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#define RUN_TIME 200//Áö¤ë»þ´Ö #define L1 40//¥»¥ó¥µ¡¼£±¤Î¸÷ÅÙ #define L3 40//¥»¥ó¥µ¡¼£²¤Î¸÷ÅÙ task main() { SetSensor(SENSOR_2,SENSOR_TOUCH); SetSensor(SENSOR_1,SENSOR_LIGHT); SetSensor(SENSOR_3,SENSOR_LIGHT); /*¥»¥ó¥µ¡¼¥»¥Ã¥È¡£2¤¬¥¿¥Ã¥Á¡¢1,3¤¬¸÷*/ ClearTimer(0); int runtime=RUN_TIME; OnRev(OUT_A+OUT_C); while(Timer(0)<=runtime){//runtime»þ´ÖÃæÁö¤ê³¤±¤ë if((SENSOR_1<=L1 && SENSOR_3<=L3) || (SENSOR_2==1)){~ //ξÊý¤¬¹õÀþ¤Ë¾è¤ë¤«¡¢¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬Æþ¤Ã¤¿¤È¤ //Ää»ß¤·¡¢¥Ð¥Ã¥¯¤·¡¢¤½¤Îʬ¤Î»þ´ÖÄɲäÇÆ°¤±¤ë¤è¤¦¤Ë¤¹¤ë ClearTimer(1); Off(OUT_A+OUT_C); Wait(100); OnFwd(OUT_A+OUT_C); Wait(20); Off(OUT_A+OUT_C); Wait(100); runtime=runtime+Timer(1);//¤³¤Î½èÍý»þ´Öʬ¤òÁö¹Ô»þ´Ö¤Ë¥×¥é¥¹¤¹¤ë } else if(SENSOR_1<=L1){ //¥»¥ó¥µ¡¼£±¤Î¤ß¹õÀþ¤Î¤È¤ OnFwd(OUT_C); OnRev(OUT_A); } else if(SENSOR_3<=L3){ //¥»¥ó¥µ¡¼£³¤Î¤ß¹õÀþ¤Î¤È¤ OnFwd(OUT_A); OnRev(OUT_C); } else if(SENSOR_1>L1 && SENSOR_3>L3){ //ξÊýÇòÀþ¤Î¤È¤ OnRev(OUT_A+OUT_C); } } Off(OUT_A+OUT_C); }
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ClearTimer(1); Off(OUT_A+OUT_C); Wait(100); OnFwd(OUT_A+OUT_C); Wait(20); Off(OUT_A+OUT_C); Wait(100); runtime=runtime+Timer(1);
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ClearTimer(1);
Off(OUT_A+OUT_C);
Wait(50);
OnFwd(OUT_A+OUT_C);
Wait(70);
Off(OUT_A+OUT_C);
Wait(50);
tim2=Timer(0);
runtime=runtime+Timer(1);
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#define RUN_TIME 1500 #define L1 45 #define L3 45 task main() { SetSensor(SENSOR_2,SENSOR_TOUCH); SetSensor(SENSOR_1,SENSOR_LIGHT); SetSensor(SENSOR_3,SENSOR_LIGHT); /*¥»¥ó¥µ¡¼¥»¥Ã¥È¡£2¤¬¥¿¥Ã¥Á¡¢1,3¤¬¸÷*/ ClearTimer(0); int runtime=RUN_TIME,tim2=-30/*ºÇ½é¤ÏTimer(0)-tim2¤Îº¹¤ò£³£°¤Ë¤·¤¿¤¤¤¿¤á¡¢½é´üÃͤÏ-30¤Ë*/; OnRev(OUT_A+OUT_C); while(Timer(0)<=runtime){ if((SENSOR_1<=L1 && SENSOR_3<=L3 && (Timer(0)-tim2>30)) || (SENSOR_2==1)){ //ξÊý¤¬¹õÀþ¤Ë¾è¤ë¤«¡¢¥¿¥Ã¥Á¥»¥ó¥µ¡¼¤¬Æþ¤Ã¤¿¤È¤ //Ää»ß¤·¡¢¥Ð¥Ã¥¯¤·¡¢¤½¤Îʬ¤Î»þ´ÖÄɲäÇÆ°¤±¤ë¤è¤¦¤Ë¤¹¤ë ClearTimer(1); Off(OUT_A+OUT_C); Wait(50); OnFwd(OUT_A+OUT_C); Wait(70); Off(OUT_A+OUT_C); Wait(50); tim2=Timer(0); runtime=runtime+Timer(1); } else if((SENSOR_1<=L1)&&(SENSOR_3>=L3)){ //¥»¥ó¥µ¡¼£±¤Î¤ß¹õÀþ¤Î¤È¤ //¥¿¥¤¥ä¤òÊÒÊý¥¹¥È¥Ã¥×¤µ¤»¤ë Off(OUT_C); OnRev(OUT_A); } else if((SENSOR_1>=L1)&&(SENSOR_3<=L3)){ //¥»¥ó¥µ¡¼£³¤Î¤ß¹õÀþ¤Î¤È¤ //Ʊ¤¸¤¯¥¿¥¤¥ä¤òÊÒÊý¥¹¥È¥Ã¥× Off(OUT_A); OnRev(OUT_C); } else if(SENSOR_1>L1 && SENSOR_3>L3){ //ξÊýÇòÀþ¤Î¤È¤ //ľ¿Ê¤µ¤»¤ë OnRev(OUT_A+OUT_C); } } Off(OUT_A+OUT_C); }