2014a/Member/tacchan/Mission1
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[[2014a/Member]]
*¥á¥ó¥Ð¡¼ [#we26e668]
¡¡tacchan
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**²ÝÂê¤Ë¤Ä¤¤¤Æ [#h6e6f05f]
¡¡º£²ó¤Î²ÝÂê¤Ï[[2014a/Mission1]]¤Ë¤¢¤ë¤è¤¦¤Ë¥¹¥¿¡¼¥È¡Ê¤Þ¤¿¤Ï¥´¡¼¥ë¡Ë¤«¤é¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¡¢ÅÓÃæ¤Ç¥Ô¥ó¥Ý¥ó¶Ì¤òÄϤßÈ¿ÂЦ¤ÎÃÏÅÀ¤Þ¤Ç±¿¤Ö¤È¤¤¤¦¤â¤Î¤Ç¤¢¤ë¡£¡Ê¥³¡¼¥¹¿Þ¤Ï²¼¤Î¤È¤ª¤ê¤Ç¤¢¤ë¡£¡Ë
&ref(http://yakushi.shinshu-u.ac.jp/robotics/?plugin=ref&page=2014a%2FMission1&src=2014a-mission1.png);
**²ÝÂ깶ά¤Ë¸þ¤±¤Æ¡¡ [#me8c615b]
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&ref(2014a/Member/tacchan/Mission1/DSC_02301.jpg,20%,µ¡ÂΦÌÌ);
&ref(2014a/Member/tacchan/Mission1/DSC_02381.jpg,20%,µ¡ÂξåÌÌ);
¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤¹¤ë¤¿¤á¤Î¥é¥¤¥È¥»¥ó¥µ¡¼¤ò¤Ç¤¤ë¤À¤±¼Ö¼´¤Ë¶á¤¤°ÌÃÖ¤ËÃÏÌ̤ȿâľ¤Ë¤Ê¤ë¤è¤¦¤Ë¼è¤êÉÕ¤±¡¢Ä¶²»ÇÈ¥»¥ó¥µ¡¼¤ò¤¬Âоݤò´¶ÃΤ·¤ä¤¹¤¤¤è¤¦¤ËÀµÌ̤ËÇÛÃÖ¤·¡¢¤½¤Î¾åÉô¤Ë¥Ô¥ó¥Ý¥ó¶Ì¤ò°Ï¤àäƤòÆ°¤«¤¹¥â¡¼¥¿¡¼¤ò¼è¤êÉÕ¤±¤¿¡£
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#define THRESHOLD 50
#define SPEED_H 35
#define SPEED_L 25
#define OnRL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL);
#define go_forward OnRL(SPEED_H,SPEED_H);
#define turn_left1 OnRL(SPEED_L,-SPEED_L);//º¸Àû²ó
#define turn_left0 OnRL(SPEED_L,0);//º¸ÀÞ
#define turn_right0 OnRL(0,SPEED_L);//±¦ÀÞ
#define turn_right1 OnRL(-SPEED_L,SPEED_L);//±¦Àû²ó
#define STEP 1
#define nMAX 120//ºÇ½é¤Î¸òº¹ÅÀ¤òÅϤꤤë¤Þ¤Ç¤Î¹õÀþ¥«¥¦¥ó¥¿¡¼¤ÎºÇÂçÃÍ
#define nMAX2 175//¥Ü¡¼¥ë¤ò¼è¤Ã¤¿¸å¤Î¹õÀþ¥«¥¦¥ó¥¿¡¼¤ÎºÇÂçÃÍ
#define short_break Off(OUT_BC);Wait(1000);
#define CROSS_TIME 450
#define cross_line OnRL(SPEED_L,SPEED_L);Wait(CROSS_TIME);short_break;
task main()
{
SetSensorLight(S3);//ü»Ò3¤Ë¥é¥¤¥È¥»¥ó¥µ¡¼
SetSensorLowspeed(S4)//;ü»Ò4¤ËĶ²»ÇÈ¥»¥ó¥µ¡¼
int nOnline=0;//³¤±¤Æ¹õ¤Ë¤Ê¤Ã¤¿²ó¿ô
int cross_number=0;//¸òº¹ÅÀ¤òÅϤ俲ó¿ô
int sensor_number=0;//¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿²ó¿ô
go_forward;
Wait(1000);
while(cross_number<1)//ºÇ½é¤Î¸òº¹ÅÀ¤òÅϤë¤Þ¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
{
while(nOnline<nMAX)
{
if(SENSOR_3<THRESHOLD-15)
{
turn_right1;
nOnline++;//¹õÀþ¥«¥¦¥ó¥¿¡¼¤òÄɲÃ
}else{
if(SENSOR_3<THRESHOLD-7)
{
turn_right0;
}else if(SENSOR_3<THRESHOLD+7)
{
go_forward;
}else if(SENSOR_3<THRESHOLD+15)
{
turn_left0;
}else{
turn_left1;
}
nOnline=0;
}
Wait(STEP);
}
short_break;
turn_right1;Wait(nMAX*STEP+100);
cross_line;
PlaySound(SOUND_UP);
nOnline=0;
cross_number++;//¸òº¹ÅÀ¤òÅϤ뤴¤È¤Ë¸òº¹ÅÀ¥«¥¦¥ó¥¿¡¼¤òÄɲÃ
}
while(sensor_number==0)//¶Ì¤òǧ¼±¤·¤Æ¼è¤ë¤Þ¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
{
if(SENSOR_3<THRESHOLD-15) {
turn_right1;
nOnline++;
if(SensorUS(S4)<10)//¶Ì¤ò¤È¤ëÆ°ºî
{
Off(OUT_BC);
turn_right0;//°ÌÃÖ½¤Àµ
Wait(1000);
Off(OUT_BC);
OnFwd(OUT_A,20);//¥¢¡¼¥à¹ß²¼
Wait(1300);
Off(OUT_A);
Off(OUT_BC);
sensor_number++;//¥»¥ó¥µ¡¼¤Î¥«¥¦¥ó¥¿¡¼¤òÁý¤ä¤¹
}
}else{
if(SENSOR_3<THRESHOLD-7)
{
turn_right0;
}else if(SENSOR_3<THRESHOLD+7)
{
go_forward;
}else if(SENSOR_3<THRESHOLD+15)
{
turn_left0;
}else{
turn_left1;
}
nOnline=0;
}
Wait(STEP);
}
while(cross_number<=3)//¶Ì¤ò¤È¤Ã¤¿¸å¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
{
while(nOnline<nMAX2)
{
if(SENSOR_3<THRESHOLD-15)
{
turn_right1;
nOnline++;
}else{
if(SENSOR_3<THRESHOLD-7)
{
turn_right0;
}else if(SENSOR_3<THRESHOLD+7)
{
go_forward;
}else if(SENSOR_3<THRESHOLD+15)
{
turn_left0;
}else{
turn_left1;
}
nOnline=0;
}
Wait(STEP);
}
short_break;
turn_right1;Wait(nMAX*STEP+300);
cross_line;
PlaySound(SOUND_UP);
nOnline=0;
cross_number++;
}
Off(OUT_BC);//¶Ì¤ò¥´¡¼¥ë¤ËÆþ¤ì¤ëÆ°ºî
OnRev(OUT_A,20);
Wait(400);
}
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[[2014a/Member]]
*¥á¥ó¥Ð¡¼ [#we26e668]
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**²ÝÂê¤Ë¤Ä¤¤¤Æ [#h6e6f05f]
¡¡º£²ó¤Î²ÝÂê¤Ï[[2014a/Mission1]]¤Ë¤¢¤ë¤è¤¦¤Ë¥¹¥¿¡¼¥È¡Ê¤Þ¤¿¤Ï¥´¡¼¥ë¡Ë¤«¤é¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò¤·¡¢ÅÓÃæ¤Ç¥Ô¥ó¥Ý¥ó¶Ì¤òÄϤßÈ¿ÂЦ¤ÎÃÏÅÀ¤Þ¤Ç±¿¤Ö¤È¤¤¤¦¤â¤Î¤Ç¤¢¤ë¡£¡Ê¥³¡¼¥¹¿Þ¤Ï²¼¤Î¤È¤ª¤ê¤Ç¤¢¤ë¡£¡Ë
&ref(http://yakushi.shinshu-u.ac.jp/robotics/?plugin=ref&page=2014a%2FMission1&src=2014a-mission1.png);
**²ÝÂ깶ά¤Ë¸þ¤±¤Æ¡¡ [#me8c615b]
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&ref(2014a/Member/tacchan/Mission1/DSC_02301.jpg,20%,µ¡ÂΦÌÌ);
&ref(2014a/Member/tacchan/Mission1/DSC_02381.jpg,20%,µ¡ÂξåÌÌ);
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#define THRESHOLD 50
#define SPEED_H 35
#define SPEED_L 25
#define OnRL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL);
#define go_forward OnRL(SPEED_H,SPEED_H);
#define turn_left1 OnRL(SPEED_L,-SPEED_L);//º¸Àû²ó
#define turn_left0 OnRL(SPEED_L,0);//º¸ÀÞ
#define turn_right0 OnRL(0,SPEED_L);//±¦ÀÞ
#define turn_right1 OnRL(-SPEED_L,SPEED_L);//±¦Àû²ó
#define STEP 1
#define nMAX 120//ºÇ½é¤Î¸òº¹ÅÀ¤òÅϤꤤë¤Þ¤Ç¤Î¹õÀþ¥«¥¦¥ó¥¿¡¼¤ÎºÇÂçÃÍ
#define nMAX2 175//¥Ü¡¼¥ë¤ò¼è¤Ã¤¿¸å¤Î¹õÀþ¥«¥¦¥ó¥¿¡¼¤ÎºÇÂçÃÍ
#define short_break Off(OUT_BC);Wait(1000);
#define CROSS_TIME 450
#define cross_line OnRL(SPEED_L,SPEED_L);Wait(CROSS_TIME);short_break;
task main()
{
SetSensorLight(S3);//ü»Ò3¤Ë¥é¥¤¥È¥»¥ó¥µ¡¼
SetSensorLowspeed(S4)//;ü»Ò4¤ËĶ²»ÇÈ¥»¥ó¥µ¡¼
int nOnline=0;//³¤±¤Æ¹õ¤Ë¤Ê¤Ã¤¿²ó¿ô
int cross_number=0;//¸òº¹ÅÀ¤òÅϤ俲ó¿ô
int sensor_number=0;//¥»¥ó¥µ¡¼¤¬È¿±þ¤·¤¿²ó¿ô
go_forward;
Wait(1000);
while(cross_number<1)//ºÇ½é¤Î¸òº¹ÅÀ¤òÅϤë¤Þ¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
{
while(nOnline<nMAX)
{
if(SENSOR_3<THRESHOLD-15)
{
turn_right1;
nOnline++;//¹õÀþ¥«¥¦¥ó¥¿¡¼¤òÄɲÃ
}else{
if(SENSOR_3<THRESHOLD-7)
{
turn_right0;
}else if(SENSOR_3<THRESHOLD+7)
{
go_forward;
}else if(SENSOR_3<THRESHOLD+15)
{
turn_left0;
}else{
turn_left1;
}
nOnline=0;
}
Wait(STEP);
}
short_break;
turn_right1;Wait(nMAX*STEP+100);
cross_line;
PlaySound(SOUND_UP);
nOnline=0;
cross_number++;//¸òº¹ÅÀ¤òÅϤ뤴¤È¤Ë¸òº¹ÅÀ¥«¥¦¥ó¥¿¡¼¤òÄɲÃ
}
while(sensor_number==0)//¶Ì¤òǧ¼±¤·¤Æ¼è¤ë¤Þ¤Ç¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
{
if(SENSOR_3<THRESHOLD-15) {
turn_right1;
nOnline++;
if(SensorUS(S4)<10)//¶Ì¤ò¤È¤ëÆ°ºî
{
Off(OUT_BC);
turn_right0;//°ÌÃÖ½¤Àµ
Wait(1000);
Off(OUT_BC);
OnFwd(OUT_A,20);//¥¢¡¼¥à¹ß²¼
Wait(1300);
Off(OUT_A);
Off(OUT_BC);
sensor_number++;//¥»¥ó¥µ¡¼¤Î¥«¥¦¥ó¥¿¡¼¤òÁý¤ä¤¹
}
}else{
if(SENSOR_3<THRESHOLD-7)
{
turn_right0;
}else if(SENSOR_3<THRESHOLD+7)
{
go_forward;
}else if(SENSOR_3<THRESHOLD+15)
{
turn_left0;
}else{
turn_left1;
}
nOnline=0;
}
Wait(STEP);
}
while(cross_number<=3)//¶Ì¤ò¤È¤Ã¤¿¸å¤Î¥é¥¤¥ó¥È¥ì¡¼¥¹
{
while(nOnline<nMAX2)
{
if(SENSOR_3<THRESHOLD-15)
{
turn_right1;
nOnline++;
}else{
if(SENSOR_3<THRESHOLD-7)
{
turn_right0;
}else if(SENSOR_3<THRESHOLD+7)
{
go_forward;
}else if(SENSOR_3<THRESHOLD+15)
{
turn_left0;
}else{
turn_left1;
}
nOnline=0;
}
Wait(STEP);
}
short_break;
turn_right1;Wait(nMAX*STEP+300);
cross_line;
PlaySound(SOUND_UP);
nOnline=0;
cross_number++;
}
Off(OUT_BC);//¶Ì¤ò¥´¡¼¥ë¤ËÆþ¤ì¤ëÆ°ºî
OnRev(OUT_A,20);
Wait(400);
}
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