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#define THRESHOLD 50
#define THRESHOLD_2 45
#define THRESHOLD_3 40
#define SIGNAL 11
#define SIGNAL_2 12
#define SIGNAL_3 13
#define SIGNAL_4 14
#define SIGNAL_5 15
#define SIGNAL_6 16
#define SIGNAL_7 17
#define SIGNAL_8 18
#define SIGNAL_9 19
#define SIGNAL_A 21
#define SIGNAL_B 22

int move_count;
sub turn(){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//º¸¤Ë90Åٶʤ¬¤ë¥µ¥Ö¥ë¡¼¥Á¥ó
   SetPower(OUT_A,6);
   SetPower(OUT_B,5);
   SetPower(OUT_C,7);
   
   ClearMessage();
   until((Message() == SIGNAL_A) || (Message() == SIGNAL_B));
     PlaySound(SOUND_CLICK);
     ClearMessage();
     Off(OUT_A+OUT_B);
     Wait(50);
     OnRev(OUT_A+OUT_B);
     Wait(10);
     Off(OUT_A+OUT_B);
     OnFwd(OUT_A);
     OnRev(OUT_B);
     Wait(80);
     Off(OUT_A+OUT_B);
     Wait(50);
     ClearMessage();
}         
sub turn_r(){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//±¦¤Ë£¹£°¡ë¶Ê¤¬¤ë¥µ¥Ö¥ë¡¼¥Á¥ó
   until((Message() == SIGNAL_A) || (Message() == SIGNAL_B));
     ClearMessage();
     Off(OUT_A+OUT_B);
     Wait(50);
     OnRev(OUT_A+OUT_B);
     Wait(10);
     Off(OUT_A+OUT_B);
     OnFwd(OUT_B);
     OnRev(OUT_A);
     Wait(80);
     Off(OUT_A+OUT_B);
     Wait(50);
     ClearMessage();
}
      
sub line(){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥é¥¤¥ó¥È¥ì¡¼¥¹¤Î¥µ¥Ö¥ë¡¼¥Á¥ó
   SetPower(OUT_A,6);
   SetPower(OUT_B,5);
   SetSensor(SENSOR_1,SENSOR_LIGHT);     

   move_count = 0;
     ClearMessage();
     ClearTimer(0); 
     while(move_count < 1){
     if(((Message() == SIGNAL_A) || (Message() == SIGNAL_B))  &&  (FastTimer(0) > 500)){ 
         PlaySound(SOUND_CLICK);
         ClearMessage();
         (move_count);
         move_count = move_count + 1; 
     }
     if(SENSOR_1>THRESHOLD){
       OnFwd(OUT_A);
       Off(OUT_B);
     if(FastTimer(0) > 400){
      ClearMessage();
     }}
     else{
       Off(OUT_A);
       OnFwd(OUT_B);
     if(FastTimer(0) > 400){
      ClearMessage();
      
     } 
     }
    }
}
task main(){
   SetPower(OUT_A,6);
   SetPower(OUT_B,5);
   SetSensor(SENSOR_1,SENSOR_LIGHT);

  ClearMessage();
   OnFwd(OUT_A+OUT_B);
   until(SENSOR_1<THRESHOLD);
     Off(OUT_A+OUT_B);
     Wait(50);
     OnFwd(OUT_A+OUT_B);
   until((Message() == SIGNAL_A) || (Message() == SIGNAL_B));
     PlaySound(SOUND_CLICK);
     ClearMessage();
     OnRev(OUT_A+OUT_B);
     Wait(20);
     OnFwd(OUT_B);
     OnRev(OUT_A);
     Wait(57);
     OnFwd(OUT_A+OUT_B);
     Wait(250);
     OnFwd(OUT_A);
     OnRev(OUT_B);
     Wait(40);
     OnFwd(OUT_A+OUT_B);
   until(SENSOR_1<THRESHOLD);
     line();
     Off(OUT_A+OUT_B);
     Wait(50);
     OnRev(OUT_A+OUT_B);
     Wait(10);
     Off(OUT_A+OUT_B);
     OnFwd(OUT_A);
     OnRev(OUT_B);
     Wait(80);
     Off(OUT_A+OUT_B);
     Wait(50);
     OnFwd(OUT_A+OUT_B);
     ClearMessage();
   until((Message() == SIGNAL_A) || (Message() == SIGNAL_B));
     move_count = 0;
        ClearMessage();
        while(move_count < 1){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//­¡
         if(Message() == SIGNAL_A){
          ClearMessage();
         (move_count);
          move_count = move_count + 1;
 
         }
        if(Message() == SIGNAL_B){
         OnFwd(OUT_A);
         Off(OUT_B);
         Wait(10);
         ClearMessage();
        }
       else{
         Off(OUT_A);
         OnFwd(OUT_B);
       }
      }
   
   Off(OUT_A+OUT_B);
   PlaySound(SOUND_CLICK);
   OnRev(OUT_A);
   Wait(145);
   OnRev(OUT_A+OUT_B);
   Wait(30);
   Off(OUT_A+OUT_B);
   ClearMessage();
   SendMessage(SIGNAL);
   until(Message() == SIGNAL_2);
     PlaySound(SOUND_CLICK);
     Off(OUT_A+OUT_B);
   move_count = 0;
   while(move_count < 2){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//­¢
     if((SENSOR_2 < THRESHOLD_2) && (SENSOR_3 > THRESHOLD_3)){
       OnRev(OUT_A);
       Off(OUT_B);
     }
     if((SENSOR_2 > THRESHOLD_2) && (SENSOR_3 < THRESHOLD_3)){
        OnRev(OUT_B);
        Off(OUT_A);
     }
     if((SENSOR_2 < THRESHOLD_2) && (SENSOR_3 < THRESHOLD_3)) {
       OnRev(OUT_A+OUT_B);
       Wait(20);
     (move_count);
     move_count = move_count + 1;
    }
    if((SENSOR_2 > THRESHOLD_2) && (SENSOR_3 > THRESHOLD_3)) {
      OnRev(OUT_A+OUT_B);
    }
   }
    OnRev(OUT_A+OUT_B);
    Wait(28);
   Float(OUT_A+OUT_B);
   SendMessage(SIGNAL_3);
   until(Message() == SIGNAL_4);
     PlaySound(SOUND_CLICK);
     OnFwd(OUT_A);
     OnRev(OUT_B);
     Wait(100);
     Off(OUT_A+OUT_B);
     OnFwd(OUT_A+OUT_B);
  ClearMessage();
   until((Message() == SIGNAL_A) || (Message() == SIGNAL_B));
     PlaySound(SOUND_CLICK);
     ClearMessage();
     Off(OUT_A+OUT_B);
     Wait(50);
     OnRev(OUT_A+OUT_B);
     Wait(15);
     Off(OUT_A+OUT_B);
     OnFwd(OUT_A);
     OnRev(OUT_B);
     Wait(80);
     Off(OUT_A+OUT_B);
     Wait(50);
     ClearMessage();
     
     PlaySound(SOUND_CLICK);
     OnFwd(OUT_A+OUT_B); 
     turn_r();
     OnFwd(OUT_B);
     OnRev(OUT_A);
     Wait(25);
     Off(OUT_A+OUT_B); 
     OnFwd(OUT_A+OUT_B); 
     Wait(35); 
     line();
     turn_r();   
     Off(OUT_A+OUT_B); 
     OnRev(OUT_A+OUT_B);
     Wait(200);
     Off(OUT_A+OUT_B);
     SendMessage(SIGNAL_8);
    ClearMessage(); 
    until(Message() == SIGNAL_9); 
     SendMessage(SIGNAL_5);
     ClearMessage();
     until(Message() == SIGNAL_6);
     OnFwd(OUT_A+OUT_B);
     Wait(200);
     Off(OUT_A+OUT_B);
      SendMessage(SIGNAL_7); 
     Wait(200); 
     OnRev(OUT_A+OUT_B); 
     Wait(200); 
     Off(OUT_A+OUT_B);  
     OnFwd(OUT_A+OUT_B);
     Wait(150);
     Off(OUT_A+OUT_B);
     
 
}

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#define SIGNAL 11
#define SIGNAL_2 12
#define SIGNAL_3 13
#define SIGNAL_4 14
#define SIGNAL_5 15
#define SIGNAL_6 16
#define SIGNAL_7 17
#define SIGNAL_8 18
#define SIGNAL_9 19
#define SIGNAL_A 21
#define SIGNAL_B 22


task main(){
  SetSensor(SENSOR_1,SENSOR_ROTATION);
  SetSensor(SENSOR_2,SENSOR_TOUCH);
  SetSensor(SENSOR_3,SENSOR_TOUCH);
  ClearMessage();
  
 while(true){
  if(Message() == SIGNAL){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¡¡SIGNAL¤ò¼õ¿®¤·¤¿¤È¤­
    PlaySound(SOUND_CLICK);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ÏÓ¤ò³«¤¯
    OnFwd(OUT_A);
    until(SENSOR_1 == 90);
      Off(OUT_A);
      Wait(50);
     ClearMessage();
      SendMessage(SIGNAL_2);
     }
  if(Message() ==  SIGNAL_3){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//SIGNAL_3¤ò¼õ¿®¤·¤¿¤È¤­
    ClearSensor(SENSOR_1);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ÏÓ¤òÊĤ¸¡¢´Ì¤ò»ý¤Á¾å¤²¤ë
    OnRev(OUT_A);
    until(abs(SENSOR_1) == 68);
      ClearSensor(SENSOR_1);
      Off(OUT_A);
      Wait(30);
      OnFwd(OUT_B+OUT_C);
      Wait(30);
      Off(OUT_B+OUT_C);
      SendMessage(SIGNAL_4);
      ClearMessage();
  }
  if(Message() ==  SIGNAL_5){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//SIGANAL_5¤ò¼õ¿®¤·¤¿»þ
    OnRev(OUT_C+OUT_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡´Ì¤ò»ý¤Á¾å¤²¤Ê¤¬¤éÏÓ¤ò³«¤¯
    Wait(30);
    Off(OUT_C+OUT_B);
    OnFwd(OUT_A);
    until(abs(SENSOR_1) == 65);
      Off(OUT_A);
      Wait(50);
      SendMessage(SIGNAL_6);
      ClearSensor(SENSOR_1);
      ClearMessage();
  }
  if(Message() ==  SIGNAL_7){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//signal_7¤ò¼õ¿®¤·¤¿¤È¤­
  ClearSensor(SENSOR_1);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ÏÓ¤òÊĤ¸¤ë
     OnRev(OUT_A);
    until(abs(SENSOR_1) == 90);
      Off(OUT_A);
      Wait(50);
      ClearMessage();
  }
  if(Message() ==  SIGNAL_8){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//SIGNAL_8¤ò¼õ¿®¤·¤¿¤È¤­
    OnFwd(OUT_B+OUT_C);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡´Ì¤ò»ý¤Á¾å¤²¤ë
     Wait(30);
     Off(OUT_B+OUT_C);
    SendMessage(SIGNAL_9); 
    }
  if(SENSOR_2 == 1){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¿¥Ã¥Á¥»¥ó¥µ¡¼¡²£±¤¬²¡¤µ¤ì¤¿¤È¤­
    SendMessage(SIGNAL_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡SIGNAL_A¤òÁ÷¿®¤¹¤ë
  }
  if(SENSOR_3 == 1){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¥¿¥Ã¥Á¥»¥ó¥µ¡¼¡²£²¤¬²¡¤µ¤ì¤¿¤È¤­
    SendMessage(SIGNAL_B);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡SIGNAL_B¤òÁ÷¿®¤¹¤ë
  }
 }
}

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Last-modified: 2009-02-16 (·î) 06:26:55