ºîÀ®¤·¤¿¥³¡¼¥¹¤Ë±è¤Ã¤ÆÆ°¤¯¥í¥Ü¥Ã¥È¤òºîÀ®¡£
¡Â®¤µ¤ÈÀµ³Î¤µ¤òÄɵ᤹¤ë¤³¤È
¢¸òº¹ÅÀ¤ÇÍ¥À覤òÁö¤Ã¤Æ¤¤¤Ê¤¤¾ì¹ç¤Ë¤Ï¡¢°ì»þÄä»ß¤¹¤ë¤³¤È
£Á°Êý¤Ë¤¢¤ë¤â¤¦°ìÂæ¤Î¥í¥Ü¥Ã¥È¤ËÀÜ¿¨¤·¤¿¾ì¹ç¤Ë¤ÏÄä»ß¤·¤ÆÁê¼ê¤Î¥í¥Ü¥Ã¥È¤¬¹Ô¤²á¤®¤ë¡¢¤¢¤ë¤¤¤Ïµ÷Î¥¤¬Î¥¤ì¤ë¤Î¤òÂԤĤ³¤È
¤¥³¡¼¥¹¤ò3¼þ¤·¤¿¤é¼«Æ°Åª¤Ë»ß¤Þ¤ë¤³¤È
¥í¥Ü¥Ã¥ÈËÜÂΤϴðËܤΥɥ饤¥Ö¥Ù¡¼¥¹¤ò»ÈÍѤ·¤Þ¤·¤¿¡£
ºÇ½é¤Ë¸÷¥»¥ó¥µ¡¼¤Î¤ß¤ò¼è¤êÉÕ¤±¤Þ¤·¤¿¡£
¤Þ¤º¡¢°Âľ¤Ë¾å¤«¤é¸ÇÄꤷ¤Æ¤ß¤Þ¤·¤¿¡£
¤·¤«¤·¡¢ÃÏÌ̤«¤éÎ¥¤ì¤Æ¤¤¤ë¤¿¤á¤«¡¢¥é¥¤¥ó¤ÎÆɤ߼è¤ê¤¬¤¦¤Þ¤¯½ÐÍè¤Þ¤»¤ó¤Ç¤·¤¿¡£
¤Ê¤Î¤Ç¼¡¤ËËÜÂÎƬ¤Î²¼Éô¤Ë¤Ä¤±¤Þ¤·¤¿¡£
¤³¤ì¤Ç¤·¤Ã¤«¤ê¤È¥é¥¤¥ó¤òÆɤ߼è¤ë¤³¤È¤¬½ÐÍè¤ë¤è¤¦¤Ë¤Ê¤ê¤Þ¤·¤¿¡£
¼¡¤Ë¤â¤¦°ìÂæ¤Î¥í¥Ü¥Ã¥È¤ËÅö¤¿¤Ã¤¿¾ì¹ç¤ËÈ¿±þ¤Ç¤¤ë¤è¤¦¤Ë¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤ò¼è¤êÉÕ¤±¤Þ¤·¤¿¡£
¤Þ¤¿¤â¤ä°Âľ¤Ë¾å¤«¤é¼è¤êÉÕ¤±¤Æ¤ß¤Þ¤·¤¿¡£
¤³¤ì¤Ç¤ÏÉÔ°ÂÄê¤Ê¤¦¤¨¤Ë¡¢¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬Åö¤¿¤ëÁ°¤Ë¤â¤¦°ìÂæ¤Î¥¿¥¤¥ä¤Ë¤³¤Á¤é¤ÎËÜÂΤβ¼¤ÎÉôʬ¤¬ÀÜ¿¨¤·¤Æ¤·¤Þ¤¦ÌäÂ꤬ȯÀ¸¤·¤Þ¤·¤¿¡£
¤½¤³¤Ç¸÷¥»¥ó¥µ¡¼¤ò¸ÇÄꤷ¤Æ¤¤¤ë¥·¥ã¥Õ¥È¤ÎÃæ¿´¤Ë¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤â¼è¤êÉÕ¤±¤ë¤³¤È¤Ë¤·¤Þ¤·¤¿¡£
º¸±¦¤ÎÀĤ¤¥Ö¥í¥Ã¥¯¤¬¸÷¥»¥ó¥µ¡¼¡¢¿¿¤óÃæ¤Î²«¿§¤¤¥Ð¡¼¤¬¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤Ë·Ò¤¬¤Ã¤Æ¤¤¤Þ¤¹¡£
¤³¤ì¤Ç¤â¤¦°ìÂæ¤Î¥í¥Ü¥Ã¥È¤ÈÀÜ¿¨¤¹¤ë¤È¤¤Ï¡¢ºÇ½é¤Ë¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤«¤éÀÜ¿¨¤¹¤ë¤è¤¦¤Ë¤Ê¤ê¤Þ¤·¤¿¡£
ºÇ¸å¤Ë¡Ê̵Â̤ʡ˾þ¤ê¤ò¤Ä¤±¤Æ´°À®¤Ç¤¹¡£
¸òº¹ÅÀ¤Ç°ì»þÄä»ß¤ò¤·¤Æ¤¤¤ë»þ¤È¡¢¤â¤¦°ìÂæ¤Î¥í¥Ü¥Ã¥È¤ËÀÜ¿¨¤·¤¿¤È¤²óž¤·¤Þ¤¹¡£
¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤ò²£¤«¤é¸«¤¿¤â¤Î¤òÌϼ°Åª¤Ëɽ¤·¤¿¤â¤Î¤Ç¤¹¡£
¡¤Î¥Ð¡¼¤¬Êª¤Ë¤¢¤¿¤Ã¤Æ²¡¤µ¤ì¤ë¤È¡¢
¢¤Î¥»¥ó¥µ¡¼¤¬²¡¤µ¤ì¤Æ¡¢Êª¤ËÅö¤¿¤Ã¤¿¤³¤È¤òǧ¼±¤·¤Þ¤¹¡£
£¤ÎÎØ¥´¥à¤Ë¤è¤Ã¤Æ·Ú¤¯Î±¤á¤é¤ì¤Æ¤¤¤ë¤Î¤Ç¡¢¥Ð¡¼¤Ëʪ¤¬Åö¤¿¤Ã¤Æ¤¤¤Ê¤¤¤È¤¤Ï¥Ð¡¼¤Ï¥»¥ó¥µ¡¼¤Ë¤¢¤¿¤ê¤Þ¤»¤ó¡£¤Þ¤¿¡¢¥»¥ó¥µ¡¼¤¬²¡¤µ¤ì¤¿¤¢¤È¡¢²¡¤µ¤ì¤Æ¤¤¤Ê¤¤¾õÂÖ¤ËÌá¤ë¤³¤È¤¬¤Ç¤¤Þ¤¹¡£
#define LIGHT 40 //ïçÃͤηèÄê int stop_line ;¡¡¡¡//Ää»ßÀþ¤Î¿ô¤ò¿ô¤¨¤ëÊÑ¿ô¤òÄêµÁ
task main() { SetSensor(SENSOR_1,SENSOR_LIGHT); SetSensor(SENSOR_2,SENSOR_TOUCH); SetSensor(SENSOR_3,SENSOR_LIGHT);¡¡//£³¤Ä¤Î¥»¥ó¥µ¡¼¤òÄêµÁ stop_line = 0 ;¡¡¡¡//Ää»ßÀþ¤Î¿ô¤ò¿ô¤¨¤ëÊÑ¿ô¤ÎÃͤò£°¤Ë¤¹¤ë
while(stop_line < 10){ //Ää»ßÀþ¤ò£±£°²óÄ̤俤é»ß¤Þ¤ë¤è¤¦¤Ë¤·¤Þ¤¹¡£
¥í¥Ü¥Ã¥È¤¬Ä¾Àþ¾å¤Ë¤¢¤ë¤È¤
if((SENSOR_1>LIGHT)&&(SENSOR_3>LIGHT)) // £²¤Ä¤Î¸÷¥»¥ó¥µ¡¼¤¬¤È¤â¤Ë¥é¥¤¥ó¤Ë¾è¤Ã¤Æ¤¤¤Ê¤¤ { OnFwd(OUT_A+OUT_C); } //º¸±¦¤Î¥¿¥¤¥ä¤È¤âÀµ²óž
¹õ¤ÎÀþ¤Ï¥é¥¤¥ó¤òɽ¤·¡¢ÀÖ¤ÎÅÀ¤Ï¸÷¥»¥ó¥µ¡¼¤òɽ¤·¤Æ¤¤¤Þ¤¹¡£ ¤³¤Î¤È¤
¤Î¤è¤¦¤Ë¿Ê¤ß¤Þ¤¹¡£
¥í¥Ü¥Ã¥È¤¬¶Ê¤¬¤ê³Ñ¤ËÍ褿¤È¤
if((SENSOR_1>LIGHT)&&(SENSOR_3<LIGHT)) //±¦¤Î¥»¥ó¥µ¡¼¤Î¤ß¤¬¥é¥¤¥ó¾å¤Ë¤¢¤ë { OnFwd(OUT_A); //º¸¤Î¥¿¥¤¥ä¤òÀµ²óž OnRev(OUT_C);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //±¦¤Î¥¿¥¤¥ä¤òµÕ²óž if((SENSOR_1<LIGHT)&&(SENSOR_3>LIGHT)) //º¸¤Î¥»¥ó¥µ¡¼¤Î¤ß¤¬¥é¥¤¥ó¾å¤Ë¤¢¤ë { OnFwd(OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦¤Î¥¿¥¤¥ä¤òÀµ²óž OnRev(OUT_A); }¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//º¸¤Î¥¿¥¤¥ä¤òµÕ²óž
¤³¤Î¤È¤
¤Î¤è¤¦¤Ë¿Ê¤ß
¤Î¤è¤¦¤Ê¾õÂ֤ˤʤê¤Þ¤¹¡£
¤³¤ì¤ò·«¤êÊÖ¤¹¤³¤È¤Ç¶Ê¤¬¤ê³Ñ¤ò¶Ê¤¬¤ê¤Þ¤¹¡£
º¸ÀÞ»þ¤Ïº¸±¦¤¬È¿ÂФˤʤê¤Þ¤¹¡£
¥í¥Ü¥Ã¥È¤¬¸òº¹ÅÀ¤ËÍ褿¤È¤
if((SENSOR_1<LIGHT)&&(SENSOR_3<LIGHT)) //º¸±¦¤Î¥»¥ó¥µ¡¼¤¬Î¾Êý¤È¤â¥é¥¤¥ó¾å¤Ë¤¢¤ë {stop_line = stop_line + 1 ; //Ää»ßÀþ¤ò¿ô¤¨¤ëÊÑ¿ô¤Ë£±¤ò¥×¥é¥¹¤¹¤ë Off(OUT_A+OUT_C); //°ì»þÄä»ß¤ò¤¹¤ë OnFwd(OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//°ì»þÄä»ß¤·¤Æ¤¤¤ë´Ö¾þ¤ê¤ò²óž¤µ¤»¤ë Wait(200); Off(OUT_B); OnFwd(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Á°¿Ê¤¹¤ë Wait(100); }
Ää»ßÀþ¤¬Ìµ¤¤¤Û¤¦¤¬Í¥À覤Ǥ¹¡£
Ää»ßÀþ¤ò¥»¥ó¥µ¡¼¤¬¸«¤Ä¤±¤ë¡ÊξÊý¤Î¥»¥ó¥µ¡¼¤¬¥é¥¤¥ó¾å¤Ë¤¢¤ë¾õÂ֤ˤʤë¡Ë¤È
¤Þ¤ºÄä»ßÀþ¤ò¥«¥¦¥ó¥È¤·¤Þ¤¹¡£
¼¡¤ËÍ¥À覤ǤϤʤ¤¤Î¤Ç°ì»þÄä»ß¤·¤Þ¤¹¡£
¤½¤·¤ÆÍ¥À覤Υ饤¥ó¤ËÈ¿±þ¤·¤Ê¤¤¤è¤¦¤Ë°ìÉô֥»¥ó¥µ¡¼¤Ë´Ø·¸¤Ê¤¯Á°¿Ê¤µ¤»¤Þ¤¹¡£
¥í¥Ü¥Ã¥È¤¬¤â¤¦°ìÂæ¤ËÀÜ¿¨¤·¤¿¤È¤
if(SENSOR_2==1) //¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬²¡¤µ¤ì¤ë {OnRev(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¾¯¤·¸åÂà Wait(60); Off(OUT_A+OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //°ì»þÄä»ß OnFwd(OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//°ì»þÄä»ß¤·¤Æ¤¤¤ë´Ö¾þ¤ê¤ò²óž¤µ¤»¤ë¡£ Wait(500); Off(OUT_B);}¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¾þ¤ê¤òÄä»ß¤µ¤»¤ë }¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // while¤«¤é»Ï¤Þ¤ë·«¤êÊÖ¤·Æ°ºî¤Î¥×¥í¥°¥é¥à¤òÊĤ¸¤ë
¥í¥Ü¥Ã¥È¤¬¥³¡¼¥¹¤ò»°¼þ¤¹¤ë¡ÊÄä»ßÀþ¤ò£±£°²óÄ̤ë¡Ë¤È
PlaySound(SOUND_FAST_UP) ; Off(OUT_A+OUT_C);}
¤Ë¤è¤ê»ß¤Þ¤ê¤Þ¤¹¡£
¥³¡¼¥¹¤Ï¸òº¹ÅÀ¤¬£³¤Ä¤¢¤ëÈæ³ÓŪñ½ã¤Ê·Á¤Ç¤¹¡£
¥í¥Ü¥Ã¥È¤Ë¥»¥ó¥µ¡¼¤òÉÕ¤±¤ë¤Î¤Ë¶ìÏ«¤·¤Þ¤·¤¿¡£¥·¥ó¥×¥ë¤Ê·Á¤È¤¤¤¦¤Î¤Ï»×¤¤¤Ä¤¤Ë¤¯¤¤¤â¤Î¤Ç¤¹¡¦¡¦¡¦¡£
ȯɽ²ñ¤Î»þÆóÂæ¤Î¥í¥Ü¥Ã¥È¤Î³«»Ï°ÌÃÖ¤¬°¤¯¡ÊÎɤ¯¡©¡Ë¤ÆºÇ½é¤Ë°ìÅÙ¾×Æͤ·¤¿¸å¡¢ºÇ¸å¤Þ¤Ç¾×Æͤ·¤Þ¤»¤ó¤Ç¤·¤¿¡£¾×ÆÍ»þ¤Ë¾þ¤ê¤¬²óž¤¹¤ë¤è¤¦¤Ë¤·¤Æ¤¤¤¿¤Î¤Ç¡¢»ÄÇ°¤Ç¤·¤¿¡£
Á°²ó¤Î»þ¤ËÈæ¤Ù¤ë¤È¡¢¸íº¹¤Î½¤Àµ¤¬É¬Íפʤ¯¡¢¥»¥ó¥µ¡¼¤â¤·¤Ã¤«¤ê¤ÈÈ¿±þ¤·¤Æ¤¯¤ì¤¿¤¿¤á¡¢¥×¥í¥°¥é¥à¤·¤¿Ä̤ê¤ËÆ°¤¤¤Æ¤¯¤ì¤¿¤Î¤Ç¥¹¥È¥ì¥¹¤Ê¤¯³Ú¤·¤à¤³¤È¤¬¤Ç¤¤Þ¤·¤¿¡£
¥³¥á¥ó¥È¤ò¤É¤¦¤¾