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#define go OnFwd(OUT_A+OUT_C); //Á°¿Ê¤ò¡Ögo¡×¤ÇÄêµÁ #define back OnRev(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¸å¿Ê¤ò¡Öback¡×¤ÇÄêµÁ #define right OnFwd(OUT_A);OnRev(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡//±¦²ó¤ê¤ò¡Öright¡×¤ÇÄêµÁ #define left OnFwd(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//º¸²ó¤ê¤ò¡Öleft¡×¤ÇÄêµÁ #define enter OnRev(OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥Ü¡¼¥ë¤òÈ¢¤Î¾å¤ËÆþ¤ì¤ëÆ°ºî¤ò¡Öenter¡×¤ÇÄêµÁ #define shot OnFwd(OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ü¡¼¥ë¤òÈ¢¤Î²£¤ËÆþ¤ì¤ëÆ°ºî¤ò¡Öshot¡×¤ÇÄêµÁ #define freez Off(OUT_A+OUT_C); Wait(100);¡¡¡¡¡¡¡¡¡¡//¥â¡¼¥¿¡¼£Á¡¤C¤ÎÄä»ß¤ò¡Öfreez¡×¤ÇÄêµÁ #define freezb Off(OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥â¡¼¥¿¡¼£Â¤ÎÄä»ß¤ò¡Öfreezb¡×¤ÇÄêµÁ #define r freez Wait(30);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //0.3ÉôÖÄä»ß¤¹¤ëÆ°ºî¤ò¡Ö£ò¡×¤ÇÄêµÁ #define gool enter;Wait(50);shot;Wait(30);freezb;¡¡//¥Ü¡¼¥ë¤ò¾å¤ËÆþ¤ì¤Æ¥¢¡¼¥à¤ò¸µ¤Î°ÌÃÖ¤ËÌ᤹ưºî¤ò¡Ögool¡×¤ÇÄêµÁ #define hand enter;Wait(50);freezb;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ü¡¼¥ë¤ò¼è¤ê½Ð¤·¡¢ÊÝ»ý¤¹¤ëÆ°ºî¤ò¡Öhand¡×¤ÇÄêµÁ #define THRESHOLD 40 task main() { SetPower (OUT_A,3); //¥â¡¼¥¿¡¼£Á¤Î¥Ñ¥ï¡¼¤ò£³¤Ë¥»¥Ã¥È SetPower(OUT_C,3);¡¡¡¡¡¡¡¡¡¡¡¡//¥â¡¼¥¿¡¼£Ã¤Î¥Ñ¥ï¡¼¤ò£³¤Ë¥»¥Ã¥È SetPower (OUT_B,7);¡¡¡¡¡¡¡¡¡¡ //¥â¡¼¥¿¡¼£Â¤Î¥Ñ¥ï¡¼¤ò£·¤Ë¥»¥Ã¥È SetSensor(SENSOR_1,SENSOR_LIGHT); SetSensor(SENSOR_2,SENSOR_ROTATION); go until (SENSOR_1 < THRESHOLD) ;¡¡¡¡//¡¸÷¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤Î¾å¤òÄ̤ë¤Þ¤ÇÁ°¿Ê freez right ClearSensor(SENSOR_2);¡¡¡¡¡¡¡¡¡¡¡¡//²óž¥»¥ó¥µ¡¼¤ÎÃͤò½é´ü²½¤¹¤ë until(SENSOR_2 > 6);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²óž¥»¥ó¥µ¡¼¤ÎÃͤ¬£¶¤è¤ê¾®¤µ¤¤¤Ê¤é±¦¤ËÊý¸þž´¹¤ò³¤±¤ë freez go until (SENSOR_1 < THRESHOLD) ;¡¡¡¡//¸÷¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤ò¾å¤òÄ̤ë¤Þ¤ÇÁ°¿Ê freez enter¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥Ü¡¼¥ë¤ò¼ÖÂΤ˼è¤êÆþ¤ì¤ë Wait(65); freezb back¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¢¥Ü¡¼¥ë¤òÊÝ»ý¤·¤¿¤Þ¤Þ¸å¿Ê¤¹¤ë Wait(30); back until (SENSOR_1 < THRESHOLD) ;¡¡¡¡//¸÷¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤Î¾å¤òÄ̤ë¤Þ¤Ç¸å¿Ê freez left ClearSensor(SENSOR_2);¡¡¡¡¡¡¡¡¡¡¡¡//²óž¥»¥ó¥µ¡¼¤ÎÃͤò½é´ü²½¤¹¤ë until(SENSOR_2 < -7);¡¡¡¡¡¡¡¡¡¡¡¡ //²óž¥»¥ó¥µ¡¼¤¬£²¤«¤é¡¼£·¤è¤êÂ礤¯¤Ê¤ë¤Þ¤Çº¸¼þ¤ê¤ËÊý¸þž´¹ freez go¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Á°¿Ê¤¹¤ë Wait(130); freez left¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//È¢¤ÎÁ°¤Çº¸¤Ë£¹£°¡ëÊý¸þž´¹ Wait(70); freez go¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//È¢¤ËÌ©Ã夹¤ë¤¿¤á¤ËÁ°¿Ê enter¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥Ü¡¼¥ë¤òÈ¢¤ËÆþ¤ì¤ë Wait(100); freez shot¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥à¤¬È¢¤Ë°ú¤Ã¤«¤«¤é¤Ê¤¤¤è¤¦¤Ë¥¢¡¼¥à¤òÌ᤹ Wait(50); freezb while(true) { right¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //£È¢¤ÎÁ°¤Ç£¹£°¡ëÊý¸þž´¹ ClearSensor(SENSOR_2);¡¡¡¡¡¡¡¡¡¡¡¡//²óž¥»¥ó¥µ¡¼¤ÎÃͤò½é´ü²½ until(SENSOR_2 > 3);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//²óž¥»¥ó¥µ¡¼¤ÎÃͤ¬£³¤è¤êÂ礤¯¤Ê¤ë¤Þ¤ÇÊý¸þž´¹¤ò³¤±¤ë¡¡¡¡¡¡ freez back¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸å¿Ê until (SENSOR_1 < THRESHOLD) ;¡¡ //¸÷¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤Î¾å¤òÄ̤ë¤Þ¤Ç¸å¿Ê¤ò³¤±¤ë right ClearSensor(SENSOR_2);¡¡¡¡¡¡¡¡¡¡¡¡//²óž¥»¥ó¥µ¡¼¤ÎÃͤò½é´ü²½ until(SENSOR_2 > 3.);¡¡¡¡¡¡¡¡¡¡¡¡ //²óž¥»¥ó¥µ¡¼¤ÎÃͤ¬£³¤è¤êÂ礤¯¤Ê¤ë¤Þ¤ÇÊý¸þž´¹¤ò³¤±¤ë go¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Á°¿Ê¤¹¤ë Wait(30); go until (SENSOR_1 < THRESHOLD) ;¡¡¡¡//¸÷¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤Î¾å¤òÄ̤ë¤Þ¤ÇÁ°¿Ê freez enter¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥Ü¡¼¥ë¤ò¼è¤êÆþ¤ì¤ë Wait(65); freezb back¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤¸å¿Ê¤¹¤ë Wait(30); back until (SENSOR_1 < THRESHOLD) ;¡¡¡¡//¸÷¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¤Î¾å¤òÄ̤ë¤Þ¤Ç¸å¿Ê¤ò³¤±¤ë freez left ClearSensor(SENSOR_2);¡¡¡¡¡¡¡¡¡¡¡¡//²óž¥»¥ó¥µ¡¼¤ÎÃͤò½é´ü²½ until(SENSOR_2 < -6);¡¡¡¡¡¡¡¡¡¡¡¡ //²óž¥»¥ó¥µ¡¼¤ÎÃͤ¬¡Ý£¶¤è¤ê¤â¾®¤µ¤¯¤Ê¤ë¤Þ¤ÇÊý¸þž´¹¤ò³¤±¤ë freez go Wait(130); freez left ClearSensor(SENSOR_2);¡¡¡¡¡¡¡¡¡¡¡¡//²óž¥»¥ó¥µ¡¼¤ÎÃͤò½é´ü²½ until(SENSOR_2 < -6);¡¡¡¡¡¡¡¡¡¡¡¡ //²óž¥»¥ó¥µ¡¼¤ÎÃͤ¬¡¼£¶¤è¤ê¤â¾®¤µ¤¯¤Ê¤ë¤Þ¤Çº¸¼þ¤ê¤ËÊý¸þž´¹¤ò³¤±¤ë freez go //È¢¤Ë¶á¤Å¤¯¤¿¤á¤ËÁ°¿Ê Wait(30) enter //¥Ü¡¼¥ë¤òÈ¢¤ËÆþ¤ì¤ë Wait(100); freez shot¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¢¡¼¥à¤¬È¢¤Ë°ú¤Ã¤«¤«¤ë¤Î¤òËɤ°¤¿¤á¤Ë¥¢¡¼¥à¤òÌ᤹ Wait(50); freezb } }
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#define go OnFwd(OUT_A+OUT_C); Ãæά #define THRESHOLD 40 task main() { SetPower (OUT_A,3); SetPower(OUT_C,3); SetPower (OUT_B,7); SetSensor(SENSOR_1,SENSOR_LIGHT); SetSensor(SENSOR_2,SENSOR_ROTATION); left until(SENSOR_2 < -6); freez}
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#define go OnFwd(OUT_A+OUT_C); //Á°¿Ê¤ò¡Ögo¡×¤ÇÄêµÁ #define back OnRev(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¸å¿Ê¤ò¡Öback¡×¤ÇÄêµÁ #define right OnFwd(OUT_A);OnRev(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡//±¦²ó¤ê¤ò¡Öright¡×¤ÇÄêµÁ #define left OnFwd(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//º¸²ó¤ê¤ò¡Öleft¡×¤ÇÄêµÁ #define enter OnRev(OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥Ü¡¼¥ë¤òÈ¢¤Î¾å¤ËÆþ¤ì¤ëÆ°ºî¤ò¡Öenter¡×¤ÇÄêµÁ #define shot OnFwd(OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ü¡¼¥ë¤òÈ¢¤Î²£¤ËÆþ¤ì¤ëÆ°ºî¤ò¡Öshot¡×¤ÇÄêµÁ #define freez Off(OUT_A+OUT_C); Wait(100);¡¡¡¡¡¡¡¡¡¡//¥â¡¼¥¿¡¼£Á¡¤C¤ÎÄä»ß¤ò¡Öfreez¡×¤ÇÄêµÁ #define freezb Off(OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥â¡¼¥¿¡¼£Â¤ÎÄä»ß¤ò¡Öfreezb¡×¤ÇÄêµÁ #define r freez Wait(30);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //0.3ÉôÖÄä»ß¤¹¤ëÆ°ºî¤ò¡Ö£ò¡×¤ÇÄêµÁ #define gool enter;Wait(50);shot;Wait(30);freezb;¡¡//¥Ü¡¼¥ë¤ò¾å¤ËÆþ¤ì¤Æ¥¢¡¼¥à¤ò¸µ¤Î°ÌÃÖ¤ËÌ᤹ưºî¤ò¡Ögool¡×¤ÇÄêµÁ #define hand enter;Wait(50);freezb;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ü¡¼¥ë¤ò¼è¤ê½Ð¤·¡¢ÊÝ»ý¤¹¤ëÆ°ºî¤ò¡Öhand¡×¤ÇÄêµÁ task main () { SetPower (OUT_A,3); //¥â¡¼¥¿¡¼£Á¤Î¥Ñ¥ï¡¼¤ò£³¤Ë¥»¥Ã¥È SetPower(OUT_C,3);¡¡¡¡¡¡¡¡¡¡¡¡//¥â¡¼¥¿¡¼£Ã¤Î¥Ñ¥ï¡¼¤ò£³¤Ë¥»¥Ã¥È SetPower (OUT_B,7);¡¡¡¡¡¡¡¡¡¡ //¥â¡¼¥¿¡¼£Â¤Î¥Ñ¥ï¡¼¤ò£·¤Ë¥»¥Ã¥È int p;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//ÊÑ¿ô¡Ö£ð¡×ÄêµÁ p=0;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//p¤Ë£°¤òÂåÆþ while (p<1)¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¡Ö¥Õ¥£¡¼¥ë¥É¤ÎÆ°ºî¡×¤Î¡¢¤Ë¤¢¤¿¤ëÆ°ºî { go Wait(50); freez;r; left; Wait(90); freez go Wait(100); freez;r; hand;r;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ü¡¼¥ë¤ò¥¢¡¼¥à¤Ë¼è¤ê¹þ¤ßÊÝ»ý¤¹¤ë back Wait(40); right Wait(90);r; go Wait(30);r; right Wait(90);r; go Wait(200);r; gool¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¥Ü¡¼¥ë¤òÈ¢¤Î¾å¤«¤éÆþ¤ì¤ë p=1; } while (1<=p<3)¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¡Ö¥Õ¥£¡¼¥ë¥É¤ÎÆ°ºî¡×¤Î£¤¤Ë¤¢¤¿¤ëÆ°ºî { r:back; Wait(180);r; go Wait(50);r; right Wait(90);r; go Wait(90);r; hand;r; back Wait(40); right Wait(90);r; go Wait(120);r; gool p=p+1; } while(3<=p<=4)¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //Æó¸ÄÌܤΥܡ¼¥ë¤¬È¢¤ËÆþ¤é¤Ê¤«¤Ã¤¿¤È¤¤Î°Ù¤Ë£¤¤ò¤â¤¦£²²ó·«¤êÊÖ¤¹ { r back Wait(100);r; left Wait(90);r; go Wait(80);r; hand;r; back Wait(60);r; right Wait(90);r; go Wait(100);r; gool p=p+1 } while(5<=p<6)¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥Ü¡¼¥ë¤òÈ¢¤Î¾å¤ËÆþ¤ì¤ë¤Î¤òÄü¤á¥Ü¡¼¥ë¤òÃƤÈô¤Ð¤¹¤³¤È¤Ç²£¤«¤é¥Ü¡¼¥ë¤òÆþ¤ì¤ë { r;back; Wait(180);r; go Wait(50);r; right Wait(90);r; go Wait(90); freez;r; shot Wait(300); freezb;r; go Wait(100); freez;r; shot Wait(300); freezb p=6 } while(6<=p)¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//°ÌÃÖ¤òÄ´À°¤·¤¿¤Î¤Á¤Ë£¤¤Ë¤¢¤¿¤ëÆ°ºî¤ËÌá¤ë { back Wait(50); freez;r; go Wait(80); freez;r; shot Wait(200); freezb;r; p=2 } }
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