「RCcontrolプログラム」の編集履歴（バックアップ）一覧に戻る

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「RCcontrolプログラム」を以下のとおり復元します。

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&html(<a href="http://sapporo.txt-nifty.com/sanpo/">ラジコンコントロール</a>)に使っているプログラムのサンプルです。
>あくまでサンプルです。使用改変は自由ですが、動かない、ソースが汚いなどの苦情は>nulへ。

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'RC PROPO CONTROL PROGRAM BY SHING FOR RD6000
' 2006.1.14 VER 6.1

' Ver 6.1 User motion added.
' Ver 5.1 GWS PG-03 added.   Gravity sencor added.   Serial communication terminal added.
' Ver 4.1 KRG gyro command test
' Ver 3.3 New Gyro test
' Ver 3 Gyro added
' Ver 2 CONTOROL CODE MODIFIED.
'
'RD6000 DATA
'1ch: L-UD(U+), 2ch R-LR(L+), 3ch R-UD(U+), 4ch L-LR(L+)	
'CENTER		:0
'UP				:1
'DOWN 		:2
'LEFT		:3
'RIGHT		:4
'LEFT-UP	:5
'RIGHT-UP	:6
'LEFT-DOWN	:7
'RIGHT-DOWN	:8
'RSV		:9

'##DEF INPUT RC_CH
DIM RCH1 AS BYTE
DIM RCH2 AS BYTE
DIM RCH3 AS BYTE
DIM RCH4 AS BYTE

'##DEF JUMP VARIABLE
DIM STICKPOS AS BYTE
DIM LSTICK AS BYTE
DIM RSTICK AS BYTE
DIM A16 AS BYTE
DIM A26 AS BYTE

'##DEF WAIT TIME
CONST WAITTIME = 10

'##DEF THURESHOLD VALUE
'1ch: L-UD(U+), 2ch R-LR(R+), 3ch R-UD(U+), 4ch L-LR(L+)
CONST RCH1MIN = 40 
CONST RCH1MAX = 140
CONST RCH2MIN = 40
CONST RCH2MAX = 140
CONST RCH3MIN = 40
CONST RCH3MAX = 140
CONST RCH4MIN = 40
CONST RCH4MAX = 140

'##DEF VALUE STICK POS.
CONST TOP  = 100
CONST DOWN = 0
CONST LEFT  = 0
CONST RIGHT = 100
CONST CENTER = 50

'##DEF GYRO
'For GWS Gyro
GYROSET G6A, 0, 1, 1, 1, 0, 0
GYROSET G6D, 0, 1, 1, 1, 0, 0

GYRODIR G6A, 0, 1, 1, 1, 0, 0
GYRODIR G6D, 0, 1, 1, 1, 0, 0

GYROSENSE G6A,   0, 100, 100, 100,   0,   0
GYROSENSE G6D,   0, 100, 100, 100,   0,   0

'==========================================
'--- AUTO MAIN ---
STICKPOS  = 0
PTP SETON 
PTP ALLON

'== motor diretion setting 
DIR G6A,1,0,0,1,0,0		
DIR G6B,1,1,1,1,1,1		
DIR G6C,0,0,0,0,0,0		
DIR G6D,0,1,1,0,1,0	

'== motor start position read 
GETMOTORSET G24,1,1,1,1,1,0,1,1,1,0,0,0,1,1,1,0,0,0,1,1,1,1,1,0
TEMPO 230
MUSIC "CDE"
DELAY 2000

'== motor power on 
SPEED 5
MOTOR G24	
GOSUB standard_pose

'==========================================
'--- MAIN ROUTINE ---
MAIN:
	DELAY WAITTIME
	
	GOSUB RCDATACALC
	GOSUB CALCSTICKPOS
	
	IF LSTICK = 0 AND RSTICK = 0 THEN
			GOTO MAIN
		ELSEIF RSTICK = 0 THEN
			STICKPOS = LSTICK
		ELSEIF RSTICK = 1 THEN
			STICKPOS = LSTICK + 10
		ELSEIF RSTICK = 2 THEN
			STICKPOS = LSTICK + 20
		ELSEIF LSTICK = 0 THEN
			STICKPOS = RSTICK + 30
	ENDIF

'---DECIDE MOTION ---	
	MUSIC "C"
	ON STICKPOS GOTO K0,K1,K2,K3,K4,K5,K6,K7,K8,K9,K10,K11,K12,K13,K14,K15,K16,K17,K18,K19,K20,K21,K22,K23,K24,K25,K26,K27,K28,K29, K30, K31, K32, K33, K34, K35, K36, K37, K38, K39
	GOTO MAIN
	
'---MAIN ROUTINE EXIT ---
MAIN_EXIT:

	STICKPOS = 0
	GOTO MAIN
	
'==========================================	
'--- GET STICK POSITION ---
RCDATACALC:

	RCH1 = RCIN (0)
	RCH2 = RCIN (1)
	RCH3 = RCIN (2)
	RCH4 = RCIN (3)

'##INPUT VALUE DEPEND ON STICK POSITION
	IF RCH1 < RCH1MIN THEN
			RCH1 = DOWN
		ELSEIF RCH1 > RCH1MAX THEN
			RCH1 = TOP
		ELSE
			RCH1 = CENTER
	ENDIF

	IF RCH2 < RCH2MIN THEN
			RCH2 = RIGHT
		ELSEIF RCH2 > RCH2MAX THEN
			RCH2 = LEFT
		ELSE
			RCH2 = CENTER
	ENDIF

	IF RCH3 < RCH3MIN THEN
	 		RCH3 = DOWN
	 	ELSEIF RCH3 > RCH3MAX THEN
	 		RCH3 = TOP
	 	ELSE
	 		RCH3 = CENTER
	ENDIF
	
	IF RCH4 < RCH4MIN THEN
	 		RCH4 = RIGHT
		ELSEIF RCH4 > RCH4MAX THEN
			RCH4 = LEFT
		ELSE
			RCH4 = CENTER
	ENDIF
RETURN

'==========================================
'--- CALCULATE STICKPOSITION ---
CALCSTICKPOS:
	IF RCH1 = CENTER AND RCH4 = CENTER THEN
			LSTICK = 0
		ELSEIF RCH1 = CENTER AND RCH4 = LEFT THEN
			LSTICK = 3
		ELSEIF RCH1 = CENTER AND RCH4 = RIGHT THEN
			LSTICK = 4
		ELSEIF RCH1 = TOP AND RCH4 = CENTER THEN
			LSTICK = 1
		ELSEIF RCH1 = TOP AND RCH4 = LEFT THEN
			LSTICK = 5
		ELSEIF RCH1 = TOP AND RCH4 = RIGHT THEN
			LSTICK = 6
		ELSEIF RCH1 = DOWN AND RCH4 = CENTER THEN
			LSTICK = 2
		ELSEIF RCH1 = DOWN AND RCH4 = LEFT THEN
			LSTICK = 7
		ELSEIF RCH1 = DOWN AND RCH4 = RIGHT THEN
			LSTICK = 8		
	ENDIF
	
	IF  RCH3 = DOWN AND RCH2 = CENTER THEN
			RSTICK = 2
		ELSEIF RCH3 = DOWN AND RCH2 = LEFT THEN
			RSTICK = 7
		ELSEIF RCH3 = DOWN AND RCH2 = RIGHT THEN
			RSTICK= 8
		ELSEIF RCH3 = TOP AND RCH2 = CENTER THEN
			RSTICK = 1
		ELSEIF RCH3 = TOP AND RCH2 = LEFT THEN
			RSTICK = 5
		ELSEIF RCH3 = TOP AND RCH2 = RIGHT THEN
			RSTICK = 6
		ELSEIF RCH3 = CENTER AND RCH2 = LEFT THEN
			RSTICK = 3
		ELSEIF RCH3 = CENTER AND RCH2 = RIGHT THEN
			RSTICK = 4
		ELSEIF RCH3 = CENTER AND RCH2 = CENTER THEN
			RSTICK = 0
	ENDIF
RETURN
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#comment

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&counter()

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復元してよろしいですか？