2014a/Member/fuji/Mission2
¤ò¥Æ¥ó¥×¥ì¡¼¥È¤Ë¤·¤ÆºîÀ®
[
¥È¥Ã¥×
] [
¿·µ¬
|
°ìÍ÷
|
¸¡º÷
|
ºÇ½ª¹¹¿·
|
¥Ø¥ë¥×
|
¥í¥°¥¤¥ó
]
³«»Ï¹Ô:
Ìܼ¡
#contents
* ²ÝÂê¤ÎÀâÌÀ [#kb717e6d]
&ref(2014a/Member/fuji/Mission2/2014a-mission2.png);
¿Þ¤Î²«¿§¤¤¤È¤³¤í¤ËÃÖ¤¤¤Æ¤¢¤ë¿ô»ú¤¬½ñ¤¤¤Æ¤¢¤ë»æ¥³¥Ã¥×¤ò¡¢A,B,C¤È½ñ¤«¤ì¤¿¾ì½ê¤ËÃÖ¤¤¤Æ¤¢¤ëƱ¤¸¿ô»ú¤¬½ñ¤¤¤Æ¤¢¤ë»æ¥³¥Ã¥×¤Ë½Å¤Í¤ë¡£~
¿Þ¤Î²«¿§¤¤¾ì½ê¤Ë¤Ï¡¢¤½¤Î¿ô»ú¤ÈƱ¤¸¿ô»ú¤¬½ñ¤«¤ì¤¿»æ¥³¥Ã¥×¤¬ÃÖ¤«¤ì¤ë¡£
¤Þ¤¿A,B,C½ñ¤«¤ì¤¿¾ì½ê¤Ë¤â1¤«¤é3¤Þ¤Ç¤Î¿ô»ú¤¬½ñ¤«¤ì¤Æ¤¤¤ë»æ¥³¥Ã¥×¤¬ÃÖ¤«¤ì¤ë¡¢ ¤É¤Î¥³¥Ã¥×¤ò¤É¤³¤ËÃÖ¤¯¤«¤Ï¶¥µ»¤ò»Ï¤á¤ëľÁ°¤Ë¥µ¥¤¥³¥í¤ò¿¶¤Ã¤Æ·è¤á¤ë¡£~
¤Þ¤¿A,B,C½ñ¤«¤ì¤¿¾ì½ê¤Ë¤â1¤«¤é3¤Þ¤Ç¤Î¿ô»ú¤¬½ñ¤«¤ì¤Æ¤¤¤ë»æ¥³¥Ã¥×¤¬ÃÖ¤«¤ì¤ë¡¢ ¤É¤Î¥³¥Ã¥×¤ò¤É¤³¤ËÃÖ¤¯¤«¤Ï¶¥µ»¤ò»Ï¤á¤ëľÁ°¤Ë¥µ¥¤¥³¥í¤ò¿¶¤Ã¤Æ·è¤á¤ë¡£
¥ë¡¼¥ë¡¢ÆÀÅÀ¤Î»»½ÐÊýË¡¤Ï[[2014a/Mission2]]¤ò»²¾È¤·¤Æ¤¯¤À¤µ¤¤¡£
* ¥á¥ó¥Ð¡¼ [#j0ee8e63]
Æ£²¬Ë§Ìï¡¡½©»³ÏÂºÈ ´äº´¶Ç»Ë
*¡¡¥í¥Ü¥Ã¥ÈËÜÂÎ [#g0b2bc6e]
**Á´ÂÎÁü¡¡&ref(2014a/Member/fuji/Mission2/new_17.jpg); [#s9f7cede]
¥³¥Ã¥×¤ò¤Ä¤«¤àµ¡¹½¤¬Â礤µ¤ò¼è¤ê¤¹¤®¤Æ¤·¤Þ¤Ã¤¿¤¿¤áRCX¤ò¹â¤¤¤È¤³¤í¤ËÃÖ¤¯¤·¤«¤Ê¤¯¥¢¥ó¥Ð¥é¥ó¥¹¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£
**¥³¥Ã¥×¤ò¤Ä¤«¤àµ¡¹½¡¡ [#w2b23a33]
&ref(2014a/Member/fuji/Mission2/new_14.jpg);
¥³¥Ã¥×¤Î¾å¤«¤é¤«¤Ö¤»¤ë¤³¤È¤Ë¤è¤ê¥³¥Ã¥×¤ò¤Ä¤«¤à¡£
¥³¥Ã¥×¤ò¤Ä¤«¤ó¤À»þ¤Î¼Ì¿¿
&ref(2014a/Member/fuji/Mission2/new_20.jpg);
**¥¿¥¤¥ä¤Î¥´¥à¤ò¾å²¼±¿Æ°¤µ¤»¤ëµ¡¹½ [#adca6713]
&ref(2014a/Member/fuji/Mission2/new_55.jpg);
↙¼Ì¿¿¤Ç¤ÏÀÚ¤ì¤Æ¤¤¤Þ¤¹¤¬¤³¤³¤Ë¥¿¥¤¥ä¤Î¥´¥à¤¬ÉÕ¤¤¤Æ¤¤¤Þ¤¹¡£
£¤Î¥®¥¢¤È¥â¡¼¥¿¡¼¤Î¥®¥¢¤¬¤«¤ß¹ç¤Ã¤Æ¤¤¤ë¤Î¤Ç¡Ê²¼¤Î¼Ì¿¿¤ò»²¾È¡Ë¡¢¢¤Î¥â¡¼¥¿¡¼¤¬²óž¤¹¤ë¤³¤È¤Ë¤è¤ê¥¿¥¤¥ä¤Î¥´¥à¤¬Àèü¤Ë¤Ä¤¤¤¿¡¤¬¾å²¼±¿Æ°¤·¤Æ¡¢¥³¥Ã¥×¤ò¤Ä¤«¤ó¤À¤ê»ý¤Á¾å¤²¤¿¤ê¤·¤Þ¤¹¡£
&ref(2014a/Member/fuji/Mission2/new_23.jpg);
**¥³¥Ã¥×¤ò³°¤¹µ¡¹½ [#tb058f71]
&ref(2014a/Member/fuji/Mission2/24.jpg);
¥¿¥¤¥ä¤Î¥´¥à¤Ë¶´¤Þ¤Ã¤¿¥³¥Ã¥×¤ò¤Ë¾å¤²¤Æ¤¤¤¯¤È¡¢ÀÖ¤¤Æ͵¯¤¬¤Ä¤¤¤¿½ê¤Ë¥³¥Ã¥×¤¬¤¢¤¿¤ê¥³Íî¤Á¤ë¡£
**¥»¥ó¥µ¡¼ [#wc56cdaf]
&ref(2014a/Member/fuji/Mission2/25.jpg);
ÀµÌ̤ò¸þ¤¤¤Æ¤¤¤ë¡¢ÀÖ¤¤£Ì£Å£Ä¤¬¸«¤Æ¼è¤ì¤ëÀĤ¤¥Ö¥í¥Ã¥¯¤¬¥³¥Ã¥×¤Î¿§¤ò´¶ÃΤ¹¤ë¤¿¤á¤Î¥»¥ó¥µ¡¼~
¡Ê²¿È֤Υ³¥Ã¥×¤«¤ò¼±Ê̤¹¤ë¤¿¤á¤Ë¡¢¥³¥Ã¥×¤Ë¤ÏÈֹ椴¤È¤Ë¿§¤òÉÕ¤±¤Æ¤¢¤ë¡£¡Ë~
²¼¤ò¸þ¤¤¤Æ¤¤¤ëÀĤ¤¥Ö¥í¥Ã¥¯¤¬¥é¥¤¥ó¥È¥ì¥¤¥¹¤¹¤ë¤¿¤á¤Î¥»¥ó¥µ¡¼~
(¥é¥¤¥ó¤Î¾å¤òÁö¤Ã¤Æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤ë¤¿¤á)~
*¥×¥í¥°¥é¥à [#u7c938b2]
**ÄêµÁ [#w25040d8]
#define HIPOWER 1¡¡¡¡¡¡//ľÀþÍѤΥѥ
#define LOWPOWER 3 //¥«¡¼¥ÖÍѤΥѥ
#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); OnRev(OUT_A); //turn_left1¤òº¸¤Ë¶ËÃÏÀû²ó¤ÈÄêµÁ
#define turn_left0 set_power_L;\
OnFwd(OUT_C); Off(OUT_A); ¡¡¡¡¡¡// turn_left0º¸¤Ë¿®ÃÏÀû²ó¤ÈÄêµÁ
#define turn_right0 set_power_L;\
OnFwd(OUT_A); Off(OUT_C); ¡¡¡¡¡¡ ¡¡//turn_right0¤ò±¦¤Ë¶ËÃÏÀû²ó¤ÈÄêµÁ
#define turn_right1 set_power_L;\
OnFwd(OUT_A); OnRev(OUT_C); //±¦ÀÞ¡¡//turn_right1¤ò±¦¤Ë¿®ÃÏÀû²ó¤ÈÄêµÁ
#define SIGNALON 13
#define cross set_power_H; OnFwd(OUT_AC);Wait(20); //¸òº¹ÅÀ¤òÅϤë
#define c1 if (SENSOR_3 < 37) {Off(OUT_AC); SendMessage(SIGNALON);Wait(80);} //¹õ¤¤»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤¿¤é£²ÈÖ¤ÎRCX¤Ë¥á¥Ã¥»¡¼¥¸¤òÁ÷¤ë¡£
**¥á¥¤¥ó¥¿¥¹¥¯ [#d5a810b0]
task main() {
SetSensor(SENSOR_2,SENSOR_LIGHT);¡¡//¸÷¥»¥ó¥µ¡¼¥»¥Ã¥È
SetSensor(SENSOR_3,SENSOR_LIGHT);
int nl=0;//¸òº¹ÅÀ¤òȽÃǤ¹¤ë¤¿¤á¤Ë¡¢²¿²óϢ³¤Ç¹õÀþ¤ò´¶ÃΤ·¤¿¤«¥«¥¦¥ó¥È¤¹¤ëÊÑ¿ônl¤òÄêµÁ¡Ê¸òº¹ÅÀ¤Ç¤ÏÄ̾ï¤Î¥é¥¤¥ó¤è¤ê¤â¹õϢ³¤Ç´¶ÃΤ¹¤ë²ó¿ô¤¬Â¿¤¯¤Ê¤ë¡£¡Ë
int cc=0;//¸òº¹ÅÀ¤Î¿ô¤ò¿ô¤¨¤ë¤¿¤á¤ÎÊÑ¿ôcc¤òÄêµÁ¡¡
**AÃÏÅÀ¤Þ¤Ç¹Ô¤¯¤¿¤á¤Î¥×¥í¥°¥é¥à
go_forward;
Wait(460);
turn_left1;
Wait(140);
go_forward;
Wait(280);
¤³¤³¤Þ¤Ç¤Î¥×¥í¥°¥é¥à¤Ë¤è¤ê¿Þ¤ÎAÃÏÅÀ¤Þ¤ÇÍè¤Þ¤¹¡£
ClearTimer(0);//¥¿¥¤¥Þ¡¼¥¼¥í¤ò¥»¥Ã¥È¡Ê¸òº¹ÅÀ¤Ç¤Ê¤¤¤È¤³¤í¤Ç¹õÀþ¤òϢ³¤Ç¿ô¤¨¤¹¤®¤Æ¸òº¹ÅÀ¤ò¸í¤Ã¤ÆǧÃΤ·¤Ê¤¤¤¿¤á¤Ë¥¿¥¤¥Þ¡¼¤òÍѤ¤¤ë¡Ë
while (true) {
while ((nl < 5) ||(FastTimer(0)<500)){//¡¡¹õÀþ¤ò£µ²ó¤òϢ³¤Ç´¶ÃΤ·¤¿²ó¿ô¤¬5°Ê²¼¡¢¤â¤·¤¯¤Ï¥¹¥¿¡¼¥È¤«¤é500ÉðÊÆâ¤Ê¤é¤Ð°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤¹¤ë
if (SENSOR_2 < 37) {¡¡//¹õÀþ¤òȽÃÇ
turn_left1; //º¸¤Ë¶ÉÃÏÀû²ó
nl++;
} else if (SENSOR_2 < 41) { //¹õÀþ¤ÈÇòÀþ¤ÎÃæ´Ö¡Ê¹õÀþ¤è¤ê¡Ë¤òȽÃÇ
turn_left0;
nl=0;//nl¤ò¥ê¥»¥Ã¥È
} else if (SENSOR_2 < 45) {¡¡//¹õÀþ¤ÈÇòÀþ¤Î¤Á¤ç¤¦¤ÉÃæ´Ö¤òȽÃÇ
go_forward;
nl=0;
} else if (SENSOR_2 < 50) {¡¡//¹õÀþ¤ÈÇòÀþ¤ÎÃæ´Ö¡ÊÇòÀþ¤è¤ê¡Ë¤òȽÃÇ
turn_right0; ¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡
} else {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥í¥Ü¥Ã¥È¤¬ÇòÀþ¤Î¾å¤Ë¤¤¤ë¾õÂÖ
turn_right1;
nl=0;
}
Wait(1);
}
turn_right1; Wait(35);
cross;
cc++;
if (cc == 1) { //°ì¤ÄÌܤθòº¹ÅÀ¤Ë½Ð²ñ¤Ã¤¿¤ÈȽÃÇ
go_forward;
Wait(50);
c1;
OnRev(OUT_AC);
Wait(150);
turn_left1;
Wait(40);
go_forward;
Wait(280);
c1;
OnRev(OUT_AC);
Wait(500);
turn_left1;
Wait(100);
go_forward;
Wait(200);
c1;
OnRev(OUT_AC);
Wait(100);
turn_left1;
Wait(330);
go_forward;
Wait(1000);
} } }
*»²¹Íʸ¸¥:http://yakushi.shinshu-u.ac.jp/robotics/?2014a%2FMember%2Fkanzaki%2FMission2 [#sc853718]
½ªÎ»¹Ô:
Ìܼ¡
#contents
* ²ÝÂê¤ÎÀâÌÀ [#kb717e6d]
&ref(2014a/Member/fuji/Mission2/2014a-mission2.png);
¿Þ¤Î²«¿§¤¤¤È¤³¤í¤ËÃÖ¤¤¤Æ¤¢¤ë¿ô»ú¤¬½ñ¤¤¤Æ¤¢¤ë»æ¥³¥Ã¥×¤ò¡¢A,B,C¤È½ñ¤«¤ì¤¿¾ì½ê¤ËÃÖ¤¤¤Æ¤¢¤ëƱ¤¸¿ô»ú¤¬½ñ¤¤¤Æ¤¢¤ë»æ¥³¥Ã¥×¤Ë½Å¤Í¤ë¡£~
¿Þ¤Î²«¿§¤¤¾ì½ê¤Ë¤Ï¡¢¤½¤Î¿ô»ú¤ÈƱ¤¸¿ô»ú¤¬½ñ¤«¤ì¤¿»æ¥³¥Ã¥×¤¬ÃÖ¤«¤ì¤ë¡£
¤Þ¤¿A,B,C½ñ¤«¤ì¤¿¾ì½ê¤Ë¤â1¤«¤é3¤Þ¤Ç¤Î¿ô»ú¤¬½ñ¤«¤ì¤Æ¤¤¤ë»æ¥³¥Ã¥×¤¬ÃÖ¤«¤ì¤ë¡¢ ¤É¤Î¥³¥Ã¥×¤ò¤É¤³¤ËÃÖ¤¯¤«¤Ï¶¥µ»¤ò»Ï¤á¤ëľÁ°¤Ë¥µ¥¤¥³¥í¤ò¿¶¤Ã¤Æ·è¤á¤ë¡£~
¤Þ¤¿A,B,C½ñ¤«¤ì¤¿¾ì½ê¤Ë¤â1¤«¤é3¤Þ¤Ç¤Î¿ô»ú¤¬½ñ¤«¤ì¤Æ¤¤¤ë»æ¥³¥Ã¥×¤¬ÃÖ¤«¤ì¤ë¡¢ ¤É¤Î¥³¥Ã¥×¤ò¤É¤³¤ËÃÖ¤¯¤«¤Ï¶¥µ»¤ò»Ï¤á¤ëľÁ°¤Ë¥µ¥¤¥³¥í¤ò¿¶¤Ã¤Æ·è¤á¤ë¡£
¥ë¡¼¥ë¡¢ÆÀÅÀ¤Î»»½ÐÊýË¡¤Ï[[2014a/Mission2]]¤ò»²¾È¤·¤Æ¤¯¤À¤µ¤¤¡£
* ¥á¥ó¥Ð¡¼ [#j0ee8e63]
Æ£²¬Ë§Ìï¡¡½©»³ÏÂºÈ ´äº´¶Ç»Ë
*¡¡¥í¥Ü¥Ã¥ÈËÜÂÎ [#g0b2bc6e]
**Á´ÂÎÁü¡¡&ref(2014a/Member/fuji/Mission2/new_17.jpg); [#s9f7cede]
¥³¥Ã¥×¤ò¤Ä¤«¤àµ¡¹½¤¬Â礤µ¤ò¼è¤ê¤¹¤®¤Æ¤·¤Þ¤Ã¤¿¤¿¤áRCX¤ò¹â¤¤¤È¤³¤í¤ËÃÖ¤¯¤·¤«¤Ê¤¯¥¢¥ó¥Ð¥é¥ó¥¹¤Ë¤Ê¤Ã¤Æ¤·¤Þ¤Ã¤¿¡£
**¥³¥Ã¥×¤ò¤Ä¤«¤àµ¡¹½¡¡ [#w2b23a33]
&ref(2014a/Member/fuji/Mission2/new_14.jpg);
¥³¥Ã¥×¤Î¾å¤«¤é¤«¤Ö¤»¤ë¤³¤È¤Ë¤è¤ê¥³¥Ã¥×¤ò¤Ä¤«¤à¡£
¥³¥Ã¥×¤ò¤Ä¤«¤ó¤À»þ¤Î¼Ì¿¿
&ref(2014a/Member/fuji/Mission2/new_20.jpg);
**¥¿¥¤¥ä¤Î¥´¥à¤ò¾å²¼±¿Æ°¤µ¤»¤ëµ¡¹½ [#adca6713]
&ref(2014a/Member/fuji/Mission2/new_55.jpg);
↙¼Ì¿¿¤Ç¤ÏÀÚ¤ì¤Æ¤¤¤Þ¤¹¤¬¤³¤³¤Ë¥¿¥¤¥ä¤Î¥´¥à¤¬ÉÕ¤¤¤Æ¤¤¤Þ¤¹¡£
£¤Î¥®¥¢¤È¥â¡¼¥¿¡¼¤Î¥®¥¢¤¬¤«¤ß¹ç¤Ã¤Æ¤¤¤ë¤Î¤Ç¡Ê²¼¤Î¼Ì¿¿¤ò»²¾È¡Ë¡¢¢¤Î¥â¡¼¥¿¡¼¤¬²óž¤¹¤ë¤³¤È¤Ë¤è¤ê¥¿¥¤¥ä¤Î¥´¥à¤¬Àèü¤Ë¤Ä¤¤¤¿¡¤¬¾å²¼±¿Æ°¤·¤Æ¡¢¥³¥Ã¥×¤ò¤Ä¤«¤ó¤À¤ê»ý¤Á¾å¤²¤¿¤ê¤·¤Þ¤¹¡£
&ref(2014a/Member/fuji/Mission2/new_23.jpg);
**¥³¥Ã¥×¤ò³°¤¹µ¡¹½ [#tb058f71]
&ref(2014a/Member/fuji/Mission2/24.jpg);
¥¿¥¤¥ä¤Î¥´¥à¤Ë¶´¤Þ¤Ã¤¿¥³¥Ã¥×¤ò¤Ë¾å¤²¤Æ¤¤¤¯¤È¡¢ÀÖ¤¤Æ͵¯¤¬¤Ä¤¤¤¿½ê¤Ë¥³¥Ã¥×¤¬¤¢¤¿¤ê¥³Íî¤Á¤ë¡£
**¥»¥ó¥µ¡¼ [#wc56cdaf]
&ref(2014a/Member/fuji/Mission2/25.jpg);
ÀµÌ̤ò¸þ¤¤¤Æ¤¤¤ë¡¢ÀÖ¤¤£Ì£Å£Ä¤¬¸«¤Æ¼è¤ì¤ëÀĤ¤¥Ö¥í¥Ã¥¯¤¬¥³¥Ã¥×¤Î¿§¤ò´¶ÃΤ¹¤ë¤¿¤á¤Î¥»¥ó¥µ¡¼~
¡Ê²¿È֤Υ³¥Ã¥×¤«¤ò¼±Ê̤¹¤ë¤¿¤á¤Ë¡¢¥³¥Ã¥×¤Ë¤ÏÈֹ椴¤È¤Ë¿§¤òÉÕ¤±¤Æ¤¢¤ë¡£¡Ë~
²¼¤ò¸þ¤¤¤Æ¤¤¤ëÀĤ¤¥Ö¥í¥Ã¥¯¤¬¥é¥¤¥ó¥È¥ì¥¤¥¹¤¹¤ë¤¿¤á¤Î¥»¥ó¥µ¡¼~
(¥é¥¤¥ó¤Î¾å¤òÁö¤Ã¤Æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤ë¤¿¤á)~
*¥×¥í¥°¥é¥à [#u7c938b2]
**ÄêµÁ [#w25040d8]
#define HIPOWER 1¡¡¡¡¡¡//ľÀþÍѤΥѥ
#define LOWPOWER 3 //¥«¡¼¥ÖÍѤΥѥ
#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); OnRev(OUT_A); //turn_left1¤òº¸¤Ë¶ËÃÏÀû²ó¤ÈÄêµÁ
#define turn_left0 set_power_L;\
OnFwd(OUT_C); Off(OUT_A); ¡¡¡¡¡¡// turn_left0º¸¤Ë¿®ÃÏÀû²ó¤ÈÄêµÁ
#define turn_right0 set_power_L;\
OnFwd(OUT_A); Off(OUT_C); ¡¡¡¡¡¡ ¡¡//turn_right0¤ò±¦¤Ë¶ËÃÏÀû²ó¤ÈÄêµÁ
#define turn_right1 set_power_L;\
OnFwd(OUT_A); OnRev(OUT_C); //±¦ÀÞ¡¡//turn_right1¤ò±¦¤Ë¿®ÃÏÀû²ó¤ÈÄêµÁ
#define SIGNALON 13
#define cross set_power_H; OnFwd(OUT_AC);Wait(20); //¸òº¹ÅÀ¤òÅϤë
#define c1 if (SENSOR_3 < 37) {Off(OUT_AC); SendMessage(SIGNALON);Wait(80);} //¹õ¤¤»æ¥³¥Ã¥×¤ò¸«¤Ä¤±¤¿¤é£²ÈÖ¤ÎRCX¤Ë¥á¥Ã¥»¡¼¥¸¤òÁ÷¤ë¡£
**¥á¥¤¥ó¥¿¥¹¥¯ [#d5a810b0]
task main() {
SetSensor(SENSOR_2,SENSOR_LIGHT);¡¡//¸÷¥»¥ó¥µ¡¼¥»¥Ã¥È
SetSensor(SENSOR_3,SENSOR_LIGHT);
int nl=0;//¸òº¹ÅÀ¤òȽÃǤ¹¤ë¤¿¤á¤Ë¡¢²¿²óϢ³¤Ç¹õÀþ¤ò´¶ÃΤ·¤¿¤«¥«¥¦¥ó¥È¤¹¤ëÊÑ¿ônl¤òÄêµÁ¡Ê¸òº¹ÅÀ¤Ç¤ÏÄ̾ï¤Î¥é¥¤¥ó¤è¤ê¤â¹õϢ³¤Ç´¶ÃΤ¹¤ë²ó¿ô¤¬Â¿¤¯¤Ê¤ë¡£¡Ë
int cc=0;//¸òº¹ÅÀ¤Î¿ô¤ò¿ô¤¨¤ë¤¿¤á¤ÎÊÑ¿ôcc¤òÄêµÁ¡¡
**AÃÏÅÀ¤Þ¤Ç¹Ô¤¯¤¿¤á¤Î¥×¥í¥°¥é¥à
go_forward;
Wait(460);
turn_left1;
Wait(140);
go_forward;
Wait(280);
¤³¤³¤Þ¤Ç¤Î¥×¥í¥°¥é¥à¤Ë¤è¤ê¿Þ¤ÎAÃÏÅÀ¤Þ¤ÇÍè¤Þ¤¹¡£
ClearTimer(0);//¥¿¥¤¥Þ¡¼¥¼¥í¤ò¥»¥Ã¥È¡Ê¸òº¹ÅÀ¤Ç¤Ê¤¤¤È¤³¤í¤Ç¹õÀþ¤òϢ³¤Ç¿ô¤¨¤¹¤®¤Æ¸òº¹ÅÀ¤ò¸í¤Ã¤ÆǧÃΤ·¤Ê¤¤¤¿¤á¤Ë¥¿¥¤¥Þ¡¼¤òÍѤ¤¤ë¡Ë
while (true) {
while ((nl < 5) ||(FastTimer(0)<500)){//¡¡¹õÀþ¤ò£µ²ó¤òϢ³¤Ç´¶ÃΤ·¤¿²ó¿ô¤¬5°Ê²¼¡¢¤â¤·¤¯¤Ï¥¹¥¿¡¼¥È¤«¤é500ÉðÊÆâ¤Ê¤é¤Ð°Ê²¼¤Î¥×¥í¥°¥é¥à¤ò¼Â¹Ô¤¹¤ë
if (SENSOR_2 < 37) {¡¡//¹õÀþ¤òȽÃÇ
turn_left1; //º¸¤Ë¶ÉÃÏÀû²ó
nl++;
} else if (SENSOR_2 < 41) { //¹õÀþ¤ÈÇòÀþ¤ÎÃæ´Ö¡Ê¹õÀþ¤è¤ê¡Ë¤òȽÃÇ
turn_left0;
nl=0;//nl¤ò¥ê¥»¥Ã¥È
} else if (SENSOR_2 < 45) {¡¡//¹õÀþ¤ÈÇòÀþ¤Î¤Á¤ç¤¦¤ÉÃæ´Ö¤òȽÃÇ
go_forward;
nl=0;
} else if (SENSOR_2 < 50) {¡¡//¹õÀþ¤ÈÇòÀþ¤ÎÃæ´Ö¡ÊÇòÀþ¤è¤ê¡Ë¤òȽÃÇ
turn_right0; ¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡
} else {¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥í¥Ü¥Ã¥È¤¬ÇòÀþ¤Î¾å¤Ë¤¤¤ë¾õÂÖ
turn_right1;
nl=0;
}
Wait(1);
}
turn_right1; Wait(35);
cross;
cc++;
if (cc == 1) { //°ì¤ÄÌܤθòº¹ÅÀ¤Ë½Ð²ñ¤Ã¤¿¤ÈȽÃÇ
go_forward;
Wait(50);
c1;
OnRev(OUT_AC);
Wait(150);
turn_left1;
Wait(40);
go_forward;
Wait(280);
c1;
OnRev(OUT_AC);
Wait(500);
turn_left1;
Wait(100);
go_forward;
Wait(200);
c1;
OnRev(OUT_AC);
Wait(100);
turn_left1;
Wait(330);
go_forward;
Wait(1000);
} } }
*»²¹Íʸ¸¥:http://yakushi.shinshu-u.ac.jp/robotics/?2014a%2FMember%2Fkanzaki%2FMission2 [#sc853718]
¥Ú¡¼¥¸Ì¾: