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#define throw_time 10 #define run_time 150 //¥í¥Ü¥Ã¥È¤¬²óž¤¹¤ë»þ´Ö¡£¤³¤Î¥×¥í¥°¥é¥à¤Ç¤Ï1¼þ°Ê¾å¤¹¤ì¤Ð²¿¼þ¤Ç¤âÎɤ¤ int max ; //¸÷¤ÎºÇÂçÃͤΤ¿¤á¤ÎÊÑ¿ô
task main() {SetPower(OUT_B,0)¡¡//¤¢¤Þ¤ê¤Ï¤ä¤¯²óž¤·¤¹¤®¤ë¤È¡¢¸÷¤ÎºÇÂçÃͤνê¤Ç¤È¤Þ¤ì¤Ê¤¤ SetSensor(SENSOR_1,SENSOR_LIGHT);¡¡//¥»¥ó¥µ1¤ò¸÷¥»¥ó¥µ¤Ë»ØÄê SetSensor(SENSOR_2,SENSOR_TOUCH); //¥»¥ó¥µ2¤ò¥¿¥Ã¥Á¥»¥ó¥µ¤Ë»ØÄê
ClearTimer(0);¡¡//¥¿¥¤¥Þ¡¼0¤ò¥¯¥ê¥¢ while(Timer(0)<run_time)¡¡ {max=0;¡¡//¤È¤ê¤¢¤¨¤º¡¢¸÷¤Î¶¯¤µ¤ÎºÇÂçÃͤò0¤ËÀßÄê OnFwd(OUT_B);¡¡//»þ·×¼þ¤ê¤Ë²óž if(SENSOR_1>max){max=SENSOR_1;}¡¡//¤½¤ì¤Þ¤Ç¤ÇºÇÂç¤Î¶¯¤µ¤Î¸÷¤è¤ê¤â¶¯¤¤¸÷¤ò´¶ÃΤ·¤¿¤é¡¢¤½¤Î¶¯¤µ¤òºÇÂçÃͤȤ¹¤ë¡£ }
OnFwd(OUT_B);¡¡//ºÆ¤Ó¡¢»þ·×²ó¤ê until(SENSOR_1<=max+7 || SENSOR_1>=max-7)¡¡//ºÇÂçÃͤ˶ᤤ¸÷¤ò´¶¤¸¤¿¤é¡¢¤½¤ÎÊý¸þ¤ò¸÷¸»¤ÈȽÃÇ Float(OUT_B);
OnFwd(OUT_C); Wait(throw_time);¡¡//¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë OnRev(OUT_C); until(SENSOR_2==1);¡¡//¸µ¤Î°ÌÃÖ¤ËËÀ¤òÌᤷ¡¢¼¡¤âÅꤲ¤é¤ì¤ë¤è¤¦¤Ë¤¹¤ë Float(OUT_A+OUT_B); }
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#define throw_time 10 //Åê¤Æ¤Éô¤¬Æ°¤¯»þ´Ö #define run_time 180 //1¼þ¤Î»þ´Ö int max ;¡¡//¸÷¤Î¶¯¤µ¤ÎºÇÂçÃͤΤ¿¤á¤ÎÊÑ¿ô int a ;¡¡//¸÷¸»¤Þ¤Ç¤Î»þ´Ö¤Î¤¿¤á¤ÎÊÑ¿ô
task main() {SetPower(OUT_B,0) //¤¢¤Þ¤ê¤Ï¤ä¤¯²óž¤·¤¹¤®¤ë¤È¡¢¸÷¤ÎºÇÂçÃͤνê¤Ç¤È¤Þ¤ì¤Ê¤¤ SetSensor(SENSOR_1,SENSOR_LIGHT);¥»¥ó¥µ1¤ò¸÷¥»¥ó¥µ¤Ë»ØÄê SetSensor(SENSOR_2,SENSOR_TOUCH);¥»¥ó¥µ3¤ò¥¿¥Ã¥Á¥»¥ó¥µ¤Ë»ØÄê
ClearTimer(0);¡¡//¥¿¥¤¥Þ¡¼0¤ò¥¯¥ê¥¢ while(Timer(0)<=run_time) {max=0;¡¡//¸÷¤Î¶¯¤µ¤ÎºÇÂçÃͤò¤È¤ê¤¢¤¨¤º0¤Ë OnFwd(OUT_B);¡¡//»þ·×²ó¤ê¤Ë²óž if(SENSOR_2>max){max=SENSOR_2;ClearTimer(1);}¡¡//¤½¤ì¤Þ¤Ç¤ÇºÇÂç¤Î¶¯¤µ¤Î¸÷¤è¤ê¤â¶¯¤¤¸÷¤ò´¶ÃΤ·¤¿¤é¡¢¤½¤Î¶¯¤µ¤òºÇÂçÃͤȤ¹¤ë¡£¤Þ¤¿¡¢¥¿¥¤¥Þ¡¼1¤ò¥¯¥ê¥¢ } a=Timer(1);¡¡//¸÷¸»¤Þ¤Ç¤É¤ì¤¯¤é¤¤µÕ²ó¤ê¤¹¤ì¤Ð¤è¤¤¤«(¾Ü¤·¤¯¤Ï²¼¤Î¿Þ¤ò»²¾È)
ClearTimer(0); //¥¿¥¤¥Þ¡¼0¤ò¥¯¥ê¥¢ OnRev(OUT_B);¡¡ until(Timer(0)>=a) //aÉô֤À¤±È¿»þ·×²ó¤ê¤Ë²óž Float(OUT_B); //²óžÄä»ß
OnFwd(OUT_C); Wait(throw_time);¡¡//¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë OnRev(OUT_C); until(SENSOR_2==1);¡¡ Float(OUT_C);¡¡//¸µ¤Î°ÌÃÖ¤ËËÀ¤òÌᤷ¡¢¼¡¤âÅꤲ¤é¤ì¤ë¤è¤¦¤Ë¤¹¤ë }
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2¤Ä¤Î¥»¥ó¥µ¤¬´¶¤¸¤ë¸÷¤Î¶¯¤µ¤Îº¹¤¬½½Ê¬¤Ë¾®¤µ¤¯¡¢¤«¤Ä¸÷¤Î¶¯¤µ¤¬½½Ê¬¤ËÂ礤¤Êý¸þ¤Ë¸÷¸»¤¬¤¢¤ë ¤ÈȽÃǤ¹¤ë¡£¤Ê¤ª¡¢¤³¤Î¥×¥í¥°¥é¥à¤Ï¹Í¤¨¤Æ¤ß¤¿¤À¤±¤Ç¡¢¼Â¹Ô¤·¤Æ¤¤¤Ê¤¤¡£¥Ò¥ó¥È¤Ë¤¢¤ë¤è¤¦¤Ë¡¢¤Ä¤¤¤¿¤Æ¤òÍѤ¤¤Ê¤¤¤ÈÆñ¤·¤¤¤«¤â¤·¤ì¤Ê¤¤¡£
#define throw_time 10¡¡//Åê¤Æ¤Éô¤¬Æ°¤¯»þ´Ö #define TH 7 //ïçÃÍ¡£¤³¤ì¤è¤êº¸±¦¤Î¸÷¥»¥ó¥µ¤ÎÃͤκ¹¤¬¾®¤µ¤¤¤«¤É¤¦¤«¤òȽÃÇ #define THREADHOLD 50 // task main() {SetPower(OUT_B,0); ////¤¢¤Þ¤ê¤Ï¤ä¤¯²óž¤·¤¹¤®¤ë¤È¡¢¸÷¸»¤ÎÊý¸þ¤Ç¤È¤Þ¤ì¤Ê¤¤ SetSensor(SENSOR_1,SENSOR_LIGHT); //¥»¥ó¥µ1¤ò¸÷¥»¥ó¥µ¤Ë»ØÄê SetSensor(SENSOR_2,SENSOR_TOUCH); //¥»¥ó¥µ2¤ò¥¿¥Ã¥Á¥»¥ó¥µ¤Ë»ØÄê SetSensor(SENSOR_3,SENSOR_LIGHT);¡¡//¥»¥ó¥µ3¤ò¸÷¥»¥ó¥µ¤Ë»ØÄê
OnFwd(OUT_B); //»þ·×²ó¤ê¤Ë²óž until((SENSOR_1-SENSOR_3>TH && SENSOR_3>THREADHOLD) || (SENSOR_3-SENSOR_1>TH && SENSOR_1>THREADHOLD)) //2¤Ä¤Î¥»¥ó¥µ¤¬´¶¤¸¤ë¸÷¤Î¶¯¤µ¤Îº¹¤¬½½Ê¬¤Ë¾®¤µ¤¯¡¢¤«¤Ä¸÷¤Î¶¯¤µ¤¬½½Ê¬¤ËÂ礤¤¤ÈȽÃǤǤ¤ë¤Þ¤Ç²óž Off(OUT_B); //²óžÄä»ß
OnFwd(OUT_C); Wait(throw_time);OnRev(OUT_C);¡¡//¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë until(SENSOR_2==1); Float(OUT_C);¡¡//¸µ¤Î°ÌÃÖ¤ËËÀ¤òÌᤷ¡¢¼¡¤âÅꤲ¤é¤ì¤ë¤è¤¦¤Ë¤¹¤ë¡¡¡¡ }
②²ÝÂê3-2
#define run_time 300 //¥È¥ì¡¼¥¹¤¹¤ëºÇÂç¤Î»þ´Ö¤ò»ØÄê(¤³¤Î¾ì¹ç¤Ï300ÉÃ) #define TH 50 //ïçÃͤòÀßÄê¡¡
{task main() SetSensor(SENSOR_1,SENSOR_LIGHT); //¥»¥ó¥µ1¤ò¸÷¥»¥ó¥µ¤Ë»ØÄê SetSensor(SENSOR_3,SENSOR_LIGHT);¡¡//¥»¥ó¥µ3¤ò¸÷¥»¥ó¥µ¤Ë»ØÄê ClearTimer(0);¡¡//¥¿¥¤¥Þ¡¼0¤ò¥¯¥ê¥¢ while(Timer(0)<=run_time) { if(SENSOR_1>TH) {if(SENSOR_3>TH){OnFwd(OUT_B);OnRev(OUT_B);} //ξÊý¤Î¥»¥ó¥µ¤¬ïçÃͤè¤êÂ礤¤¾ì¹ç¡¢¸÷¸»¤Ï¤Û¤ÜÁ°Êý¤Ë¤¢¤ë¤ÈȽÃǤ·¤Æľ¿Ê¤¹¤ë¡£ else{OnFwd(OUT_B);}} //¥»¥ó¥µ1¤ÎÃͤΤߤ¬ïçÃͤè¤êÂ礤¤¤È¤¡¢¸÷¸»¤Ï¥»¥ó¥µ1¦(¤³¤Î¾ì¹ç¡¢±¦)¤Ë¤¢¤ë¤È¤·¤Æ¡¢±¦¤Ë¶Ê¤¬¤ë¡£ else {if(SENSOR_3>TH){OnRev(OUT_B);} //¥»¥ó¥µ3¤ÎÃͤΤߤ¬ïçÃͤè¤êÂ礤¤¤È¤¡¢¸÷¸»¤Ï¥»¥ó¥µ3¦(¤³¤Î¾ì¹ç¡¢º¸)¤Ë¤¢¤ë¤È¤·¤Æ¡¢º¸¤Ë¶Ê¤¬¤ë¡£ else{OnFwd(OUT_B);until(SENSOR_1>TH || SENSOR_3>TH)}} //ξÊý¤Î¥»¥ó¥µ¤ÎÃͤ¬ïçÃͤè¤ê¾®¤µ¤¤¤È¤¤Ë¤Ï¸÷¤ò¸«¼º¤Ã¤¿¤ÈȽÃǤ¹¤ë¡£»þ·×²ó¤ê¤Ë²óž¤·¤Æ¡¢¸÷¸»¤òõ¤¹¡£¤â¤·¡¢¸«¤Ä¤«¤é¤º¤Ë¥¹¥¿¡¼¥È¤«¤é300É俤ĤÈÄä»ß¡£} ¡Ñ
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