2013b/Member/yunagi/Mission1
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#contents
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**ÆñÅÀ [#pd526189]
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*¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#d44d2d26]
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***Äê¿ô [#be9dacec]
#define THRESHOLD 43¡¡//¤·¤¤¤ÃÍ
#define HIPOWER 4¡¡//¥â¡¼¥¿¡¼¤Î¥Ñ¥ï¡¼
#define LOWPOWER 2
#define set_power_H SetPower(OUT_AC,HIPOWER);¡¡
#define set_power_L SetPower(OUT_AC,LOWPOWER);
#define go_forward set_power_H; OnFwd(OUT_AC);¡¡//ľ¿Ê
#define turn_left1 set_power_L; OnFwd(OUT_C); Off(OUT_A);¡¡//º¸ÀÞ
#define turn_left0 set_power_L; OnFwd(OUT_C); OnRev(OUT_A);¡¡//º¸Àû²ó
#define turn_right0 set_power_L; OnFwd(OUT_A); Off(OUT_C);¡¡//±¦ÀÞ
#define turn_right1 set_power_L; OnFwd(OUT_A); OnRev(OUT_C);¡¡//±¦Àû²ó
#define STEP 1¡¡//1²ó¤ÎȽÃǤÇÆ°ºî¤µ¤»¤ë»þ´Ö
#define nMAX 6¡¡//¸òº¹ÅÀ¤È¥«¡¼¥Ö¤òȽÃǤ¹¤ë·«¤êÊÖ¤·¤ÎºÇÂçÃÍ
#define short_break Off(OUT_AC); Wait(50);¡¡//¾®µÙ»ß
#define CROSS_TIME 30¡¡//¸òº¹ÅÀ¤òÅϤë»þ´Ö
#define cross_line OnFwd(OUT_AC); Wait(CROSS_TIME); short_break;¡¡//¸òº¹ÅÀ¤òÅϤë
#define time0 1000 //¡¤Ë¤«¤«¤ë»þ´Ö
#define time1 200 //¢¤Ë¤«¤«¤ë»þ´Ö
#define time2 600 //£¤Ë¤«¤«¤ë»þ´Ö
#define time3 800 //¤¥¦¤Ë¤«¤«¤ë»þ´Ö
#define time4 3000 //§¤Ë¤«¤«¤ë»þ´Ö
¡¡
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***¸òº¹ÅÀ¤Î¤Ê¤¤¾ì¹ç [#vc761a10]
sub line_race()¡¡//Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
{
if (SENSOR_2 < THRESHOLD -5) { turn_right1; }
else if (SENSOR_2 < THRESHOLD -3) { turn_right0; }
else if (SENSOR_2 < THRESHOLD +2) { go_forward; }
else if (SENSOR_2 < THRESHOLD +5) { turn_left1; }
else { turn_left0; }
}
***¸òº¹ÅÀ¤ÎÉÕ¶á¡õ¸òº¹ÅÀ [#eb995b68]
sub line_cross()
{
int nOnline=0;¡¡//³¤±¤Æ¹õ¤Ë¤Ê¤Ã¤¿²ó¿ô¡¡»Ï¤á¤ò£°¤È¤¹¤ë
while (nOnline < nMAX){¡¡¡¡//³¤±¤Æ¹õ¤Ë¤Ê¤Ã¤¿²ó¿ô¤¬MAX°ÊÆâ
if (SENSOR_2 < THRESHOLD -5) { turn_right1; nOnline++; } ¡¡//±¦Àû²ó¤Î¾ì¹ç¡¢¥«¥¦¥ó¥È¤¹¤ë¹õ¤Ë¤Ê¤Ã¤¿²ó¿ô¤ò¥«¥¦¥ó¥È
else
{ if (SENSOR_2 < THRESHOLD -3) { turn_right0; }
else if (SENSOR_2 < THRESHOLD +3) { go_forward; }
else if (SENSOR_2 < THRESHOLD +7) { turn_left0; }
else { turn_left1; }
nOnline=0;¡¡//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
}
Wait(STEP);
}
short_break; PlaySound(SOUND_DOWN);¡¡//¾®µÙ»ß¡¢²»¤ÇÃΤ餻¤ë
turn_left0; Wait(nMAX*STEP);¡¡//Êý¸þ½¤Àµ
cross_line; ¡¡//¸òº¹ÅÀ¤òÅϤë
nOnline=0;¡¡//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
}
¡¡¸òº¹ÅÀ¤Ïº£²ó°ìÈÖǺ¤ß¡¢¶ìÏ«¤·¤¿ÅÀ¤Ç¤¹¡£ºÇ½é¤Ï¡¢¥«¥¦¥ó¥¿¤ò¤Ê¤«¤Ê¤«¤¦¤Þ¤¯»È¤¦¤³¤È¤¬¤Ç¤¤º¸òº¹ÅÀ¤Èǧ¼±¤·¤ÆÅϤ뤳¤È¤¬½ÐÍè¤Þ¤»¤ó¤Ç¤·¤¿¡£»î¹Ôºø¸í¤ò·«¤êÊÖ¤·¤Æ¡¢¤Ê¤ó¤È¤«¥«¥¦¥ó¥¿¤ò»È¤¦¤³¤È¤¬½ÐÍè¤Þ¤·¤¿¡£¤³¤Î¥×¥í¥°¥é¥à¤Ç¤Ï¡¢¸òº¹ÅÀ¤Ëº¹¤·³Ý¤«¤Ã¤¿»þ¤Ë¹õ¤¬Ï¢Â³¤·¤Æ£¶²ó°Ì°Ê¾å¤Ë¤Ê¤Ã¤¿¾ì¹ç¤Ï¡¢²»¤Ç¸òº¹ÅÀ¤ÈÃΤ餻¡¢¸òº¹ÅÀ¤ÈȽÃǤ·¤Æ²£ÃǤ·¤Þ¤¹¡£²»¤ÎÆ°ºî¤òÆþ¤ì¤¿¤³¤È¤Ç¡¢¸òº¹ÅÀ¤Èǧ¼±¤Ç¤¤Æ¤¤¤ë¤«¤É¤¦¤«¡¢³Î¤«¤á¤ë¤³¤È¤¬½ÐÍè¤ë¤è¤¦¤Ë¤Ê¤Ã¤¿¤Î¤ÇÎɤ«¤Ã¤¿¤È»×¤¤¤Þ¤¹¡£
***´Ì¤ò°ÜÆ° [#qae3914c]
sub line_can()
{
OnFwd(OUT_B);¡¡//¥¢¡¼¥à¤Ç¤Ä¤«¤à
Wait(7);
OnFwd(OUT_AC);¡¡//Á°¿Ê
Wait(130);
OnFwd(OUT_C); OnRev(OUT_A); Off(OUT_B);¡¡//º¸Àû²ó
Wait(180);
Off(OUT_AC);¡¡¡¡//Ää»ß
Wait(50);
OnRev(OUT_B); ¡¡//´Ì¤òÎ¥¤¹
Wait(10);
OnRev(OUT_AC);¡¡¡¡//¸å¿Ê
Wait(180);
OnFwd(OUT_A); OnRev(OUT_C); Off(OUT_B); ¡¡//±¦Àû²ó
Wait(70);
OnFwd(OUT_AC);
Wait(100);
Off(OUT_ABC);
}
¡¡´Ì¤ò¤Ä¤«¤à¥×¥í¥°¥é¥à¤Ï°ÜÆ°¤Ë·ë¹½¥¹¥Ú¡¼¥¹¤ò¼è¤ë¤¿¤á¡¢¤â¤¦¾¯¤·¾®²ó¤ê¤¬¤Ç¤¤ë¥×¥í¥°¥é¥à¤Ë¤¹¤ì¤Ð¤è¤êÎɤ¯¤Ê¤ë¤È»×¤¤¤Þ¤¹¡£
***Á´ÂÎ¤Î¥×¥í¥°¥é¥à [#s699b2ff]
task main()
{
SetSensor(SENSOR_3, SENSOR_TOUCH);¡¡//¥»¥ó¥µ¡¼£³¤Ï¥¿¥Ã¥Á¥»¥ó¥µ¡¼
SetSensor(SENSOR_2, SENSOR_LIGHT);¡¡//¥»¥ó¥µ¡¼£²¤Ï¸÷¥»¥ó¥µ¡¼
int nOnline=0;
ClearTimer(0);¡¡//£°ÈÖÌܤΥ¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤¹¤ë
while (FastTimer(0) <= time0) { line_race(); }¡¡//¡¤Î¥×¥í¥°¥é¥à
PlaySound(SOUND_UP);¡¡//¥µ¥¦¥ó¥É
ClearTimer(0);
while (FastTimer(0) <= time1) { line_cross(); }¡¡//¢¤Î¥×¥í¥°¥é¥à
PlaySound(SOUND_DOUBLE_BEEP);
ClearTimer(0);
while (FastTimer(0) <= time2) { line_race(); }¡¡//£¤Î¥×¥í¥°¥é¥à
PlaySound(SOUND_UP);
ClearTimer(0);
while (FastTimer(0) <= time3) { line_cross(); }¡¡//¤¥¦¤Î¥×¥í¥°¥é¥à
PlaySound(SOUND_DOUBLE_BEEP);
ClearTimer(0);
while (FastTimer(0) <= time4) {
line_race(); ¡¡¡¡¡¡¡¡//§¤Î¥×¥í¥°¥é¥à
if(SENSOR_3 == 1) { line_can(); }¡¡¡¡//´Ì¤¬¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤ËÈ¿±þ¤¹¤ë¤È´Ì¤ò°ÜÆ°¤¹¤ë¥×¥í¥°¥é¥à¤òÆɤ߹þ¤à
}
PlaySound(SOUND_UP);
Float(OUT_AC);¡¡¡¡//Ää»ß
}
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#contents
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**ÆñÅÀ [#pd526189]
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*¥×¥í¥°¥é¥à¤ÎÀâÌÀ [#d44d2d26]
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***Äê¿ô [#be9dacec]
#define THRESHOLD 43¡¡//¤·¤¤¤ÃÍ
#define HIPOWER 4¡¡//¥â¡¼¥¿¡¼¤Î¥Ñ¥ï¡¼
#define LOWPOWER 2
#define set_power_H SetPower(OUT_AC,HIPOWER);¡¡
#define set_power_L SetPower(OUT_AC,LOWPOWER);
#define go_forward set_power_H; OnFwd(OUT_AC);¡¡//ľ¿Ê
#define turn_left1 set_power_L; OnFwd(OUT_C); Off(OUT_A);¡¡//º¸ÀÞ
#define turn_left0 set_power_L; OnFwd(OUT_C); OnRev(OUT_A);¡¡//º¸Àû²ó
#define turn_right0 set_power_L; OnFwd(OUT_A); Off(OUT_C);¡¡//±¦ÀÞ
#define turn_right1 set_power_L; OnFwd(OUT_A); OnRev(OUT_C);¡¡//±¦Àû²ó
#define STEP 1¡¡//1²ó¤ÎȽÃǤÇÆ°ºî¤µ¤»¤ë»þ´Ö
#define nMAX 6¡¡//¸òº¹ÅÀ¤È¥«¡¼¥Ö¤òȽÃǤ¹¤ë·«¤êÊÖ¤·¤ÎºÇÂçÃÍ
#define short_break Off(OUT_AC); Wait(50);¡¡//¾®µÙ»ß
#define CROSS_TIME 30¡¡//¸òº¹ÅÀ¤òÅϤë»þ´Ö
#define cross_line OnFwd(OUT_AC); Wait(CROSS_TIME); short_break;¡¡//¸òº¹ÅÀ¤òÅϤë
#define time0 1000 //¡¤Ë¤«¤«¤ë»þ´Ö
#define time1 200 //¢¤Ë¤«¤«¤ë»þ´Ö
#define time2 600 //£¤Ë¤«¤«¤ë»þ´Ö
#define time3 800 //¤¥¦¤Ë¤«¤«¤ë»þ´Ö
#define time4 3000 //§¤Ë¤«¤«¤ë»þ´Ö
¡¡
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***¸òº¹ÅÀ¤Î¤Ê¤¤¾ì¹ç [#vc761a10]
sub line_race()¡¡//Ä̾ï¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
{
if (SENSOR_2 < THRESHOLD -5) { turn_right1; }
else if (SENSOR_2 < THRESHOLD -3) { turn_right0; }
else if (SENSOR_2 < THRESHOLD +2) { go_forward; }
else if (SENSOR_2 < THRESHOLD +5) { turn_left1; }
else { turn_left0; }
}
***¸òº¹ÅÀ¤ÎÉÕ¶á¡õ¸òº¹ÅÀ [#eb995b68]
sub line_cross()
{
int nOnline=0;¡¡//³¤±¤Æ¹õ¤Ë¤Ê¤Ã¤¿²ó¿ô¡¡»Ï¤á¤ò£°¤È¤¹¤ë
while (nOnline < nMAX){¡¡¡¡//³¤±¤Æ¹õ¤Ë¤Ê¤Ã¤¿²ó¿ô¤¬MAX°ÊÆâ
if (SENSOR_2 < THRESHOLD -5) { turn_right1; nOnline++; } ¡¡//±¦Àû²ó¤Î¾ì¹ç¡¢¥«¥¦¥ó¥È¤¹¤ë¹õ¤Ë¤Ê¤Ã¤¿²ó¿ô¤ò¥«¥¦¥ó¥È
else
{ if (SENSOR_2 < THRESHOLD -3) { turn_right0; }
else if (SENSOR_2 < THRESHOLD +3) { go_forward; }
else if (SENSOR_2 < THRESHOLD +7) { turn_left0; }
else { turn_left1; }
nOnline=0;¡¡//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
}
Wait(STEP);
}
short_break; PlaySound(SOUND_DOWN);¡¡//¾®µÙ»ß¡¢²»¤ÇÃΤ餻¤ë
turn_left0; Wait(nMAX*STEP);¡¡//Êý¸þ½¤Àµ
cross_line; ¡¡//¸òº¹ÅÀ¤òÅϤë
nOnline=0;¡¡//¥«¥¦¥ó¥¿¤ò¥ê¥»¥Ã¥È
}
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***´Ì¤ò°ÜÆ° [#qae3914c]
sub line_can()
{
OnFwd(OUT_B);¡¡//¥¢¡¼¥à¤Ç¤Ä¤«¤à
Wait(7);
OnFwd(OUT_AC);¡¡//Á°¿Ê
Wait(130);
OnFwd(OUT_C); OnRev(OUT_A); Off(OUT_B);¡¡//º¸Àû²ó
Wait(180);
Off(OUT_AC);¡¡¡¡//Ää»ß
Wait(50);
OnRev(OUT_B); ¡¡//´Ì¤òÎ¥¤¹
Wait(10);
OnRev(OUT_AC);¡¡¡¡//¸å¿Ê
Wait(180);
OnFwd(OUT_A); OnRev(OUT_C); Off(OUT_B); ¡¡//±¦Àû²ó
Wait(70);
OnFwd(OUT_AC);
Wait(100);
Off(OUT_ABC);
}
¡¡´Ì¤ò¤Ä¤«¤à¥×¥í¥°¥é¥à¤Ï°ÜÆ°¤Ë·ë¹½¥¹¥Ú¡¼¥¹¤ò¼è¤ë¤¿¤á¡¢¤â¤¦¾¯¤·¾®²ó¤ê¤¬¤Ç¤¤ë¥×¥í¥°¥é¥à¤Ë¤¹¤ì¤Ð¤è¤êÎɤ¯¤Ê¤ë¤È»×¤¤¤Þ¤¹¡£
***Á´ÂÎ¤Î¥×¥í¥°¥é¥à [#s699b2ff]
task main()
{
SetSensor(SENSOR_3, SENSOR_TOUCH);¡¡//¥»¥ó¥µ¡¼£³¤Ï¥¿¥Ã¥Á¥»¥ó¥µ¡¼
SetSensor(SENSOR_2, SENSOR_LIGHT);¡¡//¥»¥ó¥µ¡¼£²¤Ï¸÷¥»¥ó¥µ¡¼
int nOnline=0;
ClearTimer(0);¡¡//£°ÈÖÌܤΥ¿¥¤¥Þ¡¼¤ò¥ê¥»¥Ã¥È¤¹¤ë
while (FastTimer(0) <= time0) { line_race(); }¡¡//¡¤Î¥×¥í¥°¥é¥à
PlaySound(SOUND_UP);¡¡//¥µ¥¦¥ó¥É
ClearTimer(0);
while (FastTimer(0) <= time1) { line_cross(); }¡¡//¢¤Î¥×¥í¥°¥é¥à
PlaySound(SOUND_DOUBLE_BEEP);
ClearTimer(0);
while (FastTimer(0) <= time2) { line_race(); }¡¡//£¤Î¥×¥í¥°¥é¥à
PlaySound(SOUND_UP);
ClearTimer(0);
while (FastTimer(0) <= time3) { line_cross(); }¡¡//¤¥¦¤Î¥×¥í¥°¥é¥à
PlaySound(SOUND_DOUBLE_BEEP);
ClearTimer(0);
while (FastTimer(0) <= time4) {
line_race(); ¡¡¡¡¡¡¡¡//§¤Î¥×¥í¥°¥é¥à
if(SENSOR_3 == 1) { line_can(); }¡¡¡¡//´Ì¤¬¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤ËÈ¿±þ¤¹¤ë¤È´Ì¤ò°ÜÆ°¤¹¤ë¥×¥í¥°¥é¥à¤òÆɤ߹þ¤à
}
PlaySound(SOUND_UP);
Float(OUT_AC);¡¡¡¡//Ää»ß
}
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