程序示例培训资料和技术文档JBC Botball小学组例程

JBC挑战1碰一下就走/使用motor和msleep语句控制小车直线行驶，碰到易拉罐之后返回启动区。int main()motor(0,100);motor(3,100);msleep(5000);/ 令0号端口的电机以100%满速前进，程序暂停5秒motor(0,-100);motor(3,-100);msleep(5000); /令3号端口的电机以100%满速后退ao();/关闭所有电机JBC 挑战2 绕罐返回/绕可乐罐转半圈返回启动区int main()motor(0,100);motor(3,100);msleep(5000); /0号和3号电机满速前进(直行)motor(0,100);motor(3,0); msleep(1500); /0号电机满速前进，3号电机停止运行（左转弯）motor(0,100);motor(3,100); msleep(1500); /直行motor(0,100);motor(3,0); msleep(1500); /左转弯motor(0,100);motor(3,100); msleep(5000); /返回启动区ao();/关闭所有电机JBC 挑战3 精确停靠/使用motor语句以及msleep语句，让小车按照预定路线行驶，准确停在黄色、蓝色以及绿色库中。绿色库：int main()motor(0,100);motor(3,100); msleep(4000); /直行ao();/结束蓝色库：int main()motor(0,100);motor(3,100); msleep(4000); /直行motor(0,50);motor(3,100);msleep(1500); /0号电机以50%的速度前进，3号舵机以100%的速度前进1.5秒（右转弯）motor(0,100);motor(3,100); msleep(3000); /直行ao();黄色库：int main()motor(0,100);motor(3,100); msleep(5000); /直行motor(0,100);motor(3,0); msleep(1000); /左转弯motor(0,100);motor(3,100); msleep(1000); /直行motor(0,100);motor(3,0); msleep(1000); /左转弯motor(0,100);motor(3,100); msleep(1500); /直行ao();/结束 JBC 挑战4 蛇形穿罐/准确地使用语句让小车完成任务，使用函数让代码更加清晰易读void drive_turn_left();void drive_turn_right();void drive_forward();int main()motor(0,100);motor(3,100);msleep(3000);drive_turn_left();drive_forward();drive_turn_right();drive_forward();drive_turn_right();drive_forward();drive_turn_left();drive_forward();drive_turn_left();drive_forward();drive_turn_right();drive_forward();drive_turn)right();drive_forward();drive_turn_right();motor(0,100);motor(3,100);msleep(4500);ao();void drive_turn_left()motor(0,100);motor(3,0);msleep(1200);/左转弯void drive_turn_right()motor(0,0);motor(3,100);msleep(1200);/右转弯void drive_forward()motor(0,100);motor(3,100);msleep(1200);/直走JBC 挑战5 全力装载/在挑战3的基础之上加上机械臂来收集可乐瓶进入绿色库：int main()motor(0,100);motor(3,100);msleep(4000);ao();进入蓝色库：int main()motor(0,100);motor(3,100);msleep(4000);motor(0,50);motor(3,100);msleep(1500);motor(0,100);motor(3,100);msleep(3000);ao();进入黄色库：int main()motor(0,100);motor(3,100);msleep(5000);motor(0,100);motor(3,0);msleep(1000);motor(0,100);motor(3,100);msleep(1000);motor(0,100);motor(3,0);msleep(1000);motor(0,100);motor(3,100);msleep(1500);ao(); JBC 挑战6 疯狂推罐机/机器人在比赛途中可以驶出场地纸，可以设计一个长机械臂，从场地后将罐子推到启动区void drive_left();void drive_right();void drive_forward();int main()drive_right();drive_forward();msleep(3000);drive_left();drive_forward();msleep(7000);drive_left(); drive_forward();msleep(3000);drive_left();drive_forward();msleep(7000);ao();void drive_left()motor(0,100);motor(3,0);msleep(1200);void drive_right()motor(0,0);motor(3,100);msleep(1200);void drive_forward()motor(0,100);motor(3,100);JBC 挑战7 沿线走/使用传感器控制小车前进int main()while(1)if(analog10(0)=512)/在0号端口接入巡线传感器 mav(0,750);mav(3,100);msleep(200);/如果非黑线，左转else if(analog10(0)=512)/如果不是黑线左转 mav(0,750);mav(3,100);msleep(200);else if(analog10(0)=512) mav(0,750);mav(3,100);msleep(200);else if(analog10(0)512) mav(0,100);mav(3,750);msleep(200);JBC 挑战12 清扫跑道/把罐子推入库中，并且无视库的实线虚线。所以只需要设计好路线，减慢速度，控制好车的速度，保证瓶子不倒即可。void drive_left();void drive_right();void drive_forward();int main()drive_forward();msleep(1000);/前进1秒motor(0,100);motor(3,60);msleep(1000);/右转drive_forward();msleep(1500);前进1.5秒drive_right();msleep(1000);/右转drive_forward();msleep(1500);drive_left();msleep(1500);/左转drive_forward();msleep(2000);向前走2秒drive_left();msleep(2000);/左转drive_forward();msleep(1500);/前进1.5秒ao();void drive_left()motor(0,100);motor(3,0);void drive_right()motor(0,0);motor(3,100);void drive_forward()motor(0,100);motor(3,100);JBC 挑战13 碰黑线/本挑战要求直接把所有瓶子推出黑线外，唯一需要注意的就是长臂的设计以及轮子转速。*/int main()mav(0,750);mav(3,750);msleep(7000);ao();JBC 挑战14 加起来/本段例程只写了碰触1号时的例程，改变参数，注意：ao(); 放在现有位置可以立即停止，在句尾不能立即停止。void drive_left();/左转void drive_right();/右转void drive_forward();/直行void action_putdown();/放下机械臂void action_liftup();/抬起机械臂int main()enable_servo(1);/打开1号舵机action_liftup();/抬起机械臂drive_forward();/直行msleep(2000);ao();/电机关闭action_putdown();/放下机械臂action_liftup();/抬起机械臂disable_servo(1);/关闭1号舵机void drive_left()motor(0,100);motor(3,0);void drive_right()motor(0,0);motor(3,100);void drive_forward()motor(0,100);motor(3,100);void action_putdown()set_servo_position(1, 1200);msleep(500);void action_putup()set_servo_position(1,300);msleep(500);JBC 挑战15 营救瓶罐/拿取2号空可乐瓶罐，位于其他位置的可乐罐需要调整参数void drive_forward();void drive_spot_turn();int main()enable_servos();/打开舵机set_servo_position(1,900);/调整机械臂位置set_servo_position(3,1400);/打开机械爪drive_forward();msleep(2000);ao();set_servo_position(3,600);/关闭机械爪set_servo_position(1,600);/抬起机械臂drive_spotturn();/原地后转drive_forward();msleep(2000);ao();set_servo_position(1,900);/放下机械臂set_servo_position(3,1000);/松开机械爪void drive_forward()motor(0,100);motor(3,100);void drive_spot_turn()motor(0,100);motor(3,-100);msleep(1000);JBC 挑战16 山体救援/本例程与挑战15相似void drive_forward();void drive_spot_turn();int main()enable_servos();/打开舵机set_servo_position(1,600);/抬起机械臂set_servo_position(3,1400);/张开机械爪drive_forward();msleep(2000);ao();set_servo_position(3,600);/闭合机械爪 msleep(1000);/等待1秒，流出机械爪动作的时间drive_spot_turn();drive_forward();msleep(2000);ao();set_servo_position(1,900);/放下机械臂set_servo_position(3,1000);/张开机械爪void drive_forward()motor(0,100);motor(3,100);void drive_spot_turn()motor(0,100);motor(3,-100);msleep(1000);JBC 挑战17 定位并带回瓶罐/因为挑战任务2，6，11，是在一条直线上，所以选择触碰传感器执行while语句，当机器碰到瓶罐即可返回。int main()enable_s