥ó¥° [#f633af55]

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 #define turn_l1 OnFwd(OUT_B,33);OnRev(OUT_C,33);  //º¸Àû²ó
 #define turn_r1 OnFwd(OUT_C,33);OnRev(OUT_B,33);  //±¦Àû²ó
 #define turn_l0 OnFwd(OUT_B,30);Off(OUT_C);  //º¸ÀÞ
 #define turn_r0 Off(OUT_B);OnFwd(OUT_C,30);  //±¦ÀÞ
 #define go_s OnFwd(OUT_BC,30); //ľ¿Ê
 SetSensorLight(S1);¡¡//1È֤˷Ҥ¬¤Ã¤Æ¤¤¤ë¸÷¥»¥ó¥µ¤ò»È¤¦
 if(SENSOR_1>58){  //¤â¤·¸÷¥»¥ó¥µ¤¬58°Ê¾å¤ÎÃͤò¬Äꤷ¤¿¤é
    turn_r1;   //±¦Àû²ó                        
 }else if(SENSOR_1>53){ ¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬53°Ê¾å57°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
    turn_r0;¡¡//±¦ÀÞ
 }else if(SENSOR_1>44){¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬44°Ê¾å52°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
    go_s;  ¡¡//ľ¿Ê                                                  
 }else if(SENSOR_1>34){¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬34°Ê¾å43°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
    turn_l0;¡¡//º¸ÀÞ                                         
 }else{¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬33°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
    turn_l1;¡¡//º¸Àû²ó
    }
 }
¸òº¹ÅÀ¤âÁ°²ó¤ÈƱÍͤǤ¢¤ë¡£¥×¥í¥°¥é¥ß¥ó¥°¤Ï¡¢
 void tuuzyou()
 {
    SetSensorLight(S1);  //1È֤˷Ҥ¬¤Ã¤Æ¤¤¤ë¸÷¥»¥ó¥µ¤ò»È¤¦
    long t0;              //long·¿¤Ît0¤òÄêµÁ                                                   
    t0=CurrentTick(); ¡¡¡¡//¸½ºß¤Î»þ´Ö¤òµ­Ï¿
    while(CurrentTick()-t0<90){   //¸½ºß¤Î»þ´Ö¤Èt0¤Îº¹¤¬0.09Éðʲ¼¤Î»þ¡¢°Ê²¼¤Î¥×¥í¥° 
 ¥é¥à¤ò·«¤êÊÖ¤¹
        if(SENSOR_1>58){  //¤â¤·¸÷¥»¥ó¥µ¤¬58°Ê¾å¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_r1;   //±¦Àû²ó    
            t0=CurrentTick();¡¡//t0¤ò¹¹¿·¤¹¤ë                   
        }else if(SENSOR_1>53){ ¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬53°Ê¾å57°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_r0;¡¡//±¦ÀÞ
            t0=CurrentTick();¡¡//t0¤ò¹¹¿·¤¹¤ë
        }else if(SENSOR_1>44){¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬44°Ê¾å52°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            go_s;  ¡¡//ľ¿Ê       
            t0=CurrentTick();¡¡//t0¤ò¹¹¿·¤¹¤ë                                           
        }else if(SENSOR_1>34){¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬34°Ê¾å43°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_l0;¡¡//º¸ÀÞ   
            t0=CurrentTick();¡¡//t0¤ò¹¹¿·¤¹¤ë                                      
        }else{¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬33°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_l1;¡¡//º¸Àû²ó
 }
¤Þ¤¿¡¢Á°²óƱÍ͵ޥ«¡¼¥Ö¤¬¤¢¤ë¤Î¤Ç¡¢¤½¤Î¥×¥í¥°¥é¥ß¥ó¥°¤Ï         
 void special()
 {
    SetSensorLight(S1);   //1È֤˷Ҥ¬¤Ã¤Æ¤¤¤ë¸÷¥»¥ó¥µ¤ò»È¤¦                                                       
    long t1;                  //long·¿¤Ît1¤òÄêµÁ¤¹¤ë                                                     
    t1=CurrentTick()¡¡//¸½ºß¤Î»þ´Ö¤òµ­Ï¿
    while(CurrentTick()-t1<23500){ //¸½ºß¤Î»þ´Ö¤Èt1¤Îº¹¤¬23,5Éðʲ¼¤Î»þ¡¢°Ê²¼¤Î¥×¥í¥° 
 ¥é¥à¤ò·«¤êÊÖ¤¹  
        if(SENSOR_1>58){  //¤â¤·¸÷¥»¥ó¥µ¤¬58°Ê¾å¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_r1;   //±¦Àû²ó                        
        }else if(SENSOR_1>53){ ¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬53°Ê¾å57°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_r0;¡¡//±¦ÀÞ
        }else if(SENSOR_1>44){¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬44°Ê¾å52°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            go_s;  ¡¡//ľ¿Ê                                                  
        }else if(SENSOR_1>34){¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬34°Ê¾å43°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_l0;¡¡//º¸ÀÞ                                         
        }else{¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬33°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_l1;¡¡//º¸Àû²ó
            }
    }                                              
 }
**D¤Îľ³Ñ¤òǧ¼±¤¹¤ë¥×¥í¥°¥é¥ß¥ó¥° [#r9a828f4]
D¤Î°ÌÃ֤ǥܡ¼¥ë¤òõ¤½¤¦¤È¤·¤Æ¤¤¤¿¤Î¤Ç¡¢D¤Îľ³Ñ¤Ç»ß¤Þ¤é¤Ê¤±¤ì¤Ð¤Ê¤é¤Ê¤¤¡£¤³¤Î¤¿¤á¤Ë¤ÏD¤Îľ³Ñ¤òǧ¼±¤·¤¿¤é½ª¤ï¤ë¥×¥í¥°¥é¥à¤¬É¬ÍפǤ¢¤ë¡£¤·¤«¤·¡¢¡Ötuuzyou¡×¤Î¥×¥í¥°¥é¥à¤Ï¡Ö¿¿¤Ã¹õ¡×¤Î»þ´Ö¤¬Ä¹¤¤¤È¤­¤Ë½ª¤ï¤ë¥×¥í¥°¥é¥à¤Ê¤Î¤Ç¡¢º¸¤Ë¶Ê¤¬¤ëľ³Ñ¤Ç¤Ê¤±¤ì¤Ð½ª¤ï¤é¤Ê¤¤¡£¤Ê¤Î¤Ç¡¢¿¿¤ÃÇò¤ò¸¡ÃΤ·¤¿¤é»ß¤Þ¤ë¥×¥í¥°¥é¥ß¥ó¥°¤òºî¤ë¡£Á°²ó¤Î¥×¥í¥°¥é¥à¤Î±þÍѤȤ·¤Æ
 void sirotuuzyou()
 {
    SetSensorLight(S1);¡¡//1È֤˷Ҥ¬¤Ã¤Æ¤¤¤ë¸÷¥»¥ó¥µ¤ò»È¤¦
    long t2;         //long·¿¤Ît2¤òÄêµÁ                                                          
    t2=CurrentTick(); ¡¡//¸½ºß¤Î»þ´Ö¤òµ­Ï¿
    while(CurrentTick()-t2<90){ //¸½ºß¤Î»þ´Ö¤Èt2¤Îº¹¤¬0.9Éðʲ¼¤Î»þ¤Ë°Ê²¼¤Î¥×¥í¥°¥é¥à 
 ¤ò·«¤êÊÖ¤¹
        if(SENSOR_1>58){  //¤â¤·¸÷¥»¥ó¥µ¤¬58°Ê¾å¤ÎÃͤò¬Äꤷ¤¿¤é 
            turn_r1;   //±¦Àû²ó                        
        }else if(SENSOR_1>53){ ¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬53°Ê¾å57°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_r0;¡¡//±¦ÀÞ
            t2=CurrentTick();¡¡//t2¤ò¹¹¿·¤¹¤ë
        }else if(SENSOR_1>44){¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬44°Ê¾å52°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            go_s;  ¡¡//ľ¿Ê   
            t2=CurrentTick();¡¡//t2¤ò¹¹¿·¤¹¤ë                                               
        }else if(SENSOR_1>34){¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬34°Ê¾å43°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_l0;¡¡//º¸ÀÞ                
            t2=CurrentTick();¡¡//t2¤ò¹¹¿·¤¹¤ë                         
        }else{¡¡//¤â¤·¸÷¥»¥ó¥µ¤¬33°Ê²¼¤ÎÃͤò¬Äꤷ¤¿¤é
            turn_l1;¡¡//º¸Àû²ó
            t2=CurrentTick();¡¡//t2¤ò¹¹¿·¤¹¤ë
            }
    }   
 }
**´Ì¤òõ¤·¤Æ´Ì¤ËÃÖ¤¯¥×¥í¥°¥é¥ß¥ó¥° [#qa805d09]
***¥í¥Ü¥Ã¥È¤«¤é¤Îµ÷Î¥¤¬ºÇ¾®¤Î¤â¤Î¤òõ¤¹¥×¥í¥°¥é¥à [#q71ca8c8]
¥³¥ó¥Æ¥¹¥È¤Ç¤Ï¥À¥ß¡¼¤Î´Ì¤âÃÖ¤±¤¿¤¬¡¢»ä¤¿¤Á¤Î¥°¥ë¡¼¥×¤Ï¥À¥ß¡¼¤Î´Ì¤òÃÖ¤«¤º¡¢¥Ü¡¼¥ë¤òÃÖ¤«¤Ê¤±¤ì¤Ð¤¤¤±¤Ê¤¤´Ì¤òɬ¤º¥í¥Ü¥Ã¥È¤È¤Îµ÷Î¥¤ò1ÈֶᤤʪÂΤˤ·¤¿¡£¤³¤ì¤Ë¤è¤ê¡¢´Ì¤òõ¤¹¥×¥í¥°¥é¥à¤ÏĶ²»ÇÈ¥»¥ó¥µ¤ò»È¤Ã¤Æ¡¢¥í¥Ü¥Ã¥È¤È¤Îµ÷Î¥¤¬ºÇ¾®¤ÎʪÂΤÎÊý¸þ¤ò¸þ¤¯¥×¥í¥°¥é¥à¤ò»È¤¦¡£¤½¤ì¤Ï°Ê²¼¤Î¤È¤ª¤ê¤Ç¤¢¤ë¡£

¤Þ¤º
 #define speed 70
 #define speed_s 50
 const float diameter=5.54;  //¥¿¥¤¥ä¤Îľ·Â(cm)                                              
 const float track=10.35; //¥¿¥¤¥ä¤Î¥È¥ì¥Ã¥ÉÉý(cm)
 const float pi=3.1415; //±ß¼þΨ
¤ÈÄêµÁ¤¹¤ë¡£
 void fwdDist(float d)
 {
    long angle;                                                         
    angle= d/(diameter*pi)*360.0;
    RotateMotorEx(OUT_BC,speed_s,angle,0,true,true);                      
 }

 void turnAng(long ang) //³ÑÅÙangÅ٤λþ·×²ó¤ê¤ÎÀû²ó¤ò¤¹¤ë
 {
    long angle;
    angle=track/diameter*ang;
    RotateMotorEx(OUT_BC,speed_s,angle,100,true,true);
 }                                                                     

 int searchDirection(long ang)  //¸½ºß¤ÎÊý¸þ¤òÃæ¿´¤ËangÅÙ¤ÎÈϰϤÇõ¤¹                                      
                                                 //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·×»»¤¹¤ë                                                
    turnAng(ang/2); //»ØÄꤵ¤ì¤¿³ÑÅÙ¤ÎȾʬ¤òÀû²ó¤¹¤ë
    ResetTachoCount(OUT_BC);       //³ÑÅٷ׬¤ò¥ê¥»¥Ã¥È                                       

    OnFwdSync(OUT_BC,speed_s,-100);¡¡//È¿»þ·×²ó¤ê¤ËÀû²ó¤¹¤ë
    while(MotorTachoCount(OUT_B)<=angle){
        if(SensorUS(S4)<d_min){
            d_min=SensorUS(S4);¡¡//²¾¤ÎºÇ¾®Ãͤò¹¹¿·¤¹¤ë
            tacho_min=MotorTachoCount(OUT_B);
        }
    }             kono                                                              
    OnFwdSyncEx(OUT_BC,speed_s,100,RESET_NONE);
    until(MotorTachoCount(OUT_B)<=tacho_min||SensorUS(S4)<=d_min);             

    Wait(14);¡¡//ÈùÄ´À°
    Off(OUT_BC);Wait(500);
    return d_min;
 }
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***´Ì¤Î¶á¤¯¤Ë°ÜÆ°¤¹¤ë [#t1449ba7]
¤¢¤é¤«¤¸¤áĶ²»ÇÈ¥»¥ó¥µ¤òÍѤ¤¤Æ´Ì¤Ë¥Ü¡¼¥ë¤òÃÖ¤¯¤Î¤ËŬ¤·¤Æ¤¤¤ëµ÷Î¥¤ò¬Äꤷ¤Æ¡¢´Ì¤È¥í¥Ü¥Ã¥È¤¬13.5cmÎ¥¤ì¤Æ¤¤¤ë¤È¥Ü¡¼¥ë¤ò¾è¤»¤ë¤³¤È¤¬¤Ç¤­¤ë¤È¤¤¤¦¤³¤È¤¬¤ï¤«¤Ã¤¿¡£¤½¤Î·ë²Ì¤òÍѤ¤¤Æ°Ê²¼¤Î¥×¥í¥°¥é¥à¤òºî¤Ã¤¿¡£
 SetSensorLowspeed(S4);¡¡//4È֤˷Ҥ¤¤ÀĶ²»ÇÈ¥»¥ó¥µ¤ò»È¤¦
 int d=searchDirection(360);¡¡//int·¿¤Çd¤òÄêµÁ¤·¡¢¥í¥Ü¥Ã¥È¤ò360¡ë²óž¤µ¤»¤Æµ÷Î¥¤ò¬Äê 
 ¤·¤Æ¤½¤ÎºÇ¾®Ãͤòõ¤¹
 if (d>13.5){                    //¤â¤·¸«¤Ä¤±¤¿ºÇ¾®Ãͤε÷Î¥¤¬13.5cm¤è¤êÂ礭¤«¤Ã¤¿¤é
    fwdDist(d-13.5);¡¡//´Ì¤È¥í¥Ü¥Ã¥È¤Îµ÷Î¥¤¬13.5cm¤Ë¤Ê¤ë¤Þ¤Ç¶á¤Å¤¯
 }
***´Ì¤«¤éƱ¤¸¾ì½ê¤ËÌá¤Ã¤Æ¤¯¤ë¥×¥í¥°¥é¥à [#ff1d5050]
 void sagasu()
 {
    SetSensorLowspeed(S4);¡¡//4È֤˷Ҥ¤¤ÀĶ²»ÇÈ¥»¥ó¥µ¤ò»È¤¦
    int d=searchDirection(360);¡¡//int·¿¤Çd¤òÄêµÁ¤·¡¢¥í¥Ü¥Ã¥È¤ò360¡ë²óž¤µ¤»¤Æµ÷Î¥¤ò 
 ¬Äꤷ¤Æ¤½¤ÎºÇ¾®Ãͤòõ¤¹
    if (d>13.5){                    //¤â¤·¸«¤Ä¤±¤¿ºÇ¾®Ãͤε÷Î¥¤¬13.5cm¤è¤êÂ礭¤«¤Ã¤¿ 
 ¤é
        long t3,t4;  //long·¿¤Ît3,t4¤òÄêµÁ¤¹¤ë
        t3=CurrentTick();¡¡//¥í¥Ü¥Ã¥È¤¬´Ì¤Ë¶á¤Å¤¯Á°¤Î»þ´Ö¤òt3¤Ëµ­Ï¿
        fwdDist(d-13.5);¡¡//´Ì¤È¥í¥Ü¥Ã¥È¤Îµ÷Î¥¤¬13.5cm¤Ë¤Ê¤ë¤Þ¤Ç¶á¤Å¤¯
        t4=CurrentTick();¡¡//¥í¥Ü¥Ã¥È¤¬´Ì¤Ë¶á¤Å¤¤¤¿¸å¤Î»þ´Ö¤òt4¤Ëµ­Ï¿
        stoop;¡¡//¿Æµ¡¤Ï¥Ü¡¼¥ë¤òÃÖ¤¯ºÝ¤ËÆ°¤«¤Ê¤¤¤Î¤Ç¥â¡¼¥¿¤ÎÆ°¤­¤ò°ìö»ß¤á¤ë
        RemoteStartProgram(CONN,"lost.rxe");   //¿Æµ¡¤¬»Òµ¡¤ËÌ¿Îᤷ¤Æ¥Ü¡¼¥ëÃÖ¤¯
        Wait(2000);¡¡//»Òµ¡¤¬¥Ü¡¼¥ë¤òÃÖ¤¤¤Æ¤¤¤ë»þ´Ö¡¢¿Æµ¡¤ÏÂÔ¤Ä
        OnRev(OUT_BC,30);¡¡//¸µ¤Î°ÌÃÖ¡Êľ³ÑD¡Ë¤ËÌá¤ë¤¿¤á¤Ë¥í¥Ü¥Ã¥È¤ò¸åÂव¤»¤ë
        Wait(t4-t3);  //t4-t3¤Î»þ´Ö¸åÂव¤»¤ë...­¡                                      
    }
 }
­¡¤Ît3¤Ï¥í¥Ü¥Ã¥È¤¬´Ì¤Ë¶á¤Å¤¯Á°¤Î»þ´Ö¤Ç¡¢t4¤Ï¥í¥Ü¥Ã¥È¤¬´Ì¤Ë¶á¤Å¤¤¤¿¸å¤Î»þ´Ö¤Ç¤¢¤ë¡£¤³¤ì¤è¤êt4-t3¤È¤Ï¡¢¥í¥Ü¥Ã¥È¤¬´Ì¤Ë¶á¤Å¤¯¤¿¤á¤ËÆ°¤¤¤¿»þ´Ö¤À¤±¸åÂव¤»¤ë¡£¤³¤ì¤Ë¤è¤ê¡¢¤É¤Î°ÌÃ֤˴̤¬¤¢¤Ã¤Æ¤â¸µ¤Î°ÌÃÖ¤ËÌá¤Ã¤Æ¤³¤é¤ì¤ë¡£

**¥á¥¤¥ó¥×¥í¥°¥é¥à [#hf156936]
 task main()
 {
    go_s;       //X¤«¤éÀÖ¤¤¥Ü¡¼¥ë¤ÎÊý¸þ¤Ëľ¿Ê                                                     
    Wait(1000);¡¡//1ÉôÖľ¿Ê
    stoop;¡¡//¥Ü¡¼¥ë¤òÄϤि¤á¥í¥Ü¥Ã¥È¤ÎÆ°¤­¤ò°ìö»ß¤á¤ë
    tukamu();¡¡//ÀÖ¤¤¥Ü¡¼¥ë¤òÄϤó¤Ç»ý¤Á¾å¤²¤ë
    go_s;¡¡//¸òº¹ÅÀD¤òľ¿Ê
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