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#contents
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***ÄêµÁ¤ä¥Þ¥¯¥í[#q58b36bd]
#define CONN 1
#define SIGNALA 11
#define SIGNALB 12
#define SIGNALC 13
#define SIGNALD 14
#define SIGNALE 15
#define SIGNALF 16
#define SIGNALG 17 //¥á¥Ã¥»¡¼¥¸¤Ë¤Ä¤¤¤Æ¤ÏÁ´ÂΤÎή¤ì¤ÇÀâÌÀ¤·¤Þ¤¹
#define THRESHOLD 57
#define SPEED 50
#define speed 40
#define OnRL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL);
#define leftleft OnRL(speed,0);¡¡¡¡¡¡¡¡//¤¤Ä¤¤¥«¡¼¥Ö¤ÎÉôʬ¤Ç¥·¥ç¡¼¥È¥«¥Ã¥È¤ò¤¹¤ë¤¿¤áÀû²ó¤·¤Ê¤¤¤è¤¦¤Ë¤·¤¿
#define left OnRL(speed,0);
#define straight OnRL(SPEED,SPEED);
#define right OnRL(0,speed+5);
#define rightright OnRL(-speed,speed+5);
#define MOVE_TIME_1 3000
#define MOVE_TIME_2 22500
#define MOVE_TIME_3 2000
#define zenshin OnFwd(OUT_B,speed);OnFwd(OUT_C,speed+6);
#define koutai OnRev(OUT_B,speed-10);OnRev(OUT_C,speed-4);¡¡¡¡¡¡//¼ÖÂΥХé¥ó¥¹¤Î±Æ¶Á¤Çº¸±¦¤Î¥â¡¼¥¿¡¼¤Î¶¯¤µ¤òÊѤ¨¤Æ¤¢¤ë
#define teishi Off(OUT_BC);
#define kaiten_R1 OnFwd(OUT_B,SPEED);OnRev(OUT_C,SPEED);
#define kaiten_R2 OnFwd(OUT_B,speed);OnRev(OUT_C,speed);
#define kaiten_L1 OnRev(OUT_B,SPEED);OnFwd(OUT_C,SPEED);
#define kaiten_L2 OnRev(OUT_B,SPEED);OnFwd(OUT_C,SPEED);
#define kaiten_time_R1 2500¡¡¡¡¡¡¡¡¡¡//´Ì¤ò¸«¤Ä¤±¤ë¤Ë¤Ïû¤¹¤®¤¿ºÇ¾®Ãͤò¸«¤Ä¤±¤ë¤¿¤á¤Ë²óž¤¹¤ë»þ´Ö
#define kaiten_time_L1 1500
#define KAITEN RotateMotorEx(OUT_BC,50,400,100,true,false);¡¡¡¡¡¡//180¡ë²óž
#define go_forward OnRL(SPEED,SPEED);
#define STEP 1
#define yasumi Off(OUT_BC);Wait(500);
***¥µ¥Ö¥ë¡¼¥Á¥ó´Ø¿ô¤ä¥¤¥ó¥é¥¤¥ó´Ø¿ô [#zac78d14]
sub serch_R1()¡¡¡¡¡¡¡¡¡¡¡¡//È¿»þ·×²ó¤ê¤Ç´Ì¤òõ¤¹
{
SetSensorLowspeed(S4);
long t10,t11;
int L=1000;
t10=CurrentTick();
while(CurrentTick()-t10<=kaiten_time_R1){
kaiten_R1;
if(SensorUS(S4)<L)
{
L=SensorUS(S4);
t11=CurrentTick()-t10;
}
}
kaiten_L1;
Wait(kaiten_time_R1-t11+100);¡¡¡¡//¼ÖÂΥХé¥ó¥¹¤ÎÌäÂê¤ò²þÁ±¤¹¤ë¤¿¤á¤ÎÈùÄ´À°+100
Off(OUT_BC);
Wait(500);
}
inline sub serch_R2(int l)¡¡¡¡¡¡£ì£ã£í°Ê²¼¤Îµ÷Î¥¤Î¤â¤Î¤ò¸«¤Ä¤±¤¿¤é»ß¤Þ¤ë
{
SetSensorLowspeed(S4);
kaiten_R1
until(SensorUS(S4)<=l);
Off(OUT_BC);
}
sub serch_L()¡¡¡¡¡¡¡¡»þ·×²ó¤ê¤Ç´Ì¤òõ¤¹
{
SetSensorLowspeed(S4);
long t12,t13;
int L=1000;
t12=CurrentTick();
while(CurrentTick()-t12<=kaiten_time_L1){
kaiten_L1;
if(SensorUS(S4)<L)
{
L=SensorUS(S4);
t13=CurrentTick()-t12;
}
}
kaiten_R1;
Wait(kaiten_time_L1-t13+80);¡¡¡¡¡¡¡¡//¼ÖÂΥХé¥ó¥¹¤ÎÌäÂê¤ò²þÁ±¤¹¤ë¤¿¤á¤ÎÈùÄ´À°+80
Off(OUT_BC);
Wait(500);
}
inline void sekkin(int d)¡¡¡¡¡¡ÌÜɸ¤ËÀ᤹ܶ¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à
{
SetSensorLowspeed(S4);
while(SensorUS(S4)>=d){
koutai;
}
teishi;
}
sub LT_R()¡¡¡¡¡¡¡¡¡¡¡¡//¥é¥¤¥ó¥È¥ì¡¼¥¹
{
SetSensorLight(S3);
long t0=CurrentTick();
while(CurrentTick()-t0<=MOVE_TIME_2){
if(SENSOR_3<THRESHOLD-10){
rightright;
}else if(SENSOR_3<THRESHOLD-7){
right;
}else if(SENSOR_3<THRESHOLD+2){
straight;
}else if(SENSOR_3<THRESHOLD+3){
left;
}else{
leftleft;
}
Wait(STEP);
}
}
***¥á¥¤¥ó¤Î¥×¥í¥°¥é¥à [#rfeb0cf5]
task main()
{
SetSensorLight(S2);
SetSensorLight(S3);
SetSensorLowspeed(S4);
OnRev(OUT_BC,30);
Wait(500);
teishi; //½é´ü°ÌÃÖ¤«¤éÀÖ¤¤¥Ü¡¼¥ë¤ò¥¥ã¥Ã¥Á¤¹¤ë¾ì½ê¤Þ¤Ç¤ÎÈùÄ´À°
int msg;
SendRemoteNumber(CONN,MAILBOX1,SIGNALA);¡¡¡¡¡¡¥¹¥ì¡¼¥Ö¦¤Ë¥Ü¡¼¥ë¤ò¤Ä¤«¤ó¤Ç¤â¤é¤¦
while(true){
ReceiveRemoteNumber(MAILBOX1,true,msg);
if(msg==SIGNALE){
koutai;
Wait(MOVE_TIME_1);¡¡¡¡
KAITEN;¡¡¡¡¡¡¡¡¡¡¡¡//¸åÂष¤Æ180¡ë²óž¤¹¤ë¡£¸òº¹ÅÀ¤ò±Û¤¨¤¿¤¢¤¿¤ê¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤é¤ì¤ë¤è¤¦¤Ë¤¹¤ë
teishi;
yasumi;
LT_R();¡¡¡¡¡¡¡¡//¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³«»Ï
teishi;¡¡¡¡¡¡¡¡//ÁÛÄê¤Ç¤ÏÂçÂÎÃÏÅÀE¤ËÅþÃ夷¤¿¤¢¤¿¤ê¤ÇÄä»ß
serch_R1();¡¡¡¡¡¡//´Ì¤ò¥µ¡¼¥Á
teishi;
sekkin(15);¡¡¡¡¡¡//15Ѥε÷Î¥¤Þ¤ÇÀܶá
koutai;
Wait(1000);¡¡¡¡¡¡//ÈùÄ´À°¡¡¡¡¡¡
teishi;
SendRemoteNumber(CONN,MAILBOX1,SIGNALB);¡¡¡¡¡¡¥¹¥ì¡¼¥Ö¦¤Ë¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤Æ¤â¤é¤¦
}
if(msg==SIGNALF){
zenshin;¡¡¡¡¡¡¡¡¡¡¡¡
Wait(MOVE_TIME_3);¡¡¡¡¡¡¡¡¡¡//ÂçÂÎÃÏÅÀE¤ËÌá¤ë(¿¾¯¤º¤ì¤Æ¤¤¤Æ¤âÌäÂê¤Ê¤·)
kaiten_R1;
Wait(100);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÀĤ¤¥Ü¡¼¥ë¤ò»¡ÃΤ¹¤ëÁ°¤Ë¥Ü¡¼¥ë¤ò¾è¤»¤¿´Ì¤ò¸«¤Ä¤±¤Ê¤¤¤è¤¦¤Ë¾¯¤·²óž
yasumi;
serch_R2(25);¡¡¡¡¡¡¡¡//25Ñ°ÊÆâ¤Ë²¿¤«¤ò¸«¤Ä¤±¤¿¤éÄä»ß
yasumi;
zenshin;
Wait(500);¡¡¡¡¡¡¡¡¡¡//ÀĤ¤¥Ü¡¼¥ë¤ÈĶ²»ÇÈ¥»¥ó¥µ¡¼¤¬¶á¤¹¤®¤¿¤È¤¤Î¤¿¤á¤Ë¾¯¤·Î¥¤ì¤ë
sekkin(10);
koutai;
Wait(200); //ÀĤ¤¥Ü¡¼¥ë¤ò¥¥ã¥Ã¥Á¤Ç¤¤ë°ÌÃ֤ޤdzÎǧ¡¡¡¡¡¡¡¡
yasumi;
SendRemoteNumber(CONN,MAILBOX1,SIGNALC);¡¡¡¡¡¡¥¹¥ì¡¼¥Ö¦¤Ë¥Ü¡¼¥ë¤ò¥¥ã¥Ã¥Á¤·¤Æ¤â¤é¤¦
}
if(msg==SIGNALG){
koutai;
Wait(2000);¡¡¡¡//ÌÜɸ¤Ë¾¯¤·¶á¤Å¤¯¡¡¡¡¡¡
kaiten_R1;¡¡
Wait(500);¡¡¡¡//²¾¤ËÀĦ¤Î´Ì¤¬¢¤À¤Ã¤¿¾ì¹ç¥µ¡¼¥ÁÈϰϤˤʤ¤¾ì¹ç¤¬¤¢¤ë¤Î¤Ç¾¯¤·²óž
serch_L();¡¡¡¡¡¡//´Ì¤ò¥µ¡¼¥Á
teishi;
sekkin(15);¡¡¡¡¡¡//15Ѥε÷Î¥¤Þ¤ÇÀܶá
teishi;
koutai;¡¡¡¡
Wait(1000);¡¡¡¡¡¡¡¡//ÈùÄ´À°
SendRemoteNumber(CONN,MAILBOX1,SIGNALD);¡¡¡¡¡¡¥¹¥ì¡¼¥Ö¦¤Ë¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤Æ¤â¤é¤¦
teishi;¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Ää»ß
}
}
}
**¥¹¥ì¡¼¥Ö¦¡Ê¥¢¡¼¥à¡Ë [#wab3a823]
***ÄêµÁ¤ä¥Þ¥¯¥í#define POWER 50 [#ie242c4f]
#define Power 25
#define power 15
#define time 300
#define Time 600
#define TIME 1000
#define hand_catch OnRev(OUT_B,POWER);Wait(Time);Off(OUT_B);¡¡¡¡//¥Ü¡¼¥ë¤ò¤Ä¤«¤à
#define arm_Up OnFwd(OUT_C,POWER);Wait(TIME);Off(OUT_C);¡¡¡¡¡¡//ÏÓ¤ò¾å¤²¤ë
#define hand_release OnFwd(OUT_B,power);Wait(TIME);Off(OUT_B);¡¡¡¡¡¡//¼ê¤òÎ¥¤¹
#define arm_Down OnRev(OUT_C,POWER);Wait(Time+200);Off(OUT_C);¡¡¡¡¡¡//ÏÓ¤ò²¼¤²¤ë
#define arm_up OnFwd(OUT_C,POWER);Wait(Time);Off(OUT_C);¡¡¡¡¡¡¡¡//ÏÓ¤ò¾¯¤·¤À¤±¾å¤²¤ë
#define arm_down OnRev(OUT_C,Power);Wait(Time);Off(OUT_C);¡¡¡¡¡¡//ÏÓ¤ò¾¯¤·¤À¤±²¼¤²¤ë
#define yasumi Off(OUT_BC);Wait(500);
#define SIGNALA 11
#define SIGNALB 12
#define SIGNALC 13
#define SIGNALD 14
#define SIGNALE 15
#define SIGNALF 16
#define SIGNALG 17
***¥µ¥Ö¥ë¡¼¥Á¥ó´Ø¿ô¤ä¥¤¥ó¥é¥¤¥ó´Ø¿ô [#vc3683a4]
sub ball_catch()¡¡¡¡¡¡¡¡¥Ü¡¼¥ë¤òÄϤó¤Ç»ý¤Á¾å¤²¤ë
{
Wait(Time);
arm_Down;
hand_catch;
arm_Up;
Off(OUT_BC);
}
sub ball_release()¡¡¡¡¡¡¡¡¥Ü¡¼¥ë¤ò´Ì¤Î¾å¤ËÃÖ¤¯
{
Wait(Time);
arm_down;
yasumi;
hand_release;
arm_up;
Off(OUT_BC);
}
***¥á¥¤¥ó¤Î¥×¥í¥°¥é¥à [#iecfd0d7]
task main()
{
int msg;
while(true){
ReceiveRemoteNumber(MAILBOX1,true,msg);
if(msg==SIGNALA){
ball_catch();
Off(OUT_BC);
SendResponseNumber(MAILBOX1,SIGNALE);¡¡¡¡¡¡//ÀÖ¤¤¥Ü¡¼¥ë¤òÄϤó¤À¤³¤È¤ò¥Þ¥¹¥¿¡¼Â¦¤ËÅÁ¤¨¤ë
}
if(msg==SIGNALB){
yasumi;
ball_release();
yasumi;
SendResponseNumber(MAILBOX1,SIGNALF);¡¡¡¡¡¡//ÀÖ¤¤¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤¿¤³¤È¤ò¥Þ¥¹¥¿¡¼Â¦¤ËÅÁ¤¨¤ë
}
if(msg==SIGNALC){
ball_catch();
Off(OUT_BC);
SendResponseNumber(MAILBOX1,SIGNALG);¡¡¡¡¡¡//ÀĤ¤¥Ü¡¼¥ë¤òÄϤó¤À¤³¤È¤ò¥Þ¥¹¥¿¡¼Â¦¤ËÅÁ¤¨¤ë
}
if(msg==SIGNALD){
yasumi;
ball_release();
yasumi;¡¡¡¡¡¡¡¡¡¡//ÀĤ¤¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤ÆÄä»ß
}
}
}
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**¥¹¥ì¡¼¥Ö¦¡§¥Ü¡¼¥ë¤ò»ý¤Á¾å¤²¤Æ¡¢´Ì¤ËÃÖ¤¯¥¢¡¼¥à [#bde72a97]
#ref(arm.png)
***ÀâÌÀ(¹©Éפ·¤¿ÅÀ¤äÈ¿¾ÊÅÀ¤Ê¤É) [#z937e3d2]
¿Í´Ö¤¬¥Ü¡¼¥ë¤ò½¦¤¤¾å¤²¤ëÆ°¤¤ò¥â¥Ç¥ë¤È¤·¤Æ¥â¡¼¥¿£²¤Ä¤ò¡¢¥Ü¡¼¥ë¤ò¤Ä¤«¤ß´Ì¤Ë¾è¤»¤ë(¼ê)¤È¼ê¤ò¾å²¼¤ËÆ°¤«¤¹(ÏÓ)¤È¤½¤ì¤¾¤ìÌò³ä¤òʬ¤±¤Æ¥×¥í¥°¥é¥à¤ò´Êñ¤Ëºî¤ì¤ë¤è¤¦¤Ë¹½À®¤·¤¿¡£¼ÖÂΤνſ´¤Î°ÌÃÖ¤ä¥Ð¥é¥ó¥¹¡¢¥¢¡¼¥à¤ÈĶ²»ÇÈ¥»¥ó¥µ¡¼¤ÏƱ¤¸Êý¸þ¤Ë¤Ä¤±¤¿¤¤¤Ê¤É¤ÎÍýͳ¤«¤é¥¢¡¼¥à¤Ï¼ÖÂΤθåÊý¤Ë¼è¤êÉÕ¤±¤¿¤¬¡¢¥Ü¡¼¥ë¤ò½¦¤¦»þ¤ä¥Ü¡¼¥ë¤ò¤Ä¤«¤ó¤Ç»ý¤Á¾å¤²¤¿¸å¤Ê¤É¤Ë180Åٲ󞤹¤ë¼ê´Ö¤¬Áý¤¨¤Æ¤·¤Þ¤Ã¤¿¡£
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¡¥Þ¥¹¥¿¡¼Â¦¡§ÀÖ¤¤¥Ü¡¼¥ë¤ò¥¥ã¥Ã¥Á¤Ç¤¤ë°ÌÃ֤˰ÜÆ°¤·SIGNALA¤ò¥¹¥ì¡¼¥Ö¤ËÁ÷¿®
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¤¥Þ¥¹¥¿¡¼Â¦¡§¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³«»Ï¡£ºÇ½é¤ÎµÞ¥«¡¼¥Ö¤Ç¤¢¤¨¤ÆÂ礤¯²ó¤ë¤³¤È¤ÇÃÏÅÀF¤Þ¤Ç¥·¥ç¡¼¥È¥«¥Ã¥È¡£ÃÏÅÀE¤ÇÄä»ß
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¦¥Þ¥¹¥¿¡¼Â¦¡§´Ì¤ËÀܶᤷŬÅö¤Ê°ÌÃÖ¤ËÅþÃ夷¤¿¤é¡¢SIGNALB¤ò¥¹¥ì¡¼¥Ö¤ËÁ÷¿®
§¥¹¥ì¡¼¥Ö¦¡§SIGNALB¤ò¼õ¿®¤·¤¿¤é¥Ü¡¼¥ë¤ò´Ì¤Î¾å¤Ë¾è¤»¡¢¥¢¡¼¥à¤ò¼ÙËâ¤Ë¤Ê¤é¤Ê¤¤¤è¤¦¤Ë¾å¤²¤Æ¤«¤éSIGNALF¤ò¥Þ¥¹¥¿¡¼¤ËÊÖ¿®
¨¥Þ¥¹¥¿¡¼Â¦¡§ÃÏÅÀEÉÕ¶á¤Þ¤ÇÌá¤êÀĤ¤¥Ü¡¼¥ë¤ò¥µ¡¼¥Á¡£¸«¤Ä¤±¤¿¤é¥¥ã¥Ã¥Á¤Ç¤¤ë°ÌÃÖ¤Þ¤ÇÀܶᤷSIGNALC¤ò¥¹¥ì¡¼¥Ö¤ËÁ÷¿®
©¥¹¥ì¡¼¥Ö¦¡§SIGNALC¤ò¼õ¿®¤·¤¿¤é¥Ü¡¼¥ë¤ò¥¥ã¥Ã¥Á¤·SIGNALG¤ò¥Þ¥¹¥¿¡¼¤ËÊÖ¿®
ª¥Þ¥¹¥¿¡¼Â¦¡§ÀĤ¤¥Ü¡¼¥ë¤ò¾è¤»¤ë´Ì¤òõ¤¹¤Î¤ËÍÍø¤Ê°ÌÃÖ(ÃÏÅÀKÉÕ¶á)¤Þ¤Ç°ÜÆ°¤·´Ì¤ò¥µ¡¼¥Á¡£È¯¸«¤·Àܶᤷ¤¿¤éSIGNALD¤ò¥¹¥ì¡¼¥Ö¤ËÁ÷¿®
«¥¹¥ì¡¼¥Ö¦¡§SIGNALD¤ò¼õ¿®¤·¤¿¤é¥Ü¡¼¥ë¤ò´Ì¤Î¾å¤Ë¾è¤»¤ÆÄä»ß
*¥×¥í¥°¥é¥ß¥ó¥° [#n544807e]
**¥Þ¥¹¥¿¡¼Â¦¡Ê¼ÖÎØ¡¢³Æ¥»¥ó¥µ¡¼¡Ë [#d3e2325b]
***ÄêµÁ¤ä¥Þ¥¯¥í[#q58b36bd]
#define CONN 1
#define SIGNALA 11
#define SIGNALB 12
#define SIGNALC 13
#define SIGNALD 14
#define SIGNALE 15
#define SIGNALF 16
#define SIGNALG 17 //¥á¥Ã¥»¡¼¥¸¤Ë¤Ä¤¤¤Æ¤ÏÁ´ÂΤÎή¤ì¤ÇÀâÌÀ¤·¤Þ¤¹
#define THRESHOLD 57
#define SPEED 50
#define speed 40
#define OnRL(speedR,speedL) OnFwd(OUT_B,speedR);OnFwd(OUT_C,speedL);
#define leftleft OnRL(speed,0);¡¡¡¡¡¡¡¡//¤¤Ä¤¤¥«¡¼¥Ö¤ÎÉôʬ¤Ç¥·¥ç¡¼¥È¥«¥Ã¥È¤ò¤¹¤ë¤¿¤áÀû²ó¤·¤Ê¤¤¤è¤¦¤Ë¤·¤¿
#define left OnRL(speed,0);
#define straight OnRL(SPEED,SPEED);
#define right OnRL(0,speed+5);
#define rightright OnRL(-speed,speed+5);
#define MOVE_TIME_1 3000
#define MOVE_TIME_2 22500
#define MOVE_TIME_3 2000
#define zenshin OnFwd(OUT_B,speed);OnFwd(OUT_C,speed+6);
#define koutai OnRev(OUT_B,speed-10);OnRev(OUT_C,speed-4);¡¡¡¡¡¡//¼ÖÂΥХé¥ó¥¹¤Î±Æ¶Á¤Çº¸±¦¤Î¥â¡¼¥¿¡¼¤Î¶¯¤µ¤òÊѤ¨¤Æ¤¢¤ë
#define teishi Off(OUT_BC);
#define kaiten_R1 OnFwd(OUT_B,SPEED);OnRev(OUT_C,SPEED);
#define kaiten_R2 OnFwd(OUT_B,speed);OnRev(OUT_C,speed);
#define kaiten_L1 OnRev(OUT_B,SPEED);OnFwd(OUT_C,SPEED);
#define kaiten_L2 OnRev(OUT_B,SPEED);OnFwd(OUT_C,SPEED);
#define kaiten_time_R1 2500¡¡¡¡¡¡¡¡¡¡//´Ì¤ò¸«¤Ä¤±¤ë¤Ë¤Ïû¤¹¤®¤¿ºÇ¾®Ãͤò¸«¤Ä¤±¤ë¤¿¤á¤Ë²óž¤¹¤ë»þ´Ö
#define kaiten_time_L1 1500
#define KAITEN RotateMotorEx(OUT_BC,50,400,100,true,false);¡¡¡¡¡¡//180¡ë²óž
#define go_forward OnRL(SPEED,SPEED);
#define STEP 1
#define yasumi Off(OUT_BC);Wait(500);
***¥µ¥Ö¥ë¡¼¥Á¥ó´Ø¿ô¤ä¥¤¥ó¥é¥¤¥ó´Ø¿ô [#zac78d14]
sub serch_R1()¡¡¡¡¡¡¡¡¡¡¡¡//È¿»þ·×²ó¤ê¤Ç´Ì¤òõ¤¹
{
SetSensorLowspeed(S4);
long t10,t11;
int L=1000;
t10=CurrentTick();
while(CurrentTick()-t10<=kaiten_time_R1){
kaiten_R1;
if(SensorUS(S4)<L)
{
L=SensorUS(S4);
t11=CurrentTick()-t10;
}
}
kaiten_L1;
Wait(kaiten_time_R1-t11+100);¡¡¡¡//¼ÖÂΥХé¥ó¥¹¤ÎÌäÂê¤ò²þÁ±¤¹¤ë¤¿¤á¤ÎÈùÄ´À°+100
Off(OUT_BC);
Wait(500);
}
inline sub serch_R2(int l)¡¡¡¡¡¡£ì£ã£í°Ê²¼¤Îµ÷Î¥¤Î¤â¤Î¤ò¸«¤Ä¤±¤¿¤é»ß¤Þ¤ë
{
SetSensorLowspeed(S4);
kaiten_R1
until(SensorUS(S4)<=l);
Off(OUT_BC);
}
sub serch_L()¡¡¡¡¡¡¡¡»þ·×²ó¤ê¤Ç´Ì¤òõ¤¹
{
SetSensorLowspeed(S4);
long t12,t13;
int L=1000;
t12=CurrentTick();
while(CurrentTick()-t12<=kaiten_time_L1){
kaiten_L1;
if(SensorUS(S4)<L)
{
L=SensorUS(S4);
t13=CurrentTick()-t12;
}
}
kaiten_R1;
Wait(kaiten_time_L1-t13+80);¡¡¡¡¡¡¡¡//¼ÖÂΥХé¥ó¥¹¤ÎÌäÂê¤ò²þÁ±¤¹¤ë¤¿¤á¤ÎÈùÄ´À°+80
Off(OUT_BC);
Wait(500);
}
inline void sekkin(int d)¡¡¡¡¡¡ÌÜɸ¤ËÀ᤹ܶ¤ë¤¿¤á¤Î¥×¥í¥°¥é¥à
{
SetSensorLowspeed(S4);
while(SensorUS(S4)>=d){
koutai;
}
teishi;
}
sub LT_R()¡¡¡¡¡¡¡¡¡¡¡¡//¥é¥¤¥ó¥È¥ì¡¼¥¹
{
SetSensorLight(S3);
long t0=CurrentTick();
while(CurrentTick()-t0<=MOVE_TIME_2){
if(SENSOR_3<THRESHOLD-10){
rightright;
}else if(SENSOR_3<THRESHOLD-7){
right;
}else if(SENSOR_3<THRESHOLD+2){
straight;
}else if(SENSOR_3<THRESHOLD+3){
left;
}else{
leftleft;
}
Wait(STEP);
}
}
***¥á¥¤¥ó¤Î¥×¥í¥°¥é¥à [#rfeb0cf5]
task main()
{
SetSensorLight(S2);
SetSensorLight(S3);
SetSensorLowspeed(S4);
OnRev(OUT_BC,30);
Wait(500);
teishi; //½é´ü°ÌÃÖ¤«¤éÀÖ¤¤¥Ü¡¼¥ë¤ò¥¥ã¥Ã¥Á¤¹¤ë¾ì½ê¤Þ¤Ç¤ÎÈùÄ´À°
int msg;
SendRemoteNumber(CONN,MAILBOX1,SIGNALA);¡¡¡¡¡¡¥¹¥ì¡¼¥Ö¦¤Ë¥Ü¡¼¥ë¤ò¤Ä¤«¤ó¤Ç¤â¤é¤¦
while(true){
ReceiveRemoteNumber(MAILBOX1,true,msg);
if(msg==SIGNALE){
koutai;
Wait(MOVE_TIME_1);¡¡¡¡
KAITEN;¡¡¡¡¡¡¡¡¡¡¡¡//¸åÂष¤Æ180¡ë²óž¤¹¤ë¡£¸òº¹ÅÀ¤ò±Û¤¨¤¿¤¢¤¿¤ê¤Ç¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò»Ï¤á¤é¤ì¤ë¤è¤¦¤Ë¤¹¤ë
teishi;
yasumi;
LT_R();¡¡¡¡¡¡¡¡//¥é¥¤¥ó¥È¥ì¡¼¥¹¤ò³«»Ï
teishi;¡¡¡¡¡¡¡¡//ÁÛÄê¤Ç¤ÏÂçÂÎÃÏÅÀE¤ËÅþÃ夷¤¿¤¢¤¿¤ê¤ÇÄä»ß
serch_R1();¡¡¡¡¡¡//´Ì¤ò¥µ¡¼¥Á
teishi;
sekkin(15);¡¡¡¡¡¡//15Ѥε÷Î¥¤Þ¤ÇÀܶá
koutai;
Wait(1000);¡¡¡¡¡¡//ÈùÄ´À°¡¡¡¡¡¡
teishi;
SendRemoteNumber(CONN,MAILBOX1,SIGNALB);¡¡¡¡¡¡¥¹¥ì¡¼¥Ö¦¤Ë¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤Æ¤â¤é¤¦
}
if(msg==SIGNALF){
zenshin;¡¡¡¡¡¡¡¡¡¡¡¡
Wait(MOVE_TIME_3);¡¡¡¡¡¡¡¡¡¡//ÂçÂÎÃÏÅÀE¤ËÌá¤ë(¿¾¯¤º¤ì¤Æ¤¤¤Æ¤âÌäÂê¤Ê¤·)
kaiten_R1;
Wait(100);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÀĤ¤¥Ü¡¼¥ë¤ò»¡ÃΤ¹¤ëÁ°¤Ë¥Ü¡¼¥ë¤ò¾è¤»¤¿´Ì¤ò¸«¤Ä¤±¤Ê¤¤¤è¤¦¤Ë¾¯¤·²óž
yasumi;
serch_R2(25);¡¡¡¡¡¡¡¡//25Ñ°ÊÆâ¤Ë²¿¤«¤ò¸«¤Ä¤±¤¿¤éÄä»ß
yasumi;
zenshin;
Wait(500);¡¡¡¡¡¡¡¡¡¡//ÀĤ¤¥Ü¡¼¥ë¤ÈĶ²»ÇÈ¥»¥ó¥µ¡¼¤¬¶á¤¹¤®¤¿¤È¤¤Î¤¿¤á¤Ë¾¯¤·Î¥¤ì¤ë
sekkin(10);
koutai;
Wait(200); //ÀĤ¤¥Ü¡¼¥ë¤ò¥¥ã¥Ã¥Á¤Ç¤¤ë°ÌÃ֤ޤdzÎǧ¡¡¡¡¡¡¡¡
yasumi;
SendRemoteNumber(CONN,MAILBOX1,SIGNALC);¡¡¡¡¡¡¥¹¥ì¡¼¥Ö¦¤Ë¥Ü¡¼¥ë¤ò¥¥ã¥Ã¥Á¤·¤Æ¤â¤é¤¦
}
if(msg==SIGNALG){
koutai;
Wait(2000);¡¡¡¡//ÌÜɸ¤Ë¾¯¤·¶á¤Å¤¯¡¡¡¡¡¡
kaiten_R1;¡¡
Wait(500);¡¡¡¡//²¾¤ËÀĦ¤Î´Ì¤¬¢¤À¤Ã¤¿¾ì¹ç¥µ¡¼¥ÁÈϰϤˤʤ¤¾ì¹ç¤¬¤¢¤ë¤Î¤Ç¾¯¤·²óž
serch_L();¡¡¡¡¡¡//´Ì¤ò¥µ¡¼¥Á
teishi;
sekkin(15);¡¡¡¡¡¡//15Ѥε÷Î¥¤Þ¤ÇÀܶá
teishi;
koutai;¡¡¡¡
Wait(1000);¡¡¡¡¡¡¡¡//ÈùÄ´À°
SendRemoteNumber(CONN,MAILBOX1,SIGNALD);¡¡¡¡¡¡¥¹¥ì¡¼¥Ö¦¤Ë¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤Æ¤â¤é¤¦
teishi;¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Ää»ß
}
}
}
**¥¹¥ì¡¼¥Ö¦¡Ê¥¢¡¼¥à¡Ë [#wab3a823]
***ÄêµÁ¤ä¥Þ¥¯¥í#define POWER 50 [#ie242c4f]
#define Power 25
#define power 15
#define time 300
#define Time 600
#define TIME 1000
#define hand_catch OnRev(OUT_B,POWER);Wait(Time);Off(OUT_B);¡¡¡¡//¥Ü¡¼¥ë¤ò¤Ä¤«¤à
#define arm_Up OnFwd(OUT_C,POWER);Wait(TIME);Off(OUT_C);¡¡¡¡¡¡//ÏÓ¤ò¾å¤²¤ë
#define hand_release OnFwd(OUT_B,power);Wait(TIME);Off(OUT_B);¡¡¡¡¡¡//¼ê¤òÎ¥¤¹
#define arm_Down OnRev(OUT_C,POWER);Wait(Time+200);Off(OUT_C);¡¡¡¡¡¡//ÏÓ¤ò²¼¤²¤ë
#define arm_up OnFwd(OUT_C,POWER);Wait(Time);Off(OUT_C);¡¡¡¡¡¡¡¡//ÏÓ¤ò¾¯¤·¤À¤±¾å¤²¤ë
#define arm_down OnRev(OUT_C,Power);Wait(Time);Off(OUT_C);¡¡¡¡¡¡//ÏÓ¤ò¾¯¤·¤À¤±²¼¤²¤ë
#define yasumi Off(OUT_BC);Wait(500);
#define SIGNALA 11
#define SIGNALB 12
#define SIGNALC 13
#define SIGNALD 14
#define SIGNALE 15
#define SIGNALF 16
#define SIGNALG 17
***¥µ¥Ö¥ë¡¼¥Á¥ó´Ø¿ô¤ä¥¤¥ó¥é¥¤¥ó´Ø¿ô [#vc3683a4]
sub ball_catch()¡¡¡¡¡¡¡¡¥Ü¡¼¥ë¤òÄϤó¤Ç»ý¤Á¾å¤²¤ë
{
Wait(Time);
arm_Down;
hand_catch;
arm_Up;
Off(OUT_BC);
}
sub ball_release()¡¡¡¡¡¡¡¡¥Ü¡¼¥ë¤ò´Ì¤Î¾å¤ËÃÖ¤¯
{
Wait(Time);
arm_down;
yasumi;
hand_release;
arm_up;
Off(OUT_BC);
}
***¥á¥¤¥ó¤Î¥×¥í¥°¥é¥à [#iecfd0d7]
task main()
{
int msg;
while(true){
ReceiveRemoteNumber(MAILBOX1,true,msg);
if(msg==SIGNALA){
ball_catch();
Off(OUT_BC);
SendResponseNumber(MAILBOX1,SIGNALE);¡¡¡¡¡¡//ÀÖ¤¤¥Ü¡¼¥ë¤òÄϤó¤À¤³¤È¤ò¥Þ¥¹¥¿¡¼Â¦¤ËÅÁ¤¨¤ë
}
if(msg==SIGNALB){
yasumi;
ball_release();
yasumi;
SendResponseNumber(MAILBOX1,SIGNALF);¡¡¡¡¡¡//ÀÖ¤¤¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤¿¤³¤È¤ò¥Þ¥¹¥¿¡¼Â¦¤ËÅÁ¤¨¤ë
}
if(msg==SIGNALC){
ball_catch();
Off(OUT_BC);
SendResponseNumber(MAILBOX1,SIGNALG);¡¡¡¡¡¡//ÀĤ¤¥Ü¡¼¥ë¤òÄϤó¤À¤³¤È¤ò¥Þ¥¹¥¿¡¼Â¦¤ËÅÁ¤¨¤ë
}
if(msg==SIGNALD){
yasumi;
ball_release();
yasumi;¡¡¡¡¡¡¡¡¡¡//ÀĤ¤¥Ü¡¼¥ë¤ò´Ì¤Ë¾è¤»¤ÆÄä»ß
}
}
}
*¼ÖÂΤä¥×¥í¥°¥é¥à¤Ë´Ø¤¹¤ëÈ¿¾ÊÅÀ¤ä²þÁ±ÅÀ [#z63059ba]
¼ÖÂΤˤĤ¤¤Æ¤Ï¤ä¤Ï¤ê½Å¤µ¤Ë¤è¤Ã¤Æ²ÝÂê¤ò¤³¤Ê¤¹¤Î¤ËÂ礤ʻپã¤ò¤¤¿¤·¤¿¤È´¶¤¸¤Æ¤¤¤ë¡£¤½¤Î²þÁ±°Æ¤È¤·¤ÆN1N2¥°¥ë¡¼¥×¤ÎÍѤ¤¤Æ¤¤¤¿¥â¡¼¥¿¤ËľÀÜ¥¿¥¤¥ä¤ò¼è¤êÉÕ¤±¤º»õ¼Ö¤ò²ð¤·¤Æ¥¿¥¤¥ä¤ò²óž¤µ¤»¤ë¤È¤¤¤¦¼êË¡¤Ï¤È¤Æ¤âÁϺîŪ¤Ç¤è¤¤¤È»×¤Ã¤¿¡£¤Þ¤¿¼«Ê¬¤Ç»×¤¤¤Ä¤¤¤¿°Æ¤È¤·¤Æ¤ÏNXT¤ÎÇÛÃ֤ˤĤ¤¤Æ¤â¤¦¾¯¤·¸å¤í´ó¤ê¤ËÀßÃÖ¤¹¤ë¡¢²Äǽ¤Ç¤¢¤Ã¤¿¤Ê¤é¤ÐNXT¤È¥¢¡¼¥à¤Î°ÌÃÖ¤òÆþ¤ìÂؤ¨¤ë¤Ê¤É¤Î¹©Éפ¬¤Ç¤¤ì¤Ð½Å¤µ¤ÏÊѤï¤é¤º¤È¤â¥¿¥¤¥ä¤Ë¤«¤«¤ëÉéô¤¬·Ú¸º¤·¤¿¤Î¤Ç¤Ï¤Ê¤¤¤«¡£
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