#define turn_right OnFwd(OUT_A);OnRev(OUT_C); #define turn_left OnRev(OUT_A);OnFwd(OUT_C); #define go OnFwd(OUT_A+OUT_C); #define back OnRev(OUT_A+OUT_C); #define stop_turn Off(OUT_A+OUT_C); task main () { SetSensor(SENSOR_1,SENSOR_TOUCH); ClearTimer(0); go; until (SENSOR_1=1) back; Wait(FastTimer(0)/2); turn_right; Wait(25); ClearTimer(0); go; until (SENSOR_1=1) back; Wait(FastTimer(0)/3); turn_right; Wait(25); go; until(SENSOR_1=1); back; Wait(20); turn_right; Wait(25); stop_turn; back; Wait(20); OnRev(OUT_B); Wait(20);//缶をつかむ Off(OUT_A;OUT_C); }
#define turn_right OnFwd(OUT_A);OnRev(OUT_C); #define turn_left OnRev(OUT_A);OnFwd(OUT_C); #define go OnFwd(OUT_A+OUT_C); #define back OnRev(OUT_A+OUT_C); #define stop_turn Off(OUT_A+OUT_C); task main () { SetSensor(SENSOR_1,SENSOR_TOUCH); until(SENSOR_1=1); back; Wait(20); turn_right; Wait(25); back; Wait(20); OnFwd(OUT_B); Wait(17); ClearTimer(0); go; until (SENSOR_1=1) back; Wait(FastTimer(0)/2); turn_left; Wait(25); ClearTimer(0); go; until (SENSOR_1=1) back; Wait(FastTimer(0)/3); turn_right; Wait(25); Off(OUT_A+OUT_C); Wait(30); OnRev(OUT_B); Wait(17); back; Wait(40); Off(OUT_A+OUT_C); }
#define turn_right OnFwd(OUT_A);OnRev(OUT_C);
#define turn_left OnRev(OUT_A);OnFwd(OUT_C); #define go OnFwd(OUT_A+OUT_C); #define back OnRev(OUT_A+OUT_C); #define stop_turn Off(OUT_A+OUT_C);
task main () { SetSensor(SENSOR_1,SENSOR_TOUCH);
until(SENSOR_1==1); back; Wait(20); turn_right; Wait(30); back; Wait(20); OnFwd(OUT_B); Wait(17); ClearTimer(0); go; until (SENSOR_1==1); back; Wait(FastTimer(0)/2); turn_left; Wait(25); ClearTimer(0); go; until (SENSOR_1==1); back; Wait(FastTimer(0)/3); turn_right; Wait(25); Off(OUT_A+OUT_C); Wait(30); OnRev(OUT_B); Wait(17); back; Wait(40); Off(OUT_A+OUT_C); }