2014b/Member/akebono/Mission1
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#contents
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#define SPEED 35¡¡//ÃÙ¤á¤Î½ÐÎÏ£³£µ¡ó¤ËÀßÄê
#define pen_dis 7.5 //²¼¤í¤·¤¿»þ¤Î¥Ú¥óÀè¤ÈËÜÂΤÎÀû²ó¤Î²óžÃæ¿´¤È¤Îµ÷Î¥
float GetAngle_turn(float a) //µá¤á¤ëËÜÂΤβóž³Ñ¤«¤é¥¿¥¤¥ä¤Î²óž³Ñ¤òµá¤á¤ë´Ø¿ô
{
const float diameter = 5.9;
const float distance = 11.7;
float ang = (a*distance)/diameter;
return ang;
}
float GetAngle_go(float a) //µá¤á¤ë°ÜÆ°µ÷Î¥¤«¤é¥¿¥¤¥ä¤Î²óž³Ñ¤òµá¤á¤ë´Ø¿ô
{
const float diameter = 5.9;
const float pi = 3.1415;
float ang = a/(diameter*pi)*360.0;
return ang;
}
sub turn_L(float t) //º¸¤ËtÅÙ²óž
{
int angle_turn_L = GetAngle_turn(t);
RotateMotorEx(OUT_BC,SPEED,angle_turn_L,-100,true,true);//P37
Off(OUT_BC);
}
sub turn_R(float t) //±¦¤ËtÅÙ²óž
{
int angle_turn_R = GetAngle_turn(t);
RotateMotorEx(OUT_BC,SPEED,angle_turn_R,100,true,true);//P37
Off(OUT_BC);
}
sub go_F(float t) //Á°¤Ët¥»¥ó¥Á¿Ê¤à
{
int angle_go_F = GetAngle_go(t);
RotateMotorEx(OUT_BC,SPEED,angle_go_F,0,true,true);
Off(OUT_BC);
}
sub go_R(float t) //¸å¤í¤Ët¥»¥ó¥Á¿Ê¤à
{
int angle_go_R = GetAngle_go(t);
RotateMotorEx(OUT_BC,-SPEED,angle_go_R,0,true,true);
Off(OUT_BC);
}
sub pen_UP() //¥Ú¥ó¤ò¾å¤²¤ë
{
RotateMotor(OUT_A,-SPEED,180);
Off(OUT_A);
}
sub pen_DW() //¥Ú¥ó¤ò²¼¤²¤ë
{
RotateMotor(OUT_A,SPEED,180);
Off(OUT_A);
}
¤³¤³¤Þ¤Ç¤ÎÄêµÁ¤Ç¡¢²¿ÑÁ°¿Ê¡¦¸åÂà¤È¡¢²¿¡ë±¦Àû²ó¡¦º¸Àû²ó¤È¡¢¥Ú¥ó¤Î¾º¹ß¤ÎÌ¿Îá¤òºî¤ë¤³¤È¤¬¤Ç¤¤¿
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task main()
{
Wait(1000); //¥¹¥¤¥Ã¥Á¤ò²¡¤·¤Æ¤«¤é´Ö¤òÃÖ¤¯
go_F(6.0);
turn_L(90.0);
go_F(2.0);
turn_R(105.0);
go_R(pen_dis);
pen_DW();
go_F(12.5);//Ãæ±û¤ÎŤ¤²è
pen_UP();
go_F(pen_dis);
turn_L(15.0);
go_R(3.5);
turn_L(45.0);
go_R(3.0);
pen_DW();
go_F(3.0);//¤µ¤ó¤º¤¤¤Î1ÈÖ¾å
pen_UP();
turn_R(45.0);
go_R(3.0);
turn_L(45.0);
go_R(3.0);
pen_DW();
go_F(3.0);//¤µ¤ó¤º¤¤¤Î2ÈÖÌÜ
pen_UP();
turn_L(90.0);
go_R(3.0);
pen_DW();
go_F(3.0);//¤µ¤ó¤º¤¤¤Î3ÈÖÌÜ
pen_UP();
turn_R(135.0);
go_F(6.0);
turn_R(90.0);
go_R(pen_dis);
pen_DW();
go_F(6.0);//°ìÈÖ¾å¤Î¤è¤³¤Ü¤¦
pen_UP();
go_F(pen_dis);
turn_R(90.0);
go_R(pen_dis);
pen_DW();
go_F(3.0);//±¦¤Î½ÄËÀ
pen_UP();
go_F(pen_dis);
turn_R(90.0);
go_R(pen_dis);
pen_DW();
go_F(6.5);//ÆóÈÖÌܤβ£ËÀ
pen_UP();
go_F(5.5);
turn_L(120.0);
go_R(pen_dis);
pen_DW();
go_F(10.0);//±¦²¼¤Î¼Ð¤áËÀ
pen_UP();
go_F(pen_dis);
turn_L(60.0);
go_R(pen_dis);
pen_DW();
go_F(1.2);//ʧ¤¤
pen_UP();
}
#ref(./IMAG0676.jpg,100%)
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[[2014b/Member]]
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#contents
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#define SPEED 35¡¡//ÃÙ¤á¤Î½ÐÎÏ£³£µ¡ó¤ËÀßÄê
#define pen_dis 7.5 //²¼¤í¤·¤¿»þ¤Î¥Ú¥óÀè¤ÈËÜÂΤÎÀû²ó¤Î²óžÃæ¿´¤È¤Îµ÷Î¥
float GetAngle_turn(float a) //µá¤á¤ëËÜÂΤβóž³Ñ¤«¤é¥¿¥¤¥ä¤Î²óž³Ñ¤òµá¤á¤ë´Ø¿ô
{
const float diameter = 5.9;
const float distance = 11.7;
float ang = (a*distance)/diameter;
return ang;
}
float GetAngle_go(float a) //µá¤á¤ë°ÜÆ°µ÷Î¥¤«¤é¥¿¥¤¥ä¤Î²óž³Ñ¤òµá¤á¤ë´Ø¿ô
{
const float diameter = 5.9;
const float pi = 3.1415;
float ang = a/(diameter*pi)*360.0;
return ang;
}
sub turn_L(float t) //º¸¤ËtÅÙ²óž
{
int angle_turn_L = GetAngle_turn(t);
RotateMotorEx(OUT_BC,SPEED,angle_turn_L,-100,true,true);//P37
Off(OUT_BC);
}
sub turn_R(float t) //±¦¤ËtÅÙ²óž
{
int angle_turn_R = GetAngle_turn(t);
RotateMotorEx(OUT_BC,SPEED,angle_turn_R,100,true,true);//P37
Off(OUT_BC);
}
sub go_F(float t) //Á°¤Ët¥»¥ó¥Á¿Ê¤à
{
int angle_go_F = GetAngle_go(t);
RotateMotorEx(OUT_BC,SPEED,angle_go_F,0,true,true);
Off(OUT_BC);
}
sub go_R(float t) //¸å¤í¤Ët¥»¥ó¥Á¿Ê¤à
{
int angle_go_R = GetAngle_go(t);
RotateMotorEx(OUT_BC,-SPEED,angle_go_R,0,true,true);
Off(OUT_BC);
}
sub pen_UP() //¥Ú¥ó¤ò¾å¤²¤ë
{
RotateMotor(OUT_A,-SPEED,180);
Off(OUT_A);
}
sub pen_DW() //¥Ú¥ó¤ò²¼¤²¤ë
{
RotateMotor(OUT_A,SPEED,180);
Off(OUT_A);
}
¤³¤³¤Þ¤Ç¤ÎÄêµÁ¤Ç¡¢²¿ÑÁ°¿Ê¡¦¸åÂà¤È¡¢²¿¡ë±¦Àû²ó¡¦º¸Àû²ó¤È¡¢¥Ú¥ó¤Î¾º¹ß¤ÎÌ¿Îá¤òºî¤ë¤³¤È¤¬¤Ç¤¤¿
¼¡¤«¤é¤Ï¤½¤ì¤é¤ò»È¤Ã¤Æ¡ÖÂô¡×¤Î»ú¤ò¤«¤¯¥×¥í¥°¥é¥à¤Ç¤¢¤ë
task main()
{
Wait(1000); //¥¹¥¤¥Ã¥Á¤ò²¡¤·¤Æ¤«¤é´Ö¤òÃÖ¤¯
go_F(6.0);
turn_L(90.0);
go_F(2.0);
turn_R(105.0);
go_R(pen_dis);
pen_DW();
go_F(12.5);//Ãæ±û¤ÎŤ¤²è
pen_UP();
go_F(pen_dis);
turn_L(15.0);
go_R(3.5);
turn_L(45.0);
go_R(3.0);
pen_DW();
go_F(3.0);//¤µ¤ó¤º¤¤¤Î1ÈÖ¾å
pen_UP();
turn_R(45.0);
go_R(3.0);
turn_L(45.0);
go_R(3.0);
pen_DW();
go_F(3.0);//¤µ¤ó¤º¤¤¤Î2ÈÖÌÜ
pen_UP();
turn_L(90.0);
go_R(3.0);
pen_DW();
go_F(3.0);//¤µ¤ó¤º¤¤¤Î3ÈÖÌÜ
pen_UP();
turn_R(135.0);
go_F(6.0);
turn_R(90.0);
go_R(pen_dis);
pen_DW();
go_F(6.0);//°ìÈÖ¾å¤Î¤è¤³¤Ü¤¦
pen_UP();
go_F(pen_dis);
turn_R(90.0);
go_R(pen_dis);
pen_DW();
go_F(3.0);//±¦¤Î½ÄËÀ
pen_UP();
go_F(pen_dis);
turn_R(90.0);
go_R(pen_dis);
pen_DW();
go_F(6.5);//ÆóÈÖÌܤβ£ËÀ
pen_UP();
go_F(5.5);
turn_L(120.0);
go_R(pen_dis);
pen_DW();
go_F(10.0);//±¦²¼¤Î¼Ð¤áËÀ
pen_UP();
go_F(pen_dis);
turn_L(60.0);
go_R(pen_dis);
pen_DW();
go_F(1.2);//ʧ¤¤
pen_UP();
}
#ref(./IMAG0676.jpg,100%)
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