2017a/Member/tucky/Mission3
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#contents
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**¥Þ¥¹¥¿¡¼¤Î¥×¥í¥°¥é¥à [#t53d91cd]
#define THRESHOLD 50 //¤·¤¤¤ÃÍ
#define OnRL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL); //ľ¿Ê¡Ê½ÐÎÏ¡Ë
#define go_forward OnRL(SPEED, SPEED); //ľ¿Ê
#define go_back OnRL(-SPEED,-SPEED); //¸åÂà
#define turn_left1 OnRL(SPEED, -SPEED); //º¸¤ËÀû²ó
#define turn_left0 OnRL(SPEED, 0); //º¸¤Ë¥«¡¼¥Ö
#define turn_right0 OnRL(0, SPEED); //±¦¤Ë¥«¡¼¥Ö
#define turn_right1 OnRL(-SPEED, SPEED); //±¦¤ËÀû²ó
#define SPEED 45 //½ÐÎÏ
task main()
{
SetSensorLight(S3); //¸÷¥»¥ó¥µ¡¼
SetSensorLowspeed(S1); //Ķ²»ÇÈ¥»¥ó¥µ¡¼
until(BluetoothStatus(1)==NO_ERR); //¥¹¥ì¡¼¥Ö¦¤ÈÀܳ¤¹¤ë¤Þ¤ÇÂÔ¤Ä
int nKan=0; //ÄϤó¤À´Ì¤Î¸Ä¿ô
while (nKan < 2) { //ÄϤó¤À´Ì¤Î¸Ä¿ô¤¬1¸Ä¤Î»þ
while(SensorUS(S1)>15){ //¥»¥ó¥µ¡¼¤È´Ì¤È¤Îµ÷Î¥¤¬15¥»¥ó¥Á°Ê¾å¤Î»þ¤Ë¤Ï¼¡¤ÎÆ°ºî¤ò¹Ô¤¦
if (SENSOR_3 < THRESHOLD-10) {
turn_left1; //º¸¤ËÀû²ó
}
else {
if (SENSOR_3 < THRESHOLD-5) {
turn_left0; //º¸¤Ë¥«¡¼¥Ö
}
else if (SENSOR_3 < THRESHOLD+5) {
go_forward; //ľ¿Ê
}
else if (SENSOR_3 < THRESHOLD+10) {
turn_right0; //±¦¤Ë¥«¡¼¥Ö
}
else {
turn_right1; //±¦¤ËÀû²ó
}
}
Wait(1);
}
until(SensorUS(S1)<=12){ //¥»¥ó¥µ¡¼¤È´Ì¤È¤Î´Ö¤Îµ÷Î¥¤¬12Ѱʲ¼¤Ë¤Ê¤ë¤Þ¤Ç
go_forward; //ľ¿Ê
}
if (SensorUS(S1)<=12){ //¥»¥ó¥µ¡¼¤È´Ì¤È¤Î´Ö¤Îµ÷Î¥¤¬12Ѱʲ¼¤Ë¤Ê¤Ã¤¿¤é
Off(OUT_BC);
RemoteStartProgram(1,"sss1.rxe"); //¥¹¥ì¡¼¥Ö¦¤Ë¥Õ¥¡¥¤¥ë¡Össs1.nxc¡×¤òÌ¿Îá
Wait(2000);
RotateMotorEx(OUT_BC,45,100,0,true,true); //´Ì¤ò¤Ä¤«¤à¤¿¤á¤Î°ÌÃÖÄ´À°
Wait(6000);
nKan++; //¥«¥¦¥ó¥¿¤òÁý¤ä¤¹
}
}
while(nKan<3){ //ÄϤó¤À´Ì¤Î¸Ä¿ô¤¬2¸Ä¤Î»þ
RotateMotor(OUT_B,-SPEED,200); //¥´¡¼¥ëÊý¸þ¤ËÊý¸þž´¹
go_forward; //ľ¿Ê
Wait(2500);
Off(OUT_BC);
RemoteStartProgram(1,"sss2.rxe"); //¥¹¥ì¡¼¥Ö¦¤Ë¥Õ¥¡¥¤¥ë¡Össs2.nxc¡×¤òÌ¿Îá
Wait(5000);
go_back; //¸åÂà
Wait(3000);
Off(OUT_BC);
nKan++;¡¡¡¡¡¡//¥×¥í¥°¥é¥à¤ò½ªÎ»¤µ¤»¤ë¤¿¤á¤Ë¥«¥¦¥ó¥¿¤òÁý¤ä¤¹
}
}
**¥¹¥ì¡¼¥Ö¤Î¥×¥í¥°¥é¥à [#n94b01d0]
¥Õ¥¡¥¤¥ë̾¡Össs1.nxc¡×¡Ê´Ì¤òÄϤà¡õ»ý¤Á¾å¤²¤ë¡Ë
task main()
{
RotateMotor(OUT_C,-30,30); //Í·Ú¸º¤Î¤¿¤á¤Ë¥¢¡¼¥à¤ò¾¯¤·²¼¤²¤ë
RotateMotor(OUT_B,30,30); //¥¢¡¼¥à¤ò³«¤¯
RotateMotor(OUT_C,-30,150); //¥¢¡¼¥à¤ò²¼¤²¤ë
Wait(2000);
OnFwd(OUT_B,-30); //´Ì¤òÄϤà
Wait(3000);
Off(OUT_B);
RotateMotor(OUT_C,50,180); //¥¢¡¼¥à¤ò¾å¤²¤ë
}
¥Õ¥¡¥¤¥ë̾¡Össs2.nxc¡×¡Ê´Ì¤òÃÖ¤¯¡Ë
task main()
{
RotateMotor(OUT_C,-30,180); //¥¢¡¼¥à¤ò²¼¤²¤ë
RotateMotor(OUT_B,30,90); //¥¢¡¼¥à¤ò³«¤¯
}
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**¥Þ¥¹¥¿¡¼¤Î¥×¥í¥°¥é¥à [#t53d91cd]
#define THRESHOLD 50 //¤·¤¤¤ÃÍ
#define OnRL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL); //ľ¿Ê¡Ê½ÐÎÏ¡Ë
#define go_forward OnRL(SPEED, SPEED); //ľ¿Ê
#define go_back OnRL(-SPEED,-SPEED); //¸åÂà
#define turn_left1 OnRL(SPEED, -SPEED); //º¸¤ËÀû²ó
#define turn_left0 OnRL(SPEED, 0); //º¸¤Ë¥«¡¼¥Ö
#define turn_right0 OnRL(0, SPEED); //±¦¤Ë¥«¡¼¥Ö
#define turn_right1 OnRL(-SPEED, SPEED); //±¦¤ËÀû²ó
#define SPEED 45 //½ÐÎÏ
task main()
{
SetSensorLight(S3); //¸÷¥»¥ó¥µ¡¼
SetSensorLowspeed(S1); //Ķ²»ÇÈ¥»¥ó¥µ¡¼
until(BluetoothStatus(1)==NO_ERR); //¥¹¥ì¡¼¥Ö¦¤ÈÀܳ¤¹¤ë¤Þ¤ÇÂÔ¤Ä
int nKan=0; //ÄϤó¤À´Ì¤Î¸Ä¿ô
while (nKan < 2) { //ÄϤó¤À´Ì¤Î¸Ä¿ô¤¬1¸Ä¤Î»þ
while(SensorUS(S1)>15){ //¥»¥ó¥µ¡¼¤È´Ì¤È¤Îµ÷Î¥¤¬15¥»¥ó¥Á°Ê¾å¤Î»þ¤Ë¤Ï¼¡¤ÎÆ°ºî¤ò¹Ô¤¦
if (SENSOR_3 < THRESHOLD-10) {
turn_left1; //º¸¤ËÀû²ó
}
else {
if (SENSOR_3 < THRESHOLD-5) {
turn_left0; //º¸¤Ë¥«¡¼¥Ö
}
else if (SENSOR_3 < THRESHOLD+5) {
go_forward; //ľ¿Ê
}
else if (SENSOR_3 < THRESHOLD+10) {
turn_right0; //±¦¤Ë¥«¡¼¥Ö
}
else {
turn_right1; //±¦¤ËÀû²ó
}
}
Wait(1);
}
until(SensorUS(S1)<=12){ //¥»¥ó¥µ¡¼¤È´Ì¤È¤Î´Ö¤Îµ÷Î¥¤¬12Ѱʲ¼¤Ë¤Ê¤ë¤Þ¤Ç
go_forward; //ľ¿Ê
}
if (SensorUS(S1)<=12){ //¥»¥ó¥µ¡¼¤È´Ì¤È¤Î´Ö¤Îµ÷Î¥¤¬12Ѱʲ¼¤Ë¤Ê¤Ã¤¿¤é
Off(OUT_BC);
RemoteStartProgram(1,"sss1.rxe"); //¥¹¥ì¡¼¥Ö¦¤Ë¥Õ¥¡¥¤¥ë¡Össs1.nxc¡×¤òÌ¿Îá
Wait(2000);
RotateMotorEx(OUT_BC,45,100,0,true,true); //´Ì¤ò¤Ä¤«¤à¤¿¤á¤Î°ÌÃÖÄ´À°
Wait(6000);
nKan++; //¥«¥¦¥ó¥¿¤òÁý¤ä¤¹
}
}
while(nKan<3){ //ÄϤó¤À´Ì¤Î¸Ä¿ô¤¬2¸Ä¤Î»þ
RotateMotor(OUT_B,-SPEED,200); //¥´¡¼¥ëÊý¸þ¤ËÊý¸þž´¹
go_forward; //ľ¿Ê
Wait(2500);
Off(OUT_BC);
RemoteStartProgram(1,"sss2.rxe"); //¥¹¥ì¡¼¥Ö¦¤Ë¥Õ¥¡¥¤¥ë¡Össs2.nxc¡×¤òÌ¿Îá
Wait(5000);
go_back; //¸åÂà
Wait(3000);
Off(OUT_BC);
nKan++;¡¡¡¡¡¡//¥×¥í¥°¥é¥à¤ò½ªÎ»¤µ¤»¤ë¤¿¤á¤Ë¥«¥¦¥ó¥¿¤òÁý¤ä¤¹
}
}
**¥¹¥ì¡¼¥Ö¤Î¥×¥í¥°¥é¥à [#n94b01d0]
¥Õ¥¡¥¤¥ë̾¡Össs1.nxc¡×¡Ê´Ì¤òÄϤà¡õ»ý¤Á¾å¤²¤ë¡Ë
task main()
{
RotateMotor(OUT_C,-30,30); //Í·Ú¸º¤Î¤¿¤á¤Ë¥¢¡¼¥à¤ò¾¯¤·²¼¤²¤ë
RotateMotor(OUT_B,30,30); //¥¢¡¼¥à¤ò³«¤¯
RotateMotor(OUT_C,-30,150); //¥¢¡¼¥à¤ò²¼¤²¤ë
Wait(2000);
OnFwd(OUT_B,-30); //´Ì¤òÄϤà
Wait(3000);
Off(OUT_B);
RotateMotor(OUT_C,50,180); //¥¢¡¼¥à¤ò¾å¤²¤ë
}
¥Õ¥¡¥¤¥ë̾¡Össs2.nxc¡×¡Ê´Ì¤òÃÖ¤¯¡Ë
task main()
{
RotateMotor(OUT_C,-30,180); //¥¢¡¼¥à¤ò²¼¤²¤ë
RotateMotor(OUT_B,30,90); //¥¢¡¼¥à¤ò³«¤¯
}
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