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#define THRESHOLD 50

task main ()
{
    SetSensor(SENSOR_1, SENSOR_LIGHT);
    SetSensor(SENSOR_3, SENSOR_LIGHT);
    SetPower(OUT_A,2);


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while (true)
    {
       if ((SENSOR_1 < THRESHOLD) && (SENSOR_3 < THRESHOLD))
        {
            SetPower(OUT_A,2);
            OnFwd(OUT_A);
        }

       if (SENSOR_1 > THRESHOLD) 
        {
            SetPower(OUT_A,7);
            OnFwd(OUT_A);
            Wait(50);
            Off(OUT_A);
            OnFwd(OUT_C);
            Wait(150);
            Off(OUT_C);
        }

       if (SENSOR_3 > THRESHOLD )
        {   
            SetPower(OUT_A,7);
            OnFwd(OUT_A);
            Wait(60);
            Off(OUT_A);
            OnFwd(OUT_C);
            Wait(150);
            Off(OUT_C);
        }
    }
}

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#define turn_right20 OnFwd(OUT_A);Wait(20);
int light;   //ÊÑ¿ô¡Ölight¡×¤òÄêµÁ
int time;    //ÊÑ¿ô¡Ötime¡×¤òÄêµÁ
int count;   //ÊÑ¿ô¡Öcount¡×¤òÄêµÁ
light=0;
time=0;
count=0;

task main ()
{
    SetSensor(SENSOR_3,SENSOR_LIGHT);

    ClearTimer(0);

    while(count=0) {
        if(SENSOR_3 > light) {¡¡¡¡//¸÷¥»¥ó¥µ¡¼¤¬¡Ölight¡×¤è¤êÂ礭¤¤Ãͤò¤È¤Ã¤¿¤È¤­¡¡
          FastTimer(0)=time;      //¥¿¥¤¥Þ¡¼¤ÎÃͤò¡Ötime¡×¤ËÂåÆþ¤¹¤ë
¡¡¡¡¡¡¡¡¡¡light=SENSOR_3;¡¡¡¡¡¡¡¡ //¥»¥ó¥µ¡¼¤ÎÃͤò¡Ölight¡×¤ËÂåÆþ¤¹¤ë 
          turn_right¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦¤Ë²óž¤¹¤ë
          count=1;}¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //¡Öcount¡×¤ò£±Áý¤ä¤¹
        else {                    //¸÷¥»¥ó¥µ¡¼¤¬¡Ölight¡×¤è¤êÂ礭¤¤Ãͤò¤È¤é¤Ê¤¤¤È¤­
          turn_light¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦¤Ë²óž¤¹¤ë
          count=1;} ¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¡Öcount¡×¤ò£±Áý¤ä¤¹
¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¢¨¤³¤ì¤ò³¤±¤ë
    while(count=1) {
        if(SENSOR_3 > light) {
          FastTimer(0)=time;
          light=SENSOR_3;
          turn_right
          count=2;}
        else {
          turn_right
          count=2;} 

    while(count=2) {
        if(SENSOR_3 >light) {
          FastTimer(0)=time;
          light=SENSOR_3;
          turn_right
          count=3;}
        else {
          turn_right
          count=3;}
     
    while(count=3) {
        if(SENSOR_3 >light) {
          FastTimer(0)=time;
          light=SENSOR_3;
          turn_right
          count=4;}
        else {
          turn_right
          count=4;}                     
          
    while(count=4) {
        if(SENSOR_3 >light) {
          FastTimer(0)=time;
          light=SENSOR_3;
          turn_right
          count=5;}
        else {
          turn_right
          count=5;}                     
                 
    while(count=5) {
        if(SENSOR_3 >light) {
          FastTimer(0)=time;
          light=SENSOR_3;
          turn_right
          count=6;}
        else {
          turn_right
          count=6;}                     
           
    while(count=6) {
        if(SENSOR_3 >light) {
          FastTimer(0)=time;
          light=SENSOR_3;
          turn_right
          count=7;}
        else {
          turn_right
          count=7;} 

    while(count=7) {
        if(SENSOR_3 >light) {
          FastTimer(0)=time;
          light=SENSOR_3;
          turn_right
          count=8;}
        else {
          turn_right 
          count=8;} 

    while(count=8) {
        if(SENSOR_3 >light) {
          FastTimer(0)=time;
          light=SENSOR_3;
          turn_right
          count=9;}
        else {
          turn_right
          count=9;}

    while(count=9) {
        if(SENSOR_3 >light) {
          FastTimer(0)=time;
          light=SENSOR_3;
          turn_right
          count=10;}
        else {
          turn_right
          count=10;}  

    while(count=10) {
        if(SENSOR_3 >light) {
          FastTimer(0)=time;
          light=SENSOR_3;
          turn_right
          count=11;}
        else {
          turn_right
          count=11;}

    while(count=11) {
        if(SENSOR_3 >light) {
          FastTimer(0)=time;
          light=SENSOR_3;
          turn_right
          count=12;}
        else {
          turn_right
          count=12;}
                     
    if(count=12) {¡¡¡¡¡¡¡¡¡¡¡¡ //°ì¼þ¤·½ª¤ï¤Ã¤¿¤é
        OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡//±¦¤Ë¡Ötime¡×¤Î»þ´Ö¤À¤±²óž¤¹¤ë
        Wait(time);
        Off(OUT_A);
        OnFwd(OUT_C);¡¡¡¡¡¡¡¡¡¡//¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë
        Wait(150);
        Off(OUT_C);}
}

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#define LIGHTSTRENGTH 50 //¸÷¤Î¶¯¤µ¤Î´ð½à¤ò£µ£°¤È¤¹¤ë¡£

sub shoot()¡¡¡¡//¥Ö¥í¥Ã¥¯¤òÂǤĤȤ­
{
OnRev(OUT_A);¡¡¡¡// ¥í¥Ü¥Ã¥È¤Ë±¦¤ò¸þ¤«¤»¤ë¡£
Wait(50); 
Off(OUT_A);
OnFwd(OUT_C);¡¡¡¡//¥Ö¥í¥Ã¥¯¤òȯ¼Í
Wait(100);¡¡¡¡¡¡//ȯ¼ÍÁõÃÖ¤ò°ìÉôֲ󤹡£¡¡¡¡¡¡¡¡¡¡
Off(OUT_C);¡¡¡¡¡¡//ȯ¼ÍÁõÃÖ¤ò»ß¤á¤ë¡£
}

task main ()
{
     SetPower(OUT_A,2);¡¡¡¡//¥¿¥¤¥ä¤ò²ó¤¹¥â¡¼¥¿¡¼¤Î¥Ñ¥ï¡¼¤ò£²¤È¤¹¤ë¡£
     SetSensor(SENSOR_1,SENSOR_LIGHT);¡¡//¥»¥ó¥µ¡¼£±¤ò¥»¥Ã¥È¤¹¤ë¡£
     SetSensor(SENSOR_3,SENSOR_LIGHT);¡¡//¥»¥ó¥µ¡¼£²¤ò¥»¥Ã¥È¤¹¤ë¡£
     while(true)
     {
          if((SENSOR_1 < LIGHTSTRENGTH)&&(SENSOR_3 < LIGHTSTRENGTH))¡¡//º¸±¦¤Î¥»¥ó¥µ¡¼¤¬¸÷¤ò´¶ÃΤ·¤Ê¤¤¤È¤­¡£
          {
               OnFwd(OUT_A);¡¡//±¦¤Ë²ó¤ê¤Ä¤Å¤±¤ë¡£
          }
         if((SENSOR_1 >= LIGHTSTRENGTH)&&(SENSOR_3 < LIGHTSTRENGTH))¡¡//º¸¤Î¥»¥ó¥µ¡¼¤¬¸÷¤ò´¶ÃΤ·¤¿¤È¤­¡£
         {
               OnFwd(OUT_A); //º¸¤Ë²ó¤ë¡£
         }
         if((SENSOR_1 < LIGHTSTRENGTH)&&(SENSOR_3 >= LIGHTSTRENGTH))¡¡//±¦¤Î¥»¥ó¥µ¡¼¤¬¸÷¤ò´¶ÃΤ·¤¿¤È¤­¡£
         {
               OnRev(OUT_A);¡¡//±¦¤Ë²ó¤ë¡£
         }
         if((SENSOR_1 >= LIGHTSTRENGTH)&&(SENSOR_3 >= LIGHTSTRENGTH))¡¡//º¸±¦¤Î¥»¥ó¥µ¡¼¤¬¸÷¤ò´¶ÃΤ·¤¿¤È¤­¡£
         {
              shoot(); //¥Ö¥í¥Ã¥¯¤òȯ¼Í¡£
         }
     }
}

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50cm¤Þ¤Ç¶á¤Å¤¤¤¿¤È¤­¤Î¸÷¥»¥ó¥µ¡¼¤ÎÃͤÏ60¤È¤·¤Þ¤·¤¿¡£
¸÷¤òõ¤¹¤Þ¤Ç¤Ï¡Ö²ûÃæÅÅÅô¤¬Æ°¤«¤Ê¤¤¤È¤­¤Î¥×¥í¥°¥é¥à¡×¤ÈƱ¤¸¤Ç¤¹¡£
¸÷¤¬¤ß¤Ä¤«¤Ã¤¿¤éÊÒÊý¤º¤Ä¥¿¥¤¥ä¤ò²ó¤·¤Æ¸÷¤Þ¤Ç¶á¤Å¤­¡¢¥»¥ó¥µ¡¼¤ÎÃͤ¬60¤Ë¤Ê¤Ã¤¿¤È¤³¤í¤Ç¥Ö¥í¥Ã¥¯¤òÅꤲ¤Þ¤¹¡£

#define THRESHOLD 50
#define 50CMINTERVALS 60
 
task main ()
{
    SetPower(OUT_A,2);
    SetSensor(SENSOR_1,SENSOR_LIGHT);
    SetSensor(SENSOR_3,SENSOR_LIGHT);

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¤È¤¤¤¦¤è¤¦¤Ë¤Ê¤Ã¤Æ¤¤¤Þ¤¹¡£

    while(true)
    {
         if ((SENSOR_1 < THRESHOLD) && (SENSOR_3 < THRESHOLD))
         {
              OnFwd(OUT_A);
              Wait(200);
              Off(OUT_A);
        }

        if ((SENSOR_1 >= THRESHOLD) && (SENSOR_3 < THRESHOLD))
        {
              OnFwd(OUT_A);
              Wait(200);
              Off(OUT_A);
        }
        if ((SENSOR_1 < THRESHOLD) && (SENSOR_3 >=  THRESHOLD))
        {
              OnRev(OUT_A);
              Wait(200);
              Off(OUT_A);
        }

if ((SENSOR_1 >= 50CMINTERVALS) && (SENSOR_3 >= 50CMINTERVALS))
        {
              OnRev(OUT_A);
              Wait(50); 
              Off(OUT_A);
              OnFwd(OUT_C);
              Wait(100);
              Off(OUT_C);
        }
    }
}

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Last-modified: 2008-08-08 (¶â) 23:14:51